Line laser module and self-propelled equipment

Abstract

The present invention provides a line laser module and a self-propelled device, which relates to the technical field of smart terminals. The line laser module includes a body part, a first image collection assembly, and a second image collection assembly, the first image collection assembly is provided in the body part and includes a first camera, at least one laser emitting device, and a first image processing module, the laser emitting device is provided adjacent to the first camera and configured to emit a line laser light having a linear projection out of the body part, the first camera is configured to collect a first environmental image including the line laser light, the first image processing module is configured to obtain obstacle distance information based on the first environmental image, the second image collection assembly includes a second camera and a second image processing module, the second camera is configured to collect a second environmental image, and the second image processing module is configured to obtain obstacle type information based on the second environmental image.

Description

[Technical Field]

[0001] (Related Applications) This application claims priority from a Chinese patent application filed on June 2, 2021, bearing application number 202110615607.0 and entitled "Line laser module and self-propelled device," the entire text of which is incorporated herein by reference.

[0002] SUMMARY OF THE INVENTION Embodiments of the present invention relate to a line laser module and a self-propelled device. [Background technology]

[0003] Self-propelled devices such as cleaning robots are widely used because they can automatically perform tasks such as sweeping, mopping, and dust collection. While cleaning, the self-propelled devices detect obstacles that may collide with their current path in real time and perform corresponding obstacle avoidance actions. However, the accuracy of obstacle recognition by current self-propelled devices is low, making it difficult to accurately avoid obstacles.

[0004] It should be noted that the information disclosed in the above Background Art section is merely used to enhance understanding of the background of the present invention, and may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] One aspect of the present invention provides a line laser module, the line laser module comprising: a body portion; a first image acquisition assembly; and a second image acquisition assembly; the first image collection assembly is provided in the body portion and includes a first camera, at least one pair of laser emitting devices, and a first image processing module, the pair of laser emitting devices being provided on both sides of the first camera and configured to emit a line laser beam having a linear projection out of the body portion, the first camera being configured to collect a first environmental image including the line laser beam, and the first image processing module being configured to acquire obstacle distance information based on the first environmental image; The second image collection assembly includes a second camera and a second image processing module, the second camera configured to collect second environmental images, and the second image processing module configured to obtain obstacle type information based on the second environmental images.

[0006] In one exemplary embodiment of the present invention, the first image processing module obtains the obstacle distance information based on triangulation.

[0007] In one exemplary embodiment of the present invention, the second image processing module: a feature extraction module configured to perform feature extraction on the second environmental image to obtain feature information; and a recognition module configured to recognize obstacle type information by inputting the feature information into a pre-trained obstacle recognition model.

[0008] In one exemplary embodiment of the present invention, the second image processing module: The system further includes a training module configured to generate the obstacle perception model using collected training data.

[0009] In one exemplary embodiment of the present invention, the laser emitting device is configured to emit infrared light, the first camera is an infrared camera, and the second camera is an RGB camera.

[0010] In one exemplary embodiment of the present invention, the first image acquisition assembly further includes a first filter lens; the first filter lens is provided on a side of the first camera that is away from the body portion, and is configured to allow only infrared light to enter the first camera; the second image acquisition assembly further includes a second filter lens; The second filter lens is provided on the second camera on a side away from the body portion, and is configured to allow only visible light to enter the second camera.

[0011] In one exemplary embodiment of the present invention, the body portion includes a first end, a second end, and a connecting portion connecting the first end and the second end; The pair of laser light emitting devices are provided at the first end and the second end, respectively, and the first camera and the second camera are provided at the connection portion.

[0012] In one exemplary embodiment of the present invention, the line laser module further comprises a stand return positioning device; The stand return positioning device is provided on the body portion and configured to be communicatively connected to the charging stand.

[0013] In one exemplary embodiment of the present invention, the stand returning positioning device includes an infrared emitting device and at least two infrared receiving devices, the infrared emitting device is configured to transmit an infrared signal to the charging stand, and the at least two infrared receiving devices are configured to receive an infrared signal from the charging stand.

[0014] In one exemplary embodiment of the present invention, the first image acquisition assembly and the second image acquisition assembly are connected to the master control means, and the master control means is configured to send operation commands to the first image acquisition assembly and the second image acquisition assembly.

[0015] In one exemplary embodiment of the present invention, the line laser light emitting device includes: a line laser light generator configured to generate a line laser light; and a laser light driving circuit connected to the master control means and controlling the line laser light generator based on an operation command sent from the master control means.

[0016] In one exemplary embodiment of the present invention, the laser light driving circuit includes a first amplifier circuit and a second amplifier circuit; the first amplifier circuit is configured to receive a control signal transmitted from the master control means, amplify the control signal, and then transmit the amplified control signal to the laser light generator, thereby controlling the laser light generator to be turned on and off; The second amplifier circuit is configured to receive an adjustment signal transmitted from the master control means, amplify the adjustment signal, and then transmit it to the laser light generator to control the power generated by the line laser light generator.

[0017] In one exemplary embodiment of the present invention, the first optical axis of the first camera intersects downward with respect to the horizontal direction, and the second optical axis of the second camera intersects upward with respect to the horizontal direction.

[0018] In one exemplary embodiment of the present invention, the angle between the optical axis of the first camera and the horizontal direction is 7 degrees, and the angle between the optical axis of the second camera and the horizontal direction is 5 degrees.

[0019] One aspect of the present invention provides a self-propelled device, the self-propelled device comprising: The device body and any one of the line laser modules described above provided in the device body; and a device control module configured to control movement of the self-propelled device based on the obstacle distance information and the obstacle type information.

[0020] In one exemplary embodiment of the present invention, the self-propelled device further comprises a buffer component; the buffering member is provided on a side of the first image acquisition assembly and the second image acquisition assembly that is away from the body portion, and has an opening facing the first image acquisition assembly and the second image acquisition assembly, respectively; The buffer part is provided with a supplementary light lamp positioned on the outer periphery of the opening.

[0021] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not intended to be restrictive of the invention.

[0022] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and are not intended to limit the present invention. Obviously, the drawings in the following description are merely some embodiments of the present invention, and those skilled in the art can obtain other drawings from these drawings without any effort commensurate with the inventive step. [Brief explanation of the drawings]

[0023] [Figure 1] FIG. 1 is a schematic diagram of the local structure of a line laser module according to one alternative embodiment of the present invention; [Figure 2] 1 is a structural schematic diagram of a line laser module according to another alternative embodiment of the present invention; [Figure 3] 1 is a schematic diagram of a local structure of a cushioning component according to one alternative embodiment of the present invention; [Figure 4] 1 is a schematic diagram of the operating principle of a line laser light generator according to one alternative embodiment of the present invention; [Figure 5] FIG. 1 is a schematic diagram showing the relationship between the angle of view of a line laser light generator and a first camera according to one selectable embodiment of the present invention; [Figure 6] 1 is a schematic diagram of a local structure of a body part according to one alternative embodiment of the present invention; [Figure 7] 1 is a schematic diagram of a local structure of a body portion according to another alternative embodiment of the present invention; [Figure 8]FIG. 1 is a block diagram of one alternative embodiment of a line laser module of the present invention. [Figure 9] FIG. 1 is a block diagram of another alternative embodiment of the line laser module of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0024] Exemplary embodiments will now be described more fully with reference to the drawings. However, the exemplary embodiments can be implemented in a variety of forms and should not be understood as being limited to the embodiments described herein. On the contrary, the provision of these embodiments will make the present invention thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. In the drawings, the same reference numerals represent the same or similar structures, and therefore detailed description thereof will be omitted. Furthermore, the drawings are merely exemplary illustrations of the present invention and are not necessarily drawn to scale.

[0025] The terms "a," "an," "the," "said," and "at least one" are used to indicate the presence of one or more elements / components / etc. The terms "comprise" and "comprise" are used to denote an open inclusion, meaning that other elements / components / etc. may be present in addition to the listed elements / components / etc. The terms "first," "second," etc. are used merely as markers and not as a limitation on the number of their objects.

[0026] At least one embodiment of the present invention provides a line laser module. The line laser module is applicable to a self-propelled device. At least one embodiment of the present invention further provides a self-propelled device. The self-propelled device includes the line laser module. In one embodiment of the present invention, the self-propelled device is a smart cleaning device such as a cleaning robot, a mop robot, a floor polishing robot, or a weeding robot. For convenience of description, the present embodiment describes the technical solution of the present invention using a cleaning robot as an example.

[0027] As shown in FIGS. 1 to 5, in one alternative embodiment of the present invention, the self-propelled device may include a device body 200, a sensing system, a device control module, a drive system, a cleaning system, an energy system, and a human-machine interaction system. Each system cooperates and works together to autonomously move the self-propelled device and achieve the cleaning function. Each of the above systems in the self-propelled device is integrated and provided within the device body 200.

[0028] The equipment body 200 has a generally circular shape (both front and rear are circular), but may have other shapes, including, but not limited to, a generally D-shape with a circular front and rear. The sensing system includes a line laser module located above or to the side of the equipment body 200, and the equipment control module is connected to the line laser module and controls the function of the self-propelled equipment based on the sensing result of the line laser module.

[0029] In the embodiment of the present invention, the specific position of the line laser module on the device body 200 is not limited. For example, the line laser module may be located on the front, rear, left, right, top, middle, or bottom of the device body 200, but is not limited thereto. Furthermore, the line laser module may be located at the middle, top, or bottom position in the height direction of the device body 200.

[0030] In some embodiments of the present invention, the self-propelled equipment moves forward to perform work tasks, and in order to better detect the forward environmental information, the line laser module is provided on the front side of the equipment body 200, which is the side that the equipment body 200 faces when the self-propelled equipment moves forward.

[0031] In some embodiments of the present invention, the self-propelled device may further include a charging stand. The charging stand is connectable to and disconnectable from the device body 200. For example, when the device body 200 needs charging, it is connected to the charging stand to charge, and when the device body 200 is to perform cleaning, it is disconnected from the charging stand to perform the cleaning operation. The charging stand includes an infrared emitting device configured to emit an infrared signal, for example, a near-field infrared signal. The line laser module further includes a stand homing positioning device 190 communicatively connected to the charging stand. As can be seen, the stand homing positioning device 190 is provided in the body portion 140 and configured to receive an infrared signal emitted from the charging stand.

[0032] In some embodiments of the present invention, the line laser module includes a stand return positioning device 190, and when the equipment body 200 equipped with the line laser module returns to be charged, the equipment control module controls the stand return positioning device 190 to search for an infrared signal near the charging stand, and when the stand return positioning device 190 receives the infrared signal, guides the equipment body 200 to connect to the charging stand based on the infrared signal. Furthermore, the stand return positioning device 190 further includes an infrared light emitting device 150 configured to emit an infrared signal, and when the equipment body 200 is successfully connected to the charging stand, the equipment control module controls the infrared light emitting device 150 to emit an infrared signal to the charging stand to charge the equipment body 200.

[0033] For example, the stand return positioning device 190 includes an infrared receiving device 160 and an infrared emitting device 150, where the infrared receiving device 160 is configured to receive an infrared signal and the infrared emitting device 150 is configured to emit an infrared signal. In some embodiments of the present invention, the infrared receiving device 160, the infrared emitting device 150, the first camera 120, the second camera 130 and the line laser emitting device 110 are all mounted on the body part 140, thereby realizing a modular design of the sensing system and facilitating assembly and maintenance.

[0034] Furthermore, the infrared receiving device 160 of the stand return positioning device 190 includes at least two infrared detectors, which are uniformly arranged on the top of the device body in the lateral direction of the device body. This arrangement is advantageous for ensuring the reliability of the infrared receiving device 160 receiving near-field infrared signals and ensuring the reliability of the communication connection between the device body 200 and the charging stand. In some embodiments of the present invention, the infrared receiving device may include any number of infrared detectors. The infrared emitting device 150 of the stand return positioning device 190 includes at least one infrared lamp. It can be understood that the infrared receiving device 160 and the infrared emitting device 150 may be arranged at other positions as required, and the present invention is not specifically limited thereto.

[0035] In some embodiments of the present invention, the device control module is configured to control the movement of the self-propelled device based on obstacle distance information and obstacle type information. The obstacle distance information represents the distance an obstacle is away from the self-propelled device. The device control module may be directly connected to the master control means 003 and may directly acquire the obstacle distance information and obstacle type information obtained by the master control means 003 after processing the first and second environmental images. Alternatively, the device control module may be connected to the master control means 003 via a memory, and the obstacle distance information and obstacle type information obtained by the master control means 003 may be stored in the memory, and the device control module may directly access the obstacle distance information and obstacle type information stored in the memory.

[0036] In some embodiments of the present invention, the device control module and the master control means 003 may be two independent circuits. For example, the device control module and the master control means 003 may be two independent chips. In some embodiments of the present invention, the device control module and the master control means 003 may be integrated into the same circuit. For example, the device control module and the master control means 003 may be integrated into the same chip. The type of chip is not particularly limited as long as it can realize the respective functions.

[0037] In some embodiments of the present invention, the device body 200 may further be provided with a movement mechanism such as rollers, crawlers, etc., and the device control module may control the movement mechanism to move the self-propelled device.

[0038] 3 , the self-propelled device further includes a buffer component 170, which is disposed in front of the device body 200, and the line laser module is located between the buffer component 170 and the device body 200. That is, the first camera 120, the second camera 130, the line laser emitting device 110, and the stand return and positioning device 190 are located between the buffer component 170 and the device body 200. In this way, the buffer component 170 provides a certain protection for the first camera 120, the second camera 130, the line laser emitting device 110, and the stand return and positioning device 190, protecting them from being damaged by external forces and contributing to improving the service life of the first camera 120, the second camera 130, the line laser emitting device 110, and the stand return and positioning device 190. By providing a window 171 in a position facing the first camera 120 and the second camera 130 in the buffer part 170, external ambient light can enter the first camera 120 and the second camera 130. By providing a window in a position facing the line laser emitting device 110 in the buffer part 170, the laser light emitted from the line laser emitting device 110 can be emitted to the outside from the buffer part 170. By providing a window in a position facing the stand return positioning device 190 in the buffer part 170, the stand return positioning device 190 can receive and emit infrared signals, further ensuring the reliability of the operation of the line laser module.

[0039] As can be understood, the buffer part 170 can correspond to a panel of the device body 200. When attaching the line laser module to a body part, first, the body part 140 to which the first camera 120, the second camera 130, and the line laser light emitting device 110 are attached is attached to the device body 200, and then the buffer part 170 (e.g., a panel) is connected to the body part 140 or the device body 200.

[0040] In some embodiments of the present invention, the buffer component 170 includes a panel 172 and an elastic member. The panel 172 and the body 140 are connected to each other via the elastic member, and the line laser module is located inside the panel 172. The elastic member can reduce the force acting on the device body 200 and the line laser module when the buffer component 170 collides with an obstacle, providing a buffering effect to some extent and further reducing damage to the device body and the line laser module caused by the obstacle. A rubber padding layer is provided on the exterior of the panel 172, so that when the buffer component 170 collides with an obstacle, the rubber padding layer directly contacts the obstacle. That is, the rubber padding layer provides excellent protection for the panel 172. Furthermore, the rubber padding layer is an elastic member and can also provide a buffering effect. In other words, in the present invention, the cushioning part 170 has a two-layer cushioning effect due to the elastic member and the rubber pad layer, which greatly reduces the possibility of damage to the device body 200 and the line laser module caused by obstacles, and improves the reliability of the self-propelled device. Specifically, the elastic member is an elastic post and / or a spring, but may also be other elastic members that meet requirements.

[0041] In some embodiments of the present invention, the self-propelled device further includes a fill lamp 180 and an ambient light sensor, the ambient light sensor being configured to detect the brightness of ambient light, and the fill lamp 180 is mounted on the buffer part 170 and is adjacent to the window 171 corresponding to the second camera 130. In this way, when the ambient light is weak and the second camera 130 cannot clearly and accurately capture an ambient image, i.e., when the current ambient light does not satisfy the exposure operation of the second camera 130, the fill lamp 180 can provide supplementary light to meet the photographing needs of the second camera 130, ensuring that the second camera 130 can clearly and accurately capture an ambient image and improving the accuracy of obstacle recognition.

[0042] 8 , the line laser module includes a body 140 and a first image acquisition assembly 001. The first image acquisition assembly 001 includes a first camera 120 provided in the body 140, at least one line laser emitting device 110, and a first image processing module 011. The at least one line laser emitting device 110 is located near the first camera 120 and configured to emit a line laser beam having a linear projection. The first camera 120 and the at least one line laser emitting device 110 operate in cooperation with each other to collect a first environmental image. The first image processing module 011 is configured to acquire obstacle distance information based on the first environmental image. The obstacle distance information indicates a distance from an obstacle that the first camera is positioned to capture the first environmental image. The at least one line laser emitting device 110 is movably connected to the body part 140, and / or the body part 140 has a movable structure so that the azimuth angle and rotation angle of the line laser emitting device 110 are adjustable.

[0043] The line laser module, the first camera 120, and the at least one line laser emitter 110 according to the embodiment of the present invention can work together to recognize obstacles or terrain ahead of the device body 200, thereby performing a corresponding obstacle avoidance operation or cleaning operation. The line laser emitter is movably connected to the body part 140, and the azimuth angle and rotation angle of the line laser emitter can be adjusted by adjusting the position of the laser emitter relative to the body part 140. The body part 140 has a movable structure, and the azimuth angle and rotation angle of the line laser emitter can be adjusted by adjusting the relative positions of each component of the body part 140. Furthermore, because the line laser emitter is movably connected to the body part 140 and the body part 140 has a movable structure, the azimuth angle and rotation angle of the line laser emitter 110 can be adjusted by adjusting the position of the line laser emitter relative to the body part 140 and adjusting the relative positions of each component of the body part 140. This makes it easy to adjust the irradiation angle and irradiation range of the line laser light emitted from the line laser light emitting device 110 when the line laser light emitting device 110 is assembled to the body part 140, and quickly and conveniently make the line laser light emitted from the line laser light emitting device 110 perpendicular to the horizontal plane and position the line laser light within the field of view of the first camera 120. Such a structure contributes to simplifying the assembly operation and improving assembly efficiency.

[0044] Furthermore, by rationally adjusting the azimuth angle of the at least one line laser emitting device 110, the line laser light can be positioned within the field of view of the first camera 120, ensuring that the first camera 120 can accurately and comprehensively capture the light beam emitted from the line laser emitting device and reflected by obstacles, thereby improving the accuracy and comprehensiveness of the first camera 120 capturing environmental images. As can be seen, by adjusting the azimuth angle of the at least one line laser emitting device 110 installed adjacent to the first camera 120, the line laser emitting device is then fixed by a dispenser. By rationally adjusting the rotation angle of the line laser emitting device, the line laser light can be made perpendicular to the horizontal plane, which is advantageous to improving the distance measurement range.

[0045] The at least one line laser emitting device 110 is movably connected to the body part 140. In this manner, the azimuth angle and rotation angle of the line laser emitting device 110 can be adjusted by adjusting the position of the line laser emitting device 110 relative to the body part 140. The body part 140 has a movable structure. In this manner, the azimuth angle and rotation angle of the at least one line laser emitting device 110 can be adjusted by adjusting the relative positions of each component of the body part 140. The at least one line laser emitting device 110 is movably connected to the body part 140, and the body part 140 has a movable structure. In this manner, the azimuth angle and rotation angle of the at least one line laser emitting device 110 can be adjusted by adjusting the position of the at least one line laser emitting device 110 relative to the body part 140 and adjusting the relative positions of each component of the body part 140. In embodiments of the present invention, the azimuth angle and rotation angle of the at least one line laser emitting device 110 can be adjusted in different ways to meet the needs of different structures of the body part 140 and different connection methods between the at least one line laser emitting device 110 and the body part 140.

[0046] Furthermore, the at least one line laser emitting device 110 is configured to emit a line laser beam projected linearly. For example, the at least one line laser emitting device emits a laser beam plane to the outside, which forms a line laser beam on the surface of the obstacle after reaching the obstacle, thereby capturing an environmental image through the line laser beam. Plane AOB shown in FIG. 1 represents the plane of the laser beam emitted from the line laser emitting device 110 and is a vertical plane. Planes ABF and CDE shown in FIG. 4 represent the planes of the laser beams emitted from the first line laser emitting device 110 and the second line laser emitting device 111, respectively. Line segments AB and CD represent the line laser beams. In some embodiments of the present invention, the line laser emitting device may be a laser tube. It should be understood that the line laser emitting device may have other structures that meet requirements, and the present invention is not specifically limited thereto. It should be understood that a wave lens may be provided in the light emitting direction (e.g., the traveling direction of the autonomous vehicle) of the first line laser emitting device 100 and the second line laser emitting device 110. In some embodiments of the present invention, the wave lens is a concave lens, for example, a concave lens is provided in front of a laser tube, the laser tube emits light of a specific wavelength (for example, infrared light), and the light of the specific wavelength becomes a diverging beam after passing through the concave lens, so that a straight line is formed in the plane of the vertical optical path.

[0047] 4 and 5, the line laser module includes two line laser emitting devices 110, each installed on either side of a first camera 120, and the first camera 120 and the line laser emitting devices operate in conjunction with each other. That is, the two line laser emitting devices 110 each emit a line laser beam that is perpendicular to a horizontal plane and located within the field of view of the first camera 120, and the first environmental image collected by the first camera 120 is the line laser beam emitted from the two line laser emitting devices and reflected by an obstacle. Based on the first environmental image, obstacle distance information can be obtained, and the distance between the obstacle and the device body 200 or the line laser module can be measured, and a corresponding obstacle avoidance operation can be performed.

[0048] In this embodiment, the rotation angles and azimuth angles of the two line laser emitting devices 110 are adjusted by rationally adjusting the mounting positions and mounting angles of the two line laser emitting devices 110 relative to the body part 140 and / or adjusting the relative positions of each component of the body part 140. Here, adjusting the rotation angles of the two line laser emitting devices 110 makes the line laser beams perpendicular to the horizontal plane, and adjusting the azimuth angles of the two laser emitting devices 110 adjusts the angle between the line laser beams emitted from the two line laser emitting devices and the optical axis of the first camera 120, and further positions the line laser beams within the field of view of the first camera 120. Then, adjusting the azimuth angles of the line laser emitting devices 110 located on both sides of the first camera 120 determines the intersection point of the line laser beams emitted from the line laser emitting devices 110 on both sides within the field of view of the first camera 120, i.e., fixes the line laser beams on both sides using dispensers, and further measures the distance to an obstacle in front of the equipment body 200.

[0049] In one embodiment of the present invention, Figure 4 shows a schematic diagram of the operating principle of a line laser light generator. Letter P indicates the first camera 120, letters E and F indicate the line laser light generators 110 located on both sides (or peripheries) of the first camera 120, and lines PM and PN indicate the two boundaries of the horizontal field of view of the first camera 120, i.e., ∠MPN indicates the horizontal angle of view of the first camera 120. The first line laser emitting device 100 emits a laser light plane FAB outward, and the second laser emitting device 110 emits a laser light plane ECD outward. After the laser light planes FAB and ECD reach the obstacle, they form a line laser light, i.e., line segments AB and CD shown in Figure 4, on the surface of the obstacle. Since the line laser beam segments AB and CD emitted from the line laser beam generator are located within the field of view of the first camera, the line laser beam contributes to detecting information such as the contour, height and / or width of an object within the field of view of the first camera, and the first camera 120 can collect a first environmental image detected by the line laser beam.

[0050] Further, the master control means 003 is configured to send an operation command to the first image acquisition assembly 001. For example, the master control means 003 can calculate the distance from the line laser module or the equipment body 200 in which the line laser module is located to an obstacle ahead based on the first environmental image collected by the first camera 120. For example, the master control means 003 can calculate the distance between the line laser module or the equipment body 200 and the obstacle ahead by triangulation. In one embodiment of the present invention, as shown in FIG. 5, FIG. 5 is a schematic diagram of one angle of view of the embodiment shown in FIG. 4. Here, letter P indicates the first camera 120, letters E and F indicate the line laser emitting devices 110 located on both sides of the first camera 120, point A indicates the projection of line segment AB in the horizontal plane, point D indicates the projection of line segment CD in the horizontal plane, ∠MPN indicates the horizontal angle of view of the first camera 120, and point O indicates the intersection of the line laser light emitted from the line laser emitting device 110 and the optical axis of the first camera 120. Taking the second line laser light generator 110 located at point F as an example, after the line laser emitting device 110 and the first camera 120 are both fixedly mounted on the body part 140, the focal length of the first camera 120 is known, the emission angle of the line laser light generator F is known, i.e., the angle between the line FA and the optical axis PO is known, the length of the line segment OP is known, and the distance between the second line laser light generator 110 and the image plane of the first camera 120 is known. If the image of point A on the obstacle in the first environmental image collected by the first camera 120 is defined as A', point A' will be offset to a certain extent with respect to the optical axis PO of the first camera 120, and the offset amount is known. Based on the principle of triangular similarity and the above known conditions, the distance between A and F can be measured, i.e., the distance between the obstacle and the line laser emitting device 110 can be obtained. As can be seen, based on the deformation characteristics of the line segment after the line laser light is reflected by an obstacle, collected by the first camera 120, the terrain conditions ahead are identified, and thereby it is determined what operation to perform, for example, whether to perform an obstacle avoidance operation or continue the cleaning operation.

[0051] In some possible embodiments of the present invention, the number of first cameras 120 is not specifically limited. For example, the number of first cameras 120 may be one, two, three, or any other number that meets requirements. As can be understood, the number of line laser emitting devices 110 is not specifically limited in the embodiments of the present invention. For example, the number of line laser emitting devices 110 may be two or more. The number of line laser emitting devices 110 distributed on each side of the first camera 120 is also not specifically limited. The number of line laser emitting devices 110 on each side of the first camera 120 may be one, two, or more. In addition, the number of line laser emitting devices 110 on both sides of the first camera 120 may be the same or different. As can be understood, when there are multiple line laser emitting devices 110 on either side of the first camera 120, the multiple line laser emitting devices 110 may be distributed left and right or up and down, and is not specifically limited in the present invention.

[0052] Furthermore, in some possible embodiments, the first camera 120 can measure the distance to an obstacle ahead of the equipment body 200 to obtain obstacle distance information, and can also recognize the type of the obstacle to obtain obstacle type information. For example, the first camera 120 can be used to measure the distance to the obstacle and recognize the type of the obstacle, respectively, by utilizing sequence differences. For example, the master control means 003 identifies the type of obstacle based on the first environmental image collected by the first camera 120, and determines whether the equipment body 200 needs to perform an obstacle avoidance maneuver based on the obstacle type. When the equipment body 200 needs to perform an obstacle avoidance maneuver, the master control means 003 identifies the distance to the obstacle based on the second environmental image collected by the first camera 120 to obtain obstacle distance information, thereby performing the corresponding obstacle avoidance maneuver. When the equipment body 200 does not need to perform an obstacle avoidance maneuver, the self-propelled equipment continues its previous operation. In this way, the possibility of the self-propelled equipment erroneously performing obstacle avoidance is reduced.

[0053] 1 , the line laser emitting device 110 is movably connected to a body part 140, and the body part 140 has a movable structure. In some embodiments of the present invention, the body part 140 includes a main body 141 and a connecting member 143, the first camera 120 is provided in the main body 141, and the line laser emitting device 110 is connected to the main body 141 via the connecting member 143. Here, a through-hole is provided in the connecting member 143, the line laser emitting device 110 is drilled in the connecting member 143 via the through-hole, and the line laser emitting device 110 is rotatably connected to the connecting member 143. That is, the line laser emitting device 110 is rotatable within the through-hole of the connecting member 143, and by adjusting the rotation angle of the line laser emitting device 110, the line laser light can be made perpendicular to the horizontal plane, thereby expanding the distance measurement range. The connecting member 143 is movably connected to the main body 141, and for example, the connecting member 143 is horizontally rotatable relative to the main body 141, that is, the rotation axis about which the connecting member 143 rotates relative to the main body 141 is a straight line along the vertical direction. In this way, the connecting member 143 drives the line laser emitting device 110 to rotate relative to the main body 141 in a horizontal plane, and by adjusting the azimuth angle of the line laser emitting device 110, the line laser light emitted from the line laser emitting device 110 can be positioned within the angle of view of the first camera 120.

[0054] As can be seen, because the line laser emitting device 110 is rotatable relative to the connecting member 143 and the connecting member 143 is movable relative to the main body 141, during the assembly process, the rotation angle of the line laser emitting device 110 can be adjusted by rotating the line laser emitting device 110 to an appropriate position within the through-hole of the connecting member 143, i.e., adjustment of the line laser emitting device 110 can be achieved. The azimuth angle of the line laser emitting device 110 can be adjusted by rotating the connecting member 143 to an appropriate position relative to the main body 141, i.e., adjustment of the line laser emitting device 110 and the first camera 120 can be achieved, which is simple to operate. As can be seen, after the adjustment of the rotation angle and azimuth angle of the line laser emitting device 110 is completed, a fixing device can be used to fix the connecting member 143, the main body 141, and the line laser emitting device 110. For example, adhesive, glue, etc. can be used to fix the end 142, the main body 141, and the line laser emitting device 110, which is simple to operate.

[0055] In one embodiment of the present invention, the main body 141 is further provided with a positioning groove 144, the connecting member 143 is provided with a protruding structure 145 that is aligned with the positioning groove 144, and the connecting member 143 rotates horizontally within the positioning groove 144 via the protruding structure 145. For example, the protruding structure 145 protrudes in the vertical direction, so that the connecting member 143 can rotate horizontally relative to the main body 141. That is, the rotation axis around which the connecting member 143 rotates relative to the main body 141 is a straight line in the vertical direction. Therefore, the protrusion structure 145 of the connecting member 143 rotates horizontally within the positioning groove 144 of the main body 141, allowing the line laser emitting device 110 to rotate horizontally relative to the main body 141 around the protrusion structure 145 as a rotation axis. Furthermore, the line laser light emitted from the line laser emitting device 110 can be positioned within the angle of view of the first camera 120, thereby enabling debugging of the line laser light generator 110 and the first camera 120. The structure is simple and the operation is convenient. It is understood that the positioning groove 144 may be a circular positioning groove, and the protrusion structure 145 may be a cylindrical protrusion structure. The combination of the circular positioning groove and the cylindrical protrusion structure is advantageous for improving the flexibility and reliability of the rotation of the connecting member 143 relative to the main body 141. It is understood that the positioning groove 144 may be a groove structure with other shapes as required.

[0056] 1 , the line laser emitting device 110 has a cylindrical shape, a first step structure 111 is provided on the outer periphery of the line laser emitting device 110, a mounting groove configured to mount the line laser emitting device 110 is provided in the body part 140, and a second step structure 149 is provided on the inner wall of the mounting groove. Cooperation between the first step structure 111 and the second step structure 149 makes it possible to limit the movement of the line laser emitting device 110 along the axial direction, which is advantageous for improving assembly efficiency.

[0057] In some embodiments of the present invention, the line laser emitting device 110 is movably connected to the body part 140, and the body part 140 has a movable structure. As shown in FIG. 2 , the body part 140 includes a main body 141 and end parts 142 located on both sides of the main body 141. The first camera 120 is provided on the main body 141, and the line laser emitting device 110 is provided on the end parts 142. In some embodiments of the present invention, each end part 142 is pivotally attached to the main body 141. For example, the end parts 142 are hingedly connected to the main body 141, so that the end parts 142 are rotatable relative to the main body 141. The line laser emitting device 110 is rotatably connected to the end parts 142. For example, the line laser emitting device 110 has a cylindrical shape and is rotatable relative to a mounting groove in the end part 142. Further, by adjusting the rotation angle of the line laser emitting device 110, the line laser light can be made perpendicular to a horizontal plane, thereby expanding the distance measurement range. The line laser emitting device 110 is attached to the end 142, which is rotatable relative to the main body 141, and by further adjusting the azimuth angle of the line laser emitting device 110, the line laser light emitted from the line laser emitting device 110 can be positioned within the angle of view of the first camera 120.

[0058] As can be seen, because the line laser emitting device 110 is rotatable relative to the end 142, which is pivotally mounted to the body 141, adjustment of the rotation angle of the line laser emitting device 110 can be achieved by rotating the line laser emitting device 110 to an appropriate position during assembly, i.e., adjustment of the line laser emitting device 110 can be achieved. By rotating the end 142 to an appropriate position relative to the body 141, calibration of the azimuth angle of the line laser emitting device 110 can be achieved, i.e., cooperative calibration of the line laser emitting device 110 and the first camera 120 can be achieved, which is simple to operate and convenient to install. As can be seen, after adjustment of the rotation angle and azimuth angle of the line laser emitting device 110 is completed, a fixing device can be used to fix the end 142, the body 141, and the line laser emitting device 110. For example, adhesive, glue, etc. can be used to fix the end 142, the body 141, and the line laser emitting device 110. This is simple to operate.

[0059] In some embodiments of the present invention, the line laser emitting device 110 is movably connected to the body portion 140. For example, the body portion 140 is provided with a mounting cavity configured to mount the line laser emitting device 110. The line laser emitting device 110 is movably mounted within the mounting cavity. The mounting cavity includes a first end and a second end, and the cross-sectional area of ​​the first end is smaller than the cross-sectional area of ​​the second end. That is, the mounting cavity has a flared structure. The cross-sectional area of ​​the first end is larger than the cross-sectional area of ​​the line laser emitting device 110, meaning that the line laser emitting device 110 is movable within the mounting cavity. Here, the front end of the line laser emitting device 110 is adjacent to the first end of the mounting cavity. The line laser emitting device 110 can rotate about the axis of the mounting cavity to adjust the rotation angle of the line laser emitting device 110. In this way, the line laser light is perpendicular to the horizontal plane, and the distance measurement range is expanded. The rear end of the line laser emitting device 110 rotates relative to the front end, thereby adjusting the azimuth angle of the line laser emitting device 110. In this manner, the line laser light emitted from the line laser emitting device 110 is positioned within the angle of view of the first camera 120.

[0060] As can be seen, because the line laser emitting device 110 is movably mounted within the mounting cavity of the body part 140, the line laser emitting device 110 can rotate within the mounting cavity around the axis of the mounting cavity and around the point (front end). Thus, during the adjustment process, by rationally adjusting the mounting angle and mounting position of the line laser emitting device 110 and the body part 140, calibration of the rotation angle and azimuth angle of the line laser emitting device 110 can be achieved, which is simple and convenient to perform. As can be seen, after the adjustment of the rotation angle and azimuth angle of the line laser emitting device 110 is completed, the line laser emitting device 110 can be fixed to the body part 140 using a fixing device. For example, by fixing the line laser emitting device 110 to the body part 140 using adhesive, glue, etc., the assembly of the line laser emitting device 110 and the body part 140 can be completed, which is simple to perform.

[0061] In some embodiments of the present invention, the body part 140 has a movable structure. As shown in FIG. 6 , the body part 140 includes a main body 141, an end part 142, and a connecting part 146. The end parts 142 are located on both sides of the main body 141. The first camera 120 is provided on the main body 141. The line laser emitting device 110 is provided on the end part 142. For example, the line laser emitting device 110 is fixed or detachably attached to the end part 142. The connecting part 146 is pivotally attached to the main body 141, and the end part 142 is connected to the connecting part 146. Furthermore, the connecting part 146 can be rotated relative to the main body 141 to adjust the azimuth angle of the line laser emitting device 110. In this way, the line laser light emitted from the line laser emitting device 110 is positioned within the field of view of the first camera 120. By rotatably connecting end 142 to connecting portion 146, when end 142 rotates relative to connecting portion 146, the rotation angle of line laser emitting device 110 can be adjusted, making the line laser light perpendicular to the horizontal plane and further expanding the distance measurement range.

[0062] In some embodiments of the present invention, the connecting part 146 is hingedly connected to the main body 141, a hole is formed on the connecting part 146 toward the end 142, and a cylindrical protrusion is provided on the end 142 to fit into the hole. After the line laser emitting device 110 is attached to the end 142, the cylindrical protrusion on the end 142 is inserted into the hole and rotated within the hole to adjust the rotation angle of the line laser emitting device 110. After the line laser light is perpendicular to the horizontal plane, the end 142 and the connecting part 146 are fixed, for example, by glue or other fixing structure, to realize debugging of the line laser emitting device 110. Then, the position of the connecting part 146 relative to the main body 141 can be adjusted to adjust the azimuth angle of the line laser emitting device 110. After the line laser light emitted from the line laser emitting device 110 is positioned at an appropriate position within the angle of view of the first camera 120, the body 141 and the connecting part 146 can be fixed, for example, with glue or other stopper structures, to achieve calibration of the optical system formed by the line laser emitting device 110 and the first camera 120. As can be seen, because the body part 140 has a movable structure, i.e., the end part 142 is movably connected to the body 141 via the connecting part 146, during the calibration process, the relative positions of the end part 142, the connecting part 146, and the body 141 can be reasonably adjusted to achieve adjustment of the rotation angle and azimuth angle of the line laser emitting device 110 attached to the end part 142, which is simple to operate and convenient to calibrate. As can be seen, after the calibration of the rotation angle and azimuth angle of the line laser emitting device 110 is completed, the end part 142, the connecting part 146, and the body 141 can be fixedly connected using a fixing device. For example, the end 142, the connecting portion 146, and the main body 141 are fixed together using adhesive, glue, the stopper portion 147, etc., making the operation easy.

[0063] In some embodiments of the present invention, the body 140 has a movable structure. As shown in FIG. 7 , in one embodiment of the present invention, the body 140 includes a main body 141, an end 142, and a stopper 147. The end 142 is located on both sides of the main body 141. The first camera 120 is mounted on the main body 141, and the line laser emitting device 110 is mounted on the end 142. As shown in FIG. 7 , the end 142 is rotatably connected to the main body 141, for example, by ball connection to the main body 141, so that the end 142 can swing and rotate relative to the main body 141. The line laser emitting device 110 is assembled to the end 142, and the end 142 can swing and rotate relative to the main body 141, thereby enabling adjustment of the azimuth angle and rotation angle of the line laser emitting device 110, which is simple to operate and convenient to calibrate.

[0064] In some embodiments of the present invention, the end 142 is ball-connected to the body 141, the body 141 is provided with a position limiting hole 148, and the stopper portion 147 is a clamp bolt. The rotation angle of the line laser emitting device 110 is adjusted by rotating the end 142 relative to the body 141. Calibration of the line laser emitting device 110 can be achieved by ensuring that the line laser light is perpendicular to the horizontal plane. The azimuth angle of the line laser emitting device 110 can be adjusted by adjusting the swing position of the end 142 relative to the body 141. By positioning the line laser light emitted from the line laser emitting device 110 at an appropriate position within the angle of view of the first camera 120, debugging of the line laser emitting device 110 and the first camera 120 can be achieved. Then, a clamp bolt is passed through the position limiting hole 148 to limit and fix the position of the end 142 relative to the body 141, and the end 142 and the body 141 are fixed, which is simple. As can be seen, the number of position limiting holes 148 on the body 141 can be one, two, or more. By opening different numbers of position limiting holes 148 according to different positions of the position limiting holes 148, when the end 142 is rotated to different positions relative to the body 141, the clamping bolt can be passed through the position limiting holes 148 to fix the end 142 to the body 141. The clamping bolt can be an elastic member, i.e., one end of the clamping bolt that abuts the end 142 is an elastic member, using elasticity to reliably connect the end 142 to the body 141. As can be seen, the spherical surface of the end 142 can be provided with a positioning hole that engages with the clamping bolt. In this way, the clamping bolt is pressed after passing through the position limiting holes 148 and engaging with the positioning hole, which is advantageous in improving the reliability of the fixed connection between the end 142 and the body 141.

[0065] In some embodiments of the present invention, the line laser module includes two line laser light emitting devices. In this case, the body includes two end portions and also includes two connecting portions, and the two connecting portions respectively connect the two end portions to the body portion, and the two line laser light emitting devices are respectively provided at the two end portions. Details of how each of the two end portions is connected to the body portion via one connecting portion can be found above, so they will not be repeated here.

[0066] 9, the line laser emitting device 110 includes a line laser beam generator 1101 and a laser beam driving circuit 1102. The line laser beam driving circuit 1102 is capable of receiving a driving signal, and drives the line laser beam generator 1101 based on the driving signal to generate a line laser beam.

[0067] Furthermore, the laser light driver circuit 1102 may include an amplifier circuit configured to amplify the drive signal and send the amplified drive signal to the line laser light generator 1101 to cause the line laser light generator 1101 to emit light. In some embodiments of the present invention, the drive signal may include a control signal and an adjustment signal. The control signal can control the on / off of the line laser light generator 1101, and the adjustment signal can adjust the laser light power generated by the line laser light generator 1101.

[0068] In some embodiments of the present invention, as shown in FIG. 9, the amplifier circuit may include a first amplifier circuit 1102a and a second amplifier circuit 1102b.

[0069] The first amplifier circuit 1102a is configured to receive a control signal transmitted from the master control means 003, amplify the control signal, and then transmit it to the line laser light generator 1101, thereby controlling the on and off of the line laser light generator 1101.

[0070] The second amplifier circuit 1102b is configured to receive an adjustment signal transmitted from the master control means 003, amplify the adjustment signal, and then transmit it to the line laser light generator 1101, thereby controlling the transmission power of the line laser light generator 1101.

[0071] The specific structures of the first amplifier circuit 1102a and the second amplifier circuit 1102b are not particularly limited here, and may be any structures that can achieve a signal amplification function.

[0072] 8 and 9 , in some embodiments of the present invention, the line laser module further includes a second image acquisition assembly 002, which includes a second camera 130 and a second image processing module 021 mounted on the body 140, where the second camera 130 is configured to capture a second environmental image. The second image acquisition assembly 002 is connectable to a master control means 003 and receives operation commands from the master control means 003. For example, the second camera 130 is connected to the master control means 003 of the autonomous device, and the master control means 003 can perform exposure control on the second camera 130. The second camera 130 acquires a second environmental image according to the exposure command of the master control means, and the master control means can analyze and process the second environmental image to recognize the type of obstacle.

[0073] In some embodiments of the present invention, the first camera 120, the second camera 130, and the line laser emitting device 110 work in cooperation to recognize obstacle distance information based on the first environmental image collected by the first camera 120 and recognize obstacle type information based on the second environmental image collected by the second camera 130. Therefore, the type of obstacle can be identified based on the second environmental image captured by the second camera 130, and based on the type of obstacle, it is determined whether the device body 200 needs to perform an obstacle avoidance maneuver. When the device body 200 needs to perform an obstacle avoidance maneuver, the first camera 120 and the line laser emitting device 110 work in cooperation with each other to identify the distance of the obstacle, thereby performing the corresponding obstacle avoidance maneuver. When the device body 200 does not need to perform an obstacle avoidance maneuver, the device body 200 continues the previous maneuver. This reduces the possibility that the self-propelled device will erroneously perform an obstacle avoidance maneuver.

[0074] In some embodiments of the present invention, the number of second environment images is multiple, such as 500, 1000, or any other number that meets requirements. For example, the number of second environment images may be determined by adjusting the exposure frequency of the second camera 130. The master control means performs image segmentation on the multiple second environment images captured by the second camera 130 to obtain segmented images marked with obstacle type information. The segmented segmented images are then input into a trained obstacle model, and feature extraction is performed on the segmented images. Confidence matching is performed between the extracted feature information and the trained obstacle model, and the obstacle type is identified based on the confidence matching result.

[0075] That is, in the line laser module according to the embodiment of the present invention, the type of obstacle can be identified based on the second environmental image acquired by the second camera 130, and the self-propelled device can be determined to perform an obstacle avoidance operation or a previous operation depending on the type of obstacle. Furthermore, when an obstacle avoidance operation needs to be performed, the device control module controls the first camera 120 and the line laser emitting device 110 to operate in coordination, and performs the obstacle avoidance operation by identifying the distance between the obstacle and the line laser module or the device body 200 based on the first environmental image acquired by the first camera 120.

[0076] For example, if an obstacle is identified as a balloon based on the second environmental image captured by the second camera 130, the balloon can be moved simply by driving the device body 200 using the drive system because the balloon is light in weight. In other words, the balloon does not affect the cleaning route. Therefore, the controller controls the device body 200 to perform a cleaning operation along the original cleaning route without performing an obstacle avoidance operation. In this way, cleaning can be performed at the location where the balloon is located, which is advantageous for improving the accuracy of obstacle avoidance and expanding the cleaning range. In other words, in such a case, the controller does not need to control and operate the line laser emitting device 110 and the first camera 120.

[0077] Furthermore, for example, if an obstacle is identified as a chair based on the second environmental image captured by the second camera 130, the chair's weight may cause the appliance body 200 to collide with and be damaged by the chair if cleaning is performed along the original cleaning route. In other words, the chair will affect the cleaning route. Therefore, the appliance control module controls the appliance body 200 to perform an obstacle avoidance operation to change the cleaning route. That is, the appliance control module controls the line laser emitting device 110 to operate and emit a line laser beam, the first camera 120 captures a first environmental image of the light beam reflected from the chair, and the appliance control module determines the distance from the line laser module or the appliance body 200 to the chair based on the first environmental image, and further re-plans the cleaning route according to the distance to perform the obstacle avoidance operation and improve the obstacle avoidance effect.

[0078] Furthermore, in the embodiments of the present invention, the number of second cameras 130 is not specifically limited. For example, the number of second cameras 130 may be one, two, three, or any other number that meets requirements. As can be understood, the second camera 130 may be a monocular camera or a binocular camera. In some possible embodiments, the first camera 120 and the second camera 130 may be installed separately, or the first camera 120 and the second camera 130 may form a camera unit. The present invention does not specifically limit the installation mode of the first camera 120 and the second camera 130.

[0079] In some embodiments of the present invention, the optical axis of the first camera intersects horizontally downward, and the optical axis of the second camera intersects horizontally upward. That is, the first camera looks down on the surface to be cleaned from above. This installation is intended to view lower obstacles. The second camera looks up from below so that more spatial features can be seen and the user video experience is improved. The angle between the optical axis of the first camera and the horizontal is 7 degrees, and the angle between the optical axis of the second camera and the horizontal is 5 degrees. That is, the second camera looks up from below. In this way, more spatial features can be seen and the user video experience is improved.

[0080] In some embodiments of the present invention, the body portion may include a first end, a second end, and a connecting portion connecting the first end and the second end, the line laser module includes two laser light emitting devices respectively provided at the first end and the second end, and a first camera and a second camera are provided at the connecting portion.

[0081] In some embodiments of the present invention, the first camera 120 is a monochrome camera, i.e., an infrared camera, and a first filter lens is provided in front of the monochrome camera, which may be an infrared lens that allows only infrared light to pass through. As can be appreciated, the line laser emitting device 110 operating in conjunction with the first camera 120 is an infrared laser tube that emits infrared laser light. The second camera 130 is an RGB camera, and a second filter lens is provided in front of the RGB camera, which is a visible light lens, for example, a white light lens that allows only visible light to pass through. As can be appreciated, the first camera 120 and the second camera 130 may have other structures that meet requirements, and the present invention is not specifically limited thereto.

[0082] In some embodiments of the present invention, the first camera 120 and the second camera 130 are arranged side by side along the horizontal direction, i.e., the first camera 120 and the second camera 130 are distributed left and right, for example, the first camera 120 is located to the left of the second camera 130, or the first camera 120 is located to the right of the second camera 130. This structure is advantageous for reducing the vertical distance of the line laser module, making it applicable to device bodies 200 with small vertical dimensions and expanding the range of use of the product. As can be seen, in this case, the line laser emitting devices 110 are distributed on both sides of the first camera 120 and the second camera 130, i.e., the first camera 120 and the second camera 130 are located between the line laser emitting devices 110 on both sides.

[0083] In some embodiments of the present invention, the first camera 120 and the second camera 130 are arranged in parallel along the vertical direction, i.e., the first camera 120 and the second camera 130 are distributed vertically, for example, the first camera 120 is located above the second camera 130, or the first camera 120 is located below the second camera 130. This structure is advantageous for reducing the horizontal distance of the line laser module, making it applicable to device bodies 200 with small horizontal dimensions and expanding the range of use of the product. As can be seen, in this case, the line laser emitting devices 110 are distributed on both sides of the first camera 120 and the second camera 130, i.e., the first camera 120 and the second camera 130 are located between the line laser emitting devices 110 on both sides.

[0084] Furthermore, the body part 140 includes a main body 141 and end parts 142 located on both sides of the main body 141, the first camera 120 and the second camera 130 are attached to the main body 141, and the line laser emitting device 110 is attached to the end parts 142. The line laser emitting device 110 is movably connected to the end parts 142 and is rotatable and swingable relative to the end parts 142, thereby enabling adjustment of the rotation angle and azimuth angle of the line laser light.

[0085] In some embodiments of the present invention, as shown in FIG. 9, the second image processing module 021 may include a feature extraction module 0211 and a recognition module 0212.

[0086] The feature extraction module 0211 is configured to perform feature extraction on the second environment image to obtain feature information, and the recognition module 0212 is configured to recognize obstacle type information by inputting the feature information into an obstacle recognition model.

[0087] For example, the feature information may be the gradation information and position information of pixels in the second environmental image that satisfy certain conditions. For example, the feature extraction module 0211 may perform preprocessing on the second environmental image, such as binarization. Then, the gradation information and position information of each pixel in the preprocessed second environmental image are acquired. A preset gradation range is compared with the gradation information of each pixel, and the gradation information located within the gradation range and the position information of the corresponding pixel are acquired as feature information.

[0088] Of course, other methods may be used to extract feature information from the second environmental image, and there are no particular limitations here.

[0089] The obstacle recognition model can be obtained by prior sample training of obstacle images, and may be a neural network, a classifier, or other model, as long as it can determine whether an obstacle exists in the second environmental image based on the feature information. The method for training the obstacle recognition model and the specific operational process for determining whether an obstacle exists are not particularly limited herein. Obstacles in the present invention may be paper dust, books, table legs, doors, refrigerators, curtains, etc., and will not be listed here.

[0090] When it is determined that an obstacle exists in the second environmental image, the recognition module 0212 may input the feature information into an obstacle classification model to recognize obstacle type information.

[0091] The obstacle classification model can be obtained by prior obstacle classification sample training, and may be a neural network, a classifier, or other model, as long as it can determine the type of obstacle based on feature information. The method for training the obstacle recognition model and the specific operation process for determining the type of obstacle are not particularly limited herein. Accordingly, the second image processing module 021 further includes a training module 0213 configured to generate an obstacle recognition model using the collected training data.

[0092] The obstacle type information indicates whether the obstacle needs to be cleared and whether it is passable. In the present invention, the obstacles may be divided into three types according to the size of the obstacle. For example, The first type is obstacles that can be passed through and cleaned, such as paper dust.

[0093] The second type are obstacles that are impassable but need to be cleared, such as books.

[0094] The third type is an obstacle that is impassable but does not need to be cleaned, such as a door, a wall, a table leg, etc. In some embodiments of the present invention, if an obstacle is detected in only one of the first and second environmental images, the recognition result is that no obstacle exists. For example, if no obstacle distance information is detected in the first environmental image or no obstacle type information is detected in the second environmental image, it is determined that no obstacle exists.

[0095] If an obstacle exists in both the first environmental image and the second environmental image, the recognition result indicates that an obstacle exists, and the type of the obstacle may be determined based on the second environmental image. For example, obstacle distance information is received, and it is determined that an obstacle exists based on obstacle type information.

[0096] For a first type of obstacle, the equipment control module may control the self-propelled equipment to continue moving along the current moving path and clear the obstacle.

[0097] For the second and third types of obstacles, the steering distance information, steering direction information and steering angle information of the self-propelled equipment can be determined through the equipment control module based on the obstacle position information obtained from the obstacle distance information, so that the travel route can be re-planned, i.e., an obstacle avoidance route can be planned, and the self-propelled equipment can be controlled to perform obstacle avoidance operations according to the obstacle avoidance route, thereby avoiding obstacles that cannot be cleaned.

[0098] Furthermore, in some embodiments of the present invention, the self-propelled device may include an attention alert device. The attention alert device may be connected to the device control module, and the device control module may control the attention alert device to issue an alarm in at least one of the following ways: audible and illuminating. For the second type of obstacle, not only can the obstacle be avoided by replanning the travel route, but an alarm sound can also be emitted via the attention alert device, thereby avoiding the obstacle and reminding the user to promptly clean obstacles that cannot be cleaned by the self-propelled device.

[0099] Although the present invention has been described with reference to the above embodiments, it should be understood that the above embodiments are merely for the purpose of illustration and description and are not intended to limit the present invention to the scope of the described embodiments. Furthermore, as will be understood by those skilled in the art, the present invention is not limited to the above embodiments, and many variations and modifications can be made based on the teachings of the present invention, and all of these variations and modifications are included within the scope of the claims of the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A line laser module, a body portion, a first image acquisition assembly, and a second image acquisition assembly; the first image collection assembly includes a first camera mounted on the body portion and overlooking the surface to be cleaned from above, at least one laser emitting device, and a first image processing module, the laser emitting device being mounted proximate to the first camera and configured to emit a line laser beam having a linear projection out of the body portion, the first camera being configured to collect a first environmental image including the line laser beam, and the first image processing module being configured to acquire obstacle distance information based on the first environmental image; the second image acquisition assembly includes a second camera and a second image processing module, the second camera configured to acquire second environmental images, and the second image processing module configured to acquire obstacle-type information based on the second environmental images; the first camera and the second camera are arranged along a horizontal direction or along a vertical direction, the laser emitting device is configured to emit infrared light, the first camera is an infrared camera, and the second camera is an RGB camera; the first image acquisition assembly further includes a first filter lens; the first filter lens is configured to allow only infrared light to enter the first camera; the second image acquisition assembly further includes a second filter lens; the second filter lens is configured to allow only visible light to enter the second camera; The first optical axis of the first camera is tilted downward with respect to the horizontal direction. A line laser module characterized by:

2. The line laser module according to claim 1 , wherein the first image processing module acquires the obstacle distance information based on a triangulation method.

3. The second image processing module a feature extraction module configured to perform feature extraction on the second environmental image to obtain feature information; and a recognition module configured to recognize obstacle type information by inputting the feature information into an obstacle recognition model.

4. The second image processing module The line laser module of claim 3 , further comprising a training module configured to generate the obstacle perception model using training data.

5. the first filter lens is provided on a side of the first camera that is farther from the body portion, 2. The line laser module according to claim 1, wherein the second filter lens is provided on a side of the second camera that is farther from the body portion.

6. the body portion includes a main body, a first end, and a first connecting portion, the first connecting portion configured to connect the first end to the main body; 2. The line laser module of claim 1, wherein the line laser module comprises a first line laser emitting device, the first line laser emitting device being provided at the first end, and the first camera and the second camera being provided on the main body.

7. The line laser module further comprises a stand return positioning device; The line laser module according to claim 1 , wherein the stand return positioning device is provided in the body portion and configured to be communicatively connected to a charging stand.

8. 8. The line laser module of claim 7, wherein the stand return positioning device includes an infrared emitting device and at least two infrared receiving devices, the infrared emitting device configured to transmit a first infrared signal to the charging stand, and the at least two infrared receiving devices configured to receive a second infrared signal from the charging stand.

9. 2. The line laser module of claim 1, further comprising a master control means, wherein the first image acquisition assembly and the second image acquisition assembly are connected to the master control means, and the master control means is configured to send operating commands to the first image acquisition assembly and the second image acquisition assembly.

10. The laser light emitting device a line laser light generator configured to generate a line laser light; 10. The line laser module according to claim 9, further comprising: a laser light driving circuit connected to the master control means and controlling the line laser light generator based on an operation command transmitted from the master control means.

11. the laser light drive circuit includes a first amplifier circuit and a second amplifier circuit; the first amplifier circuit is configured to receive a control signal transmitted from the master control means, amplify the control signal, and then transmit the amplified control signal to the line laser light generator, thereby controlling the on / off of the line laser light generator; 11. The line laser module of claim 10, wherein the second amplifier circuit is configured to receive an adjustment signal transmitted from the master control means, amplify the adjustment signal, and then transmit it to the line laser light generator to control the power generated by the line laser light generator.

12. 2. The line laser module according to claim 1, wherein the second optical axis of the second camera is inclined upward relative to the horizontal direction.

13. 13. The line laser module of claim 12, wherein a first angle between a first optical axis of the first camera and the horizontal direction is 7 degrees, and a second angle between a second optical axis of the second camera and the horizontal direction is 5 degrees.

14. A self-propelled device, The device body and The line laser module according to claim 1 , which is provided in the device body; a device control module configured to control movement of the self-propelled device based on the obstacle distance information and the obstacle type information.

15. The self-propelled device further includes a buffer component; the buffering member is provided on a side of the first image acquisition assembly and the second image acquisition assembly that is away from the body portion, and has an opening facing the first image acquisition assembly and the second image acquisition assembly, respectively; 15. The self-propelled device according to claim 14, wherein the buffer part is provided with a supplementary light lamp positioned on the outer periphery of the opening for supplementing ambient light.

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