Detection apparatus and self-propelled device

Abstract

A detection apparatus and a self-propelled device. The detection apparatus comprises: a bearing assembly (100); a first laser assembly (200), which is disposed on the bearing assembly (100), and is used for respectively emitting line lasers to at least two different areas, wherein the first laser assembly (200) comprises a first light source (230); a first collection assembly (300), which is disposed on the bearing assembly (100), and is positioned corresponding to the first laser assembly (200), wherein the first collection assembly (300) is used for collecting environmental images of the at least two different areas corresponding to the line lasers emitted by the first laser assembly (200); and a processor, which is used for determining the distance between objects in the at least two different areas on the basis of the environmental images of the at least two different areas that are collected by means of the first collection assembly (300).

Description

A detection device and a self-propelled equipment Cross-references to related applications

[0001] This disclosure claims priority to application No. 202411612431.3 filed on November 12, 2024, entitled "A Detection Device and a Self-Propelled Device", and application No. 202422758601.0 filed on November 12, 2024, entitled "A Detection Device and a Self-Propelled Device", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of detection technology, and in particular to a detection device and a self-propelled device. Background Technology

[0003] Detection devices are commonly used in equipment such as self-propelled robots and cleaning robots. In related technologies, detection structures typically scan different areas using different laser structures. For example, a detection structure generally includes a first laser structure and a second laser structure positioned at different locations. The first laser structure scans one area, and the second laser structure scans another area. The detection structures in related technologies are relatively large in size.

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

[0005] In view of this, the present disclosure aims to provide a detection device and a self-propelled device.

[0006] To achieve the above objectives, the technical solution disclosed herein is implemented as follows:

[0007] This disclosure provides a detection device, including:

[0008] Carrier component;

[0009] A first laser component is disposed on the carrier component; the first laser component is used to emit line lasers into at least two different regions respectively; wherein, the first laser component includes a light source;

[0010] A first acquisition component is disposed on the support component and corresponds to the position of the first laser component; the first acquisition component is used to acquire environmental images of at least two different regions corresponding to the line laser emitted by the first laser component;

[0011] A processor is configured to determine the distances of objects in at least two different regions based on environmental images of at least two different regions acquired by the first acquisition component.

[0012] In some alternative implementations,

[0013] The first laser component is used to emit a first line laser to a first region, a second line laser to a second region, and a third line laser to a third region;

[0014] The first acquisition component is used to acquire environmental images corresponding to the first line laser, the second region corresponding to the second line laser, and the third region corresponding to the third line laser;

[0015] The processor is configured to determine the distance of an object in the first region based on a first portion of an image in the environmental image acquired by the first acquisition component that corresponds to the first region, to determine the distance of an object in the second region based on a second portion of an image in the environmental image acquired by the first acquisition component that corresponds to the second region, and to determine the distance of an object in the third region based on a third portion of an image in the environmental image acquired by the first acquisition component that corresponds to the third region.

[0016] In some optional implementations, the first line laser and the second line laser are parallel, and the third line laser is perpendicular to both the first line laser and the second line laser; the first region and the second region are adjacent, and the third region is adjacent to or intersects with both the first region and the second region.

[0017] The first line laser is distributed along a first direction.

[0018] In some alternative implementations, the first laser component includes:

[0019] A first substrate is disposed on the carrier assembly;

[0020] A first light source is disposed on the first substrate;

[0021] A first optical component is disposed on the side of the first light source facing away from the first substrate, and is used to form the first line laser, the second line laser and the third line laser from the laser emitted by the first light source.

[0022] In some alternative implementations, the first laser component further includes:

[0023] A shielding member is disposed on the side of the first optical component facing away from the first substrate; the shielding member has a first wall, and a first inclined wall and a second inclined wall located on opposite sides of the first wall.

[0024] The first inclined wall has a first opening, the second inclined wall has a second opening, and the first wall has a third opening;

[0025] The first optical component is used to cause the first line laser to be emitted from the first opening; the first optical component is used to cause the second line laser to be emitted from the second opening; the first optical component is used to cause the third line laser to be emitted from the third opening.

[0026] In some alternative implementations, the first optical component is used to cause the third line laser to form a first depression angle or a first elevation angle with the first plane, wherein the first depression angle is less than or equal to 30 degrees and the first elevation angle is less than or equal to 30 degrees; or,

[0027] The first optical component is used to make the third line laser parallel to the first plane.

[0028] In some alternative implementations, the first laser component has a first positioning surface parallel to the first plane;

[0029] The first positioning surface is located on at least one of the first substrate and the first optical component.

[0030] In some alternative implementations, the first optical component is used to cause the first line laser to form a first deflection angle with the second plane;

[0031] The first optical component is used to make the second line laser form a second deflection angle with the second plane, wherein the first line laser and the second line laser deflect in opposite directions relative to the second plane.

[0032] In some alternative implementations, the first laser component has a second positioning surface parallel to the second plane;

[0033] The second positioning surface is located on at least one of the first substrate and the first optical component.

[0034] In some alternative implementations, the value of the second deflection angle may be the same as or different from the value of the first deflection angle;

[0035] The first deflection angle ranges from 25 degrees to 50 degrees, and the second deflection angle ranges from 25 degrees to 50 degrees.

[0036] In some alternative implementations, the first optical component is further configured to cause the first line laser to form a third deflection angle with the first plane;

[0037] The first optical component is also used to cause the second line laser to form a fourth deflection angle with the first plane;

[0038] The first plane and the second plane are perpendicular.

[0039] In some alternative implementations, the value of the third deflection angle may be the same as or different from the value of the fourth deflection angle;

[0040] The third deflection angle ranges from 0 degrees to 20 degrees, and the fourth deflection angle ranges from 0 degrees to 20 degrees.

[0041] In some alternative implementations, the first line laser is distributed along a first direction, and the second line laser is parallel to the first line laser; the third line laser is distributed along a second direction, and the first direction and the second direction are perpendicular.

[0042] The first acquisition component and the first laser component are at a first distance in a first direction, and the first acquisition component and the first laser component are at a second distance in a second direction.

[0043] In some alternative implementations,

[0044] The first laser component is used to emit a first line of laser light into a first region and to emit a second line of laser light into a second region;

[0045] The first acquisition component is used to acquire environmental images of the first region corresponding to the first line laser and the second region corresponding to the second line laser;

[0046] The processor is configured to determine the distance of an object in the first region based on a first portion of the environmental image acquired by the first acquisition component that corresponds to the first region, and is also configured to determine the distance of an object in the second region based on a second portion of the environmental image acquired by the first acquisition component that corresponds to the second region.

[0047] In some alternative implementations, the first line laser and the second line laser are parallel; the first portion of the image and the second portion of the image are adjacent; or,

[0048] The first line laser and the second line laser are perpendicular, and the first portion of the image and the second portion of the image are adjacent or intersect.

[0049] Some alternative implementations also include:

[0050] A second laser component is disposed on the supporting component; the second laser component is used to emit a third laser beam toward the third region;

[0051] The first acquisition component is also used to acquire environmental images of the third region;

[0052] The processor is further configured to determine the object distance in the third region based on the environmental image corresponding to the third region in the environmental image acquired by the first acquisition component;

[0053] The first and second line lasers are parallel, and the third line laser is perpendicular to both the first and second line lasers.

[0054] Some alternative implementations also include:

[0055] A second acquisition component is disposed on the carrier component; the second acquisition component is used to acquire environmental images of the fourth region;

[0056] The processor is further configured to identify objects in the fourth region based on the environmental image corresponding to the fourth region acquired by the second acquisition component;

[0057] The fourth region includes at least a portion of the regions in at least two of the regions.

[0058] Some alternative implementations also include:

[0059] A supplementary lighting component is disposed on the carrier component; the supplementary lighting component is disposed at an interval from the second acquisition component, and the supplementary lighting component is used to provide light to the fourth region;

[0060] The supporting component has a shielding protrusion located on the periphery of the supplementary lighting component.

[0061] In some alternative implementations, the second acquisition component has a second depression angle or a second elevation angle relative to the first plane; wherein the second depression angle ranges from 0 degrees to 10 degrees, and the second elevation angle ranges from 0 degrees to 10 degrees.

[0062] In some alternative implementations, the carrier component has a mounting groove in which at least a portion of the first laser component is disposed; the first laser component has an installation gap with the wall surrounding the mounting groove, the installation gap being used to adjust the position of the first laser component relative to the carrier component during installation.

[0063] This disclosure also provides a self-propelled device, including: a main body and the detection device described in this disclosure; the detection device is disposed on the main body.

[0064] In some alternative implementations, the self-propelled device is used to travel on a bearing surface, and the first laser component is used to emit a first line laser into a first region, the first line laser being distributed along a first direction perpendicular to the bearing surface.

[0065] In some alternative implementations, the first acquisition component has a first angle with the second plane, the first angle ranging from 0 degrees to 20 degrees;

[0066] The second plane is the plane in which the self-propelled device moves forward.

[0067] In some alternative implementations, a cleaning component is also included, disposed on the bottom side of the main body. Attached Figure Description

[0068] Figure 1 is a schematic diagram of an optional working scenario of the detection device or self-propelled device in an embodiment of this disclosure;

[0069] Figure 2 is a schematic diagram of another optional working scenario of the detection device or self-propelled device in the embodiments of this disclosure;

[0070] Figure 3 is a schematic diagram of another optional working scenario of the detection device or self-propelled device in the embodiments of this disclosure;

[0071] Figure 4 is a schematic diagram of an optional relative position structure of the first laser component and the first acquisition component in an embodiment of this disclosure;

[0072] Figure 5 is a schematic diagram of another optional relative position structure of the first laser component and the first acquisition component in an embodiment of this disclosure;

[0073] Figure 6 is a schematic diagram of another optional relative position structure of the first laser component and the first acquisition component in an embodiment of this disclosure;

[0074] Figure 7 is a schematic diagram of an optional structure of the first laser component in an embodiment of this disclosure;

[0075] Figure 8 is a schematic diagram of another optional structure of the first laser component in an embodiment of this disclosure;

[0076] Figure 9 is a schematic diagram of an optional working scenario shown in Figure 8;

[0077] Figure 10 is another optional structural schematic diagram of the first laser component in an embodiment of this disclosure;

[0078] Figure 11 is a schematic diagram of another optional structure of the first laser component in an embodiment of this disclosure;

[0079] Figure 12 is a schematic diagram of an optional structure of the detection device or self-propelled device in an embodiment of this disclosure;

[0080] Figure 13 is a schematic diagram of another optional structure of the detection device or self-propelled device in the embodiments of this disclosure;

[0081] Figure 14 is a schematic diagram of another structure as shown in Figure 13;

[0082] Figure 15 is a schematic diagram of an optional relative position structure of the second acquisition component and the supplementary lighting component in an embodiment of this disclosure;

[0083] Figure 16 is a schematic diagram of another optional relative position structure of the second acquisition component and the supplementary lighting component in an embodiment of this disclosure;

[0084] Figure 17 is a schematic diagram of another optional relative position structure of the second acquisition component and the supplementary lighting component in an embodiment of this disclosure. Reference numerals: 100, support component; 110, mounting groove; 120, shielding protrusion; 200, first laser component; 211, first line laser; 212, second line laser; 213, third line laser; 220, first substrate; 230, first light source; 240, first optical component; 250, shielding member; 251, first wall; 2511, third opening; 252, first inclined wall; 2521, first opening; 253, second inclined wall; 2531, second opening; 261, first positioning surface; 262, second positioning surface; 300, first acquisition component; 400, main body; 511, first region; 512, second region; 513, third region; 520, support surface; 600, second acquisition component; 700, supplementary lighting component; 800, second laser component. . Detailed Implementation

[0085] The technical solution of this disclosure will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0086] In the embodiments described in this disclosure, it should be noted that, unless otherwise stated and limited, the term "connection" should be interpreted broadly. For example, it can refer to an electrical connection or a connection between two internal components. It can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above term according to the specific circumstances.

[0087] It should be noted that the terms "first," "second," and "third" used in the embodiments of this disclosure are merely used to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first," "second," and "third" can be interchanged in a specific order or sequence where permitted. It should be understood that the objects distinguished by "first," "second," and "third" can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein.

[0088] The detection device and self-propelled device described in the embodiments of this disclosure will be described in detail below with reference to Figures 1 to 17.

[0089] In related technologies, detection structures typically scan different areas using different laser structures. For example, a detection structure generally includes a first laser structure and a second laser structure positioned at different locations. The first laser structure scans one area, and the second laser structure scans another. By using two laser structures, different areas can be scanned separately. Because the detection structure requires two independently configured laser structures, its size is relatively large. As an example, when a detection structure is installed in a cleaning device, the cleaning device typically uses different obstacle avoidance laser structures to determine the distance to objects in different areas. Because the cleaning device needs to independently configure obstacle avoidance laser structures to scan different areas, its size is also relatively large. Furthermore, the cost of the cleaning device is high because it requires independently configuring different obstacle avoidance laser structures for scanning.

[0090] This disclosure describes a detection device, including: a support component 100, a first laser component 200, a first acquisition component 300, and a processor. The first laser component 200 is disposed on the support component 100; the first laser component 200 is used to emit line lasers to at least two different regions respectively; wherein, the first laser component 200 includes a first light source 230; the first acquisition component 300 is disposed on the support component 100 and corresponds to the position of the first laser component 200; the first acquisition component 300 is used to acquire environmental images of at least two different regions corresponding to the line lasers emitted by the first laser component 200; the processor is used to determine the distances of objects in at least two different regions based on the environmental images acquired by the first acquisition component 300; by using only one structure, the first laser component 200 can emit line lasers to at least two different regions, greatly simplifying the structure of the detection device and reducing its size. Furthermore, since the first laser component 200 includes only one light source, its size can be further reduced. In addition, the first acquisition component 300 can also acquire environmental images of at least two different regions, and the processor can also determine the distance of objects in at least two different regions based on the environmental images of at least two different regions acquired by the first acquisition component 300; thus, by using the first laser component 200 and the first acquisition component 300 and the processor, the distance of objects in at least two different regions can be detected, which greatly reduces the manufacturing cost of the detection device.

[0091] This disclosure also describes a self-propelled device, comprising a main body 400 and a detection device according to this disclosure; the detection device is disposed on the main body 400. The self-propelled device can determine its walking route by measuring the distances between objects in at least two different regions determined by a processor, thereby achieving obstacle avoidance. Since the detection device can be made relatively small, the self-propelled device can be miniaturized and made thinner through its small-volume detection device. At the same time, the self-propelled device can also reduce manufacturing costs by using a low-cost detection device.

[0092] In this embodiment of the disclosure, the processor can determine the walking route based on the distance between objects in at least two different regions. In this case, the self-walking device and the detection device can share a single processor.

[0093] The processor architecture is not limited here. For example, the processor can be a central processing unit (CPU).

[0094] The location of the processor is not limited here. For example, the processor can be located on the carrier component 100. Or, for example, the processor can be located on the main body 400.

[0095] Of course, the self-propelled device and the detection device may not share a single processor. In this case, the self-propelled device may include a processing structure, which can determine the walking route based on the distances between objects in at least two different regions determined by the processor. The form of the processing structure is not limited here. For example, the processing structure can be a CPU.

[0096] In the embodiments disclosed herein, the structure of the self-propelled device is not limited. For example, the self-propelled device can be a delivery robot, an unmanned vehicle, or a sweeping robot.

[0097] This disclosure primarily describes the detection device and self-propelled device using a robotic vacuum cleaner as an example, but it does not imply that the self-propelled device is limited to robotic vacuum cleaners, nor does it imply that the detection device can only be used with self-propelled devices. For example, the detection device can also be used with non-self-propelled devices.

[0098] As an example, the self-propelled device may also include a cleaning assembly disposed on the underside of the main body 400 for cleaning floors, roads, etc., by means of the self-propelled device. Here, the structure of the cleaning assembly is not limited. For example, the cleaning assembly may include a cleaning brush.

[0099] In this embodiment, the structure of the main body 400 is not limited. For example, the main body 400 can be the housing or the frame of a self-propelled device. Here, the load-bearing component 100 can be mounted on the main body 400 through threaded structures, snap-fit ​​structures, welding structures, etc.

[0100] In this embodiment of the present disclosure, as shown in Figures 1, 2 and 3, the self-propelled device is used to travel on the bearing surface 520. The first laser component 200 can be used to emit a first line laser 211 towards the first region 511. The first line laser 211 can be distributed along a first direction, which is perpendicular to the bearing surface 520. That is, the first line laser 211 is generally a vertical line laser. By setting the first line laser 211 along the vertical direction, the distance at which the first laser component 200 emits the first line laser 211 towards the first region 511 can be increased; thereby enabling the detection device and the self-propelled device to measure the distance of objects at a long distance.

[0101] In this embodiment of the disclosure, the bearing surface refers to the surface that supports the self-propelled device. For example, the bearing surface can be a road surface or the ground.

[0102] In this embodiment, the support component 100 is used to support the first laser component 200 and the first acquisition component 300. The structure of the support component 100 is not limited. For example, the support component 100 can be a plate-like structure or a frame-like structure.

[0103] In this embodiment, the first laser component 200 can be fixed to the support component 100 via a threaded structure, a welded structure, or a snap-fit ​​structure. Alternatively, the first laser component 200 can be movably disposed on the support component 100 to adjust its position relative to the support component 100. As one example, the first laser component 200 can be rotatably disposed on the support component 100. As yet another example, the first laser component 200 can be translationally disposed on the support component 100.

[0104] The number of line lasers emitted by the first laser component 200 is not limited. For example, as shown in Figure 1, the first laser component 200 can emit three line lasers into three different regions. As another example, as shown in Figures 2 and 3, the first laser component 200 can emit two line lasers into two different regions.

[0105] The first laser component 200 includes a light source, and the implementation of the first laser component 200 for emitting line lasers into at least two different regions through a light source is not limited.

[0106] For example, the first laser assembly 200 includes a first substrate 220, a first light source 230, and a first optical assembly 240. The first substrate 220 can be disposed on the carrier assembly 100 by means of a snap-fit ​​structure, an adhesive structure, a threaded structure, etc. The first light source 230 can be disposed on the first substrate 220 by means of adhesive, bonding, snap-fit, etc. The first optical assembly 240 is disposed on the side of the first light source 230 facing away from the first substrate 220, and the first optical assembly 240 is used to make the laser emitted by the first light source 230 form at least two line lasers emitted towards at least two different regions respectively.

[0107] The structure of the first optical component 240 is not limited, as long as it can form at least two line laser beams from the laser emitted by the first light source 230. For example, the first optical component 240 may include a DOE grating. As another example, the first optical component 240 may include a multi-line laser.

[0108] In the embodiments disclosed herein, the structure of the first acquisition component 300 is not limited. For example, the first acquisition component 300 may include an infrared lens. As an example, the first acquisition component 300 may include an IR camera.

[0109] The location of the first acquisition component 300 is not limited. For example, the first acquisition component 300 has a first angle with the second plane, where the second plane is the plane in the forward direction of the self-propelled device; in this case, the first acquisition component 300 is located on one side of the self-propelled device.

[0110] The value of the first included angle is not limited. For example, the range of the first included angle can be from 0 degrees to 20 degrees.

[0111] Of course, the first acquisition component 300 and the second plane may not have a first included angle. In this case, the first acquisition component 300 is located on the second plane and can be located directly in front of the self-propelled device.

[0112] The relative positions of the first acquisition component 300 and the first laser component 200 are not limited, as long as the first acquisition component 300 can acquire environmental images of at least two different regions corresponding to the line laser emitted by the first laser component 200. For example, the line lasers emitted by the first acquisition component 300 and the first laser component 200 can both form a triangulation model, so that when the line laser hits the object being measured, the distance to the object can be calculated, thereby enabling obstacle avoidance. That is, the first acquisition component 300 cannot be positioned in the distribution direction of the line laser emitted by the first laser component 200.

[0113] As an example, the first acquisition component 300 may include an IR camera whose sub-angle can cover at least two different areas. In this case, the sub-angle of the IR camera can cover the range of the laser emitted by the first laser component 200.

[0114] Here, the first laser component 200 is used to simultaneously emit line lasers into at least two different areas, and the first acquisition component 300 is used to simultaneously acquire environmental images of at least two different areas; thereby, the time required for the detection device to determine the distance of objects in at least two different areas can be greatly reduced, and the detection efficiency of the detection device can be improved.

[0115] In this embodiment of the disclosure, the processor and the first acquisition component 300 can be electrically connected via wired or wireless means.

[0116] The method by which the processor determines the distances of objects in at least two different regions based on environmental images of at least two different regions acquired by the first acquisition component 300 is not limited. For example, the processor can determine the distances of objects in at least two different regions relatively easily using triangulation.

[0117] Since environmental images of at least two different regions are located on one image, the processor can store the relative positional relationship of at least two different regions. Based on the relative positional relationship of at least two different regions, the processor can determine the portion of the environmental image corresponding to the at least two different regions in the environmental image. Then, based on the portion of the environmental image corresponding to the at least two different regions, the distance of objects in the at least two different regions can be determined relatively easily using triangulation. At this time, the processor can simultaneously determine the distance of objects in at least two different regions, which greatly improves the detection efficiency of the detection device.

[0118] In some optional implementations of the embodiments of this disclosure, the first laser component 200 is used to emit a first line laser 211 towards a first region 511, a second line laser 212 towards a second region 512, and a third line laser 213 towards a third region 513; the first acquisition component 300 is used to acquire environmental images corresponding to the first region 511 and the first line laser 211, the second region 512 and the second line laser 212, and the third region 513 and the third line laser 213; the processor is used to select environmental images corresponding to the first region 511 from the environmental images acquired by the first acquisition component 300. The first image portion determines the object distance in the first region 511, and is used to determine the object distance in the second region 512 based on the second image portion corresponding to the second region 512 in the environmental image acquired by the first acquisition component 300. It is also used to determine the object distance in the third region 513 based on the third image portion corresponding to the third region 513 in the environmental image acquired by the first acquisition component 300. This allows the object distances in three different regions to be determined simultaneously by using a first laser component 200 structure in conjunction with the first acquisition component 300 and the processor, thereby greatly improving the detection efficiency of the detection device.

[0119] In this implementation, the arrangement of the first laser 211, the second laser 212, and the third laser 213 is not limited. For example, the first laser 211 and the second laser 212 can be parallel, and the third laser 213 can be perpendicular to both the first laser 211 and the second laser 212. Here, as shown in Figure 1, the first region 511 and the second region 512 are adjacent, and the third region 513 can be adjacent to both the first region 511 and the second region 512. In this case, the first part of the image and the second part of the image are adjacent, and the third part of the image is adjacent to both the first part of the image and the second part of the image. Of course, the third region 513 can also intersect with the first region 511 and the second region 512. In this case, the first part of the image and the second part of the image are adjacent, and the third part of the image intersects with both the first part of the image and the second part of the image. Another example is that the first laser 211, the second laser 212, and the third laser 213 can be parallel. Here, the first region 511, the second region 512, and the third region 513 can be arranged sequentially adjacent to each other, and the first part of the image, the second part of the image, and the third part of the image can be arranged sequentially adjacent to each other. For example, the first laser 211 is perpendicular to the second laser 212 and the third laser 213, and the second laser 212 and the third laser 213 are parallel. Here, the second region 512 and the third region 513 can be arranged adjacent to each other, and the first region 511 can be adjacent to the second region 512 and the third region 513 or intersect with them. The second part of the image and the third part of the image can be arranged adjacent to each other, and the first part of the image can be adjacent to the second part of the image and the third part of the image or intersect with them.

[0120] In this implementation, the orientation of the first laser 211, the second laser 212, and the third laser 213 is not limited. For example, the first laser 211 can be distributed along a first direction. Here, the first direction is not limited. As an example, the self-propelled device is used to travel on the bearing surface 520, and the first direction is perpendicular to the bearing surface 520, that is, the first laser 211 is distributed generally along the vertical direction. In one application, as shown in Figure 1, the first laser line 211 is distributed along a first direction, which is perpendicular to the bearing surface 520. The second laser line 212 is parallel to the first laser line 211, and the third laser line 213 is perpendicular to the first laser line 211. At this time, the first laser line 211 and the second laser line 212 are distributed roughly vertically, and the third laser line 213 is distributed roughly horizontally. The third laser line 213 enables obstacle avoidance at close range for the detection device and the self-propelled device, while the first laser line 211 and the second laser line 212 enable obstacle avoidance at longer distances. This greatly improves the detection range of the detection device and the self-propelled device and achieves a wider obstacle avoidance range.

[0121] In this implementation, the angles of the first laser 211, the second laser 212, and the third laser 213 are not limited. For example, the angle of the third laser 213 can range from 90 degrees to 150 degrees. As an example, the third laser 213 can be parallel to the bearing surface 520, and can be symmetrically or asymmetrically arranged about the second plane. In one application, the third laser 213 can be located on the left or right side of the second plane.

[0122] In this implementation, the first acquisition component 300 can form triangulation models with the first line laser 211, the second line laser 212, and the third line laser 213, respectively. As an example, the first line laser 211 is distributed along a first direction, the second line laser 212 is parallel to the first line laser 211, and the third line laser 213 is distributed along a second direction, with the first and second directions perpendicular to each other. The first acquisition component 300 and the first laser component 200 have a first distance in the first direction and a second distance in the second direction, so that the first acquisition component 300 can form triangulation models with the first line laser 211, the second line laser 212, and the third line laser 213, respectively. Here, the values ​​of the first and second distances are not limited. For example, the range of the first distance can be from 3mm to 20cm, and the range of the second distance can also be from 3mm to 20cm. In one application, the first laser beam 211 is distributed along a first direction F1, and the second laser beam 212 is parallel to the first laser beam 211; the third laser beam 213 is distributed along a second direction F2, and the first direction F1 and the second direction F2 are perpendicular; as shown in Figure 4, the first acquisition component 300 can be located at the lower left corner of the support component 100 or the main body 400, and the first laser component 200 can be located at the upper right corner of the support component 100 or the main body 400; as shown in Figure 5, the first acquisition component 300 can be located at the upper left corner of the support component 100 or the main body 400. The first laser component 200 can be located at the lower right corner of the support component 100 or the main body 400; as shown in Figure 6, the first acquisition component 300 can be located at the upper right corner of the support component 100 or the main body 400, and the first laser component 200 can be located at the lower left corner of the support component 100 or the main body 400; here, up and down are referenced to the location of the detection device and the self-propelled device on the support surface 520, up refers to the side away from the support surface 520, and down refers to the side close to the support surface 520; left and right can be referenced to the plane where the forward direction of the detection device and the self-propelled device is located.

[0123] In this implementation, as shown in FIG7, the first laser component 200 may include: a first substrate 220, a first light source 230, and a first optical component 240. The first optical component 240 is used to cause the laser emitted by the first light source 230 to form a first line laser 211, a second line laser 212, and a third line laser 213.

[0124] In this implementation, as shown in Figures 8 and 9, the first laser assembly 200 may further include: a shielding member 250, which is disposed on the side of the first optical assembly 240 facing away from the first substrate 220; the shielding member 250 has a first wall 251, and a first inclined wall 252 and a second inclined wall 253 located on opposite sides of the first wall 251; the first inclined wall 252 has a first opening 2521, and the second inclined wall 253 has a second opening 2531. A third opening 2511 is provided on 251; a first optical component 240 is used to emit a first line laser 211 from the first opening 2521; a second line laser 212 is used to emit from the second opening 2531; a third line laser 213 is used to emit from the third opening 2511; thereby, the shielding member 250 prevents the first line laser 211, the second line laser 212 and the third line laser 213 from interfering with each other near the first laser component 200.

[0125] Here, the material of the shielding member 250 is not limited, as long as it can prevent the first laser 211, the second laser 212, and the third laser 213 from interfering with each other near the first laser assembly 200. For example, the material of the shielding member 250 can be an opaque material. As an example, the material of the shielding member 250 can be opaque plastic. As yet another example, the material of the shielding member 250 can be opaque metal.

[0126] In this implementation, the first optical component 240 can be used to make the third line laser 213 form a first depression angle with the first plane; or, the first optical component 240 can be used to make the third line laser 213 form a first elevation angle with the first plane.

[0127] Here, by setting a first depression angle or a first elevation angle between the third laser 213 and the first plane, it is possible to form a triangulation model between the third laser 213 and the first acquisition component 300, and to make the third laser 213 hit a suitable range on the bearing surface 520. Thus, when the laser hits the nearby object being measured, the distance between the laser and the object can be accurately calculated, thereby enabling precise obstacle avoidance.

[0128] Here, the value of the first depression angle is not limited. For example, the first depression angle can be less than or equal to 30 degrees. Here, the value of the first elevation angle is not limited. For example, the first elevation angle can be less than or equal to 30 degrees.

[0129] Here, the first plane can be a reference plane for the third line laser 213. The first plane can be parallel to or not parallel to the bearing surface 520. When the first optical component 240 enables the third line laser 213 to form a first depression angle or a first elevation angle with the first plane, the first plane can be parallel to the bearing surface 520. In this case, the first optical component 240 also enables the third line laser 213 to form a first depression angle or a first elevation angle with the bearing surface 520, thereby enabling the third line laser 213 to hit a suitable area on the bearing surface 520. Of course, the first optical component 240 can also be used to make the third line laser 213 parallel to the first plane. In this case, in order for the third line laser 213 to hit a suitable area on the bearing surface 520, the third line laser 213 and the first plane need to form a first depression angle or a first elevation angle with the bearing surface 520.

[0130] The manner in which the first optical component 240 causes the third line laser 213 to form a first depression angle or a first elevation angle is not limited. For example, the first optical component 240 may also include a first folding member, which causes the third line laser 213 to form a first depression angle or a first elevation angle with the first plane. The structure of the first folding member is not limited. For example, the first folding member may include a freeform lens; in this case, the freeform lens can cause the laser emitted by the first light source 230 to form a first depression angle or a first elevation angle with the first plane.

[0131] Here, the first laser assembly 200 may have a first positioning surface 261 parallel to the first plane; the first positioning surface 261 is used for mounting and positioning the first laser assembly 200. When the third laser 213 forms a first depression angle or a first elevation angle with the first plane, during the mounting and positioning of the first laser assembly 200, it is only necessary to set the first positioning surface 261 to be approximately parallel to the bearing surface 520. When the third laser 213 is parallel to the first plane, the first positioning surface 261 and the bearing surface 520 need to be set with a depression angle or an elevation angle. Of course, the first depression angle or the first elevation angle between the third laser 213 and the bearing surface 520 can also be achieved by the mounting of the first optical assembly 240 and the first laser assembly 200 together.

[0132] The location of the first positioning surface 261 is not limited. For example, the first positioning surface 261 may be located on at least one of the first substrate 220 and the first optical component 240. As an example, the first positioning surface 261 is located on the first substrate 220 and the first optical component 240.

[0133] In this implementation, the first optical component 240 can be used to make the first line laser 211 form a first deflection angle with the second plane; the first optical component 240 is used to make the second line laser 212 form a second deflection angle with the second plane, wherein the first line laser 211 and the second line laser 212 deflect in opposite directions relative to the second plane.

[0134] Here, by setting a first deflection angle between the first line laser 211 and the second plane, it is possible to form a triangulation model between the first line laser 211 and the first acquisition component 300, and to ensure that the first line laser 211 hits within a suitable range. Thus, when the line laser hits the object being measured, the distance between the laser and the object can be accurately calculated, thereby enabling precise obstacle avoidance.

[0135] Here, by setting a second deflection angle between the second laser 212 and the second plane, the second laser 212 and the first acquisition component 300 can form a triangulation model, and the second laser 212 can hit the appropriate range. Thus, when the laser hits the object being measured, the distance between the laser and the object can be accurately calculated, thereby enabling precise obstacle avoidance.

[0136] The manner in which the first optical component 240 causes the first line laser 211 to form a first deflection angle or the second line laser 212 to form a second deflection angle is not limited. For example, the first optical component 240 may further include a first sub-folding member and a second sub-folding member, wherein the first sub-folding member causes the first line laser 211 to form a first deflection angle, and the second sub-folding member causes the second line laser 212 to form a second deflection angle. The structure of the first sub-folding member is not limited. For example, the first sub-folding member may include a freeform lens; in this case, the freeform lens can cause the first line laser 211 to form a first deflection angle. The structure of the second sub-folding member is not limited. For example, the second sub-folding member may include a freeform lens; in this case, the freeform lens can cause the second line laser 212 to form a second deflection angle.

[0137] Here, the value of the first deflection angle is not limited. For example, the range of the first deflection angle can be from 25 degrees to 50 degrees. Here, the value of the second deflection angle is not limited. For example, the range of the second deflection angle can be from 25 degrees to 50 degrees. When the range of the first deflection angle is 25 degrees to 50 degrees and the range of the second deflection angle is 25 degrees to 50 degrees, the first line laser 211 and the second line laser 212 form two parallel line laser beams with a deflection angle range of 50 degrees to 100 degrees.

[0138] Here, the value of the second deflection angle can be the same as the value of the first deflection angle. Of course, the value of the second deflection angle can also be different from the value of the first deflection angle.

[0139] Here, the first laser 211 and the second laser 212 can be arranged symmetrically or asymmetrically about the second plane. As an example, the first laser 211 and the second laser 212 can both be located on the left or right side of the second plane.

[0140] Here, the second plane can be a reference plane for the first line laser 211 and the second line laser 212. The second plane can be parallel to the plane containing the forward direction of the self-propelled device. When the first optical component 240 enables the first line laser 211 and the second line laser 212 to form a first deflection angle and a second deflection angle with the second plane, the second plane can be parallel to the plane containing the forward direction of the self-propelled device. At this time, the first optical component 240 also enables the first line laser 211 and the second line laser 212 to form a first deflection angle and a second deflection angle with the plane containing the forward direction of the self-propelled device, thereby enabling the first line laser 211 and the second line laser 212 to hit the appropriate range.

[0141] Here, the second laser component 800 may have a second positioning surface 262 parallel to the second plane; the second positioning surface 262 is used for the installation and positioning of the first laser component 200. When installing and positioning the first laser component 200, it is only necessary to set the second positioning surface 262 to be approximately parallel to the plane in which the self-propelled device moves forward.

[0142] The location of the second positioning surface 262 is not limited. For example, the second positioning surface 262 may be located on at least one of the first substrate 220 and the first optical component 240. As an example, the second positioning surface 262 is located on the first substrate 220.

[0143] Here, the first optical component 240 can also be used to make the first line laser 211 form a third deflection angle with the first plane; the first optical component 240 can also be used to make the second line laser 212 form a fourth deflection angle with the first plane; wherein the first plane and the second plane are perpendicular to each other, so that the first line laser 211 and the second line laser 212 hit within a suitable range.

[0144] The value of the third deflection angle is not limited. For example, the range of the third deflection angle can be from 0 degrees to 20 degrees, so that the first line laser 211 hits the bearing surface 520, thereby increasing the ranging range of the first line laser 211. The value of the fourth deflection angle is not limited. For example, the range of the fourth deflection angle can be from 0 degrees to 20 degrees, so that the second line laser 212 hits the bearing surface 520, thereby increasing the ranging range of the second line laser 212.

[0145] The values ​​of the third deflection angle and the fourth deflection angle can be the same or different.

[0146] In one application, the first optical component 240 may include a beam-splitting component, a shaping component, and a folding component. The first optical component 240 can split the laser light from the first light source 230 into three sub-lasers via the beam-splitting component. The shaping component can then form the three sub-lasers into a first line laser 211, a second line laser 212, and a third line laser 213. The folding component can then give the first line laser 211, the second line laser 212, and the third line laser 213 a certain deflection angle. The structure of the beam-splitting component is not limited. For example, the beam-splitting component may include a DOE grating or a multi-spot laser to split the laser light from the first light source 230 into three sub-lasers. The structure of the shaping component is not limited. For example, the shaping component may include at least one of a wave mirror, a cylindrical lens, and a DOE lens to shape the three sub-lasers into a linear distribution. The structure of the folding component is not limited. For example, the folding portion may include at least one of a cylindrical lens and a freeform lens, so that the first line laser 211, the second line laser 212 and the third line laser 213 have a certain deflection angle through at least one of the cylindrical lens and the freeform lens.

[0147] In this implementation, the first acquisition component 300 can acquire environmental images corresponding to the first region 511 and the first laser line 211, the second region 512 and the second laser line 212, and the third region 513 and the third laser line 213. The environmental images acquired by the first acquisition component 300 include a first portion image corresponding to the first region 511, a second portion image corresponding to the second region 512, and a third portion image corresponding to the third region 513. The first portion image, the second portion image, and the third portion image are within a single environmental image. Due to the relative positional relationship between the first laser line 211, the second laser line 212, and the third laser line 213, the first region 511, the second region 512, and the third region 513 have corresponding positional relationships, and the first portion image, the second portion image, and the third portion image also have corresponding positional relationships.

[0148] In this implementation, the processor can determine the environmental image and the first, second, and third partial images corresponding to the first, second, and third laser lines 211, 212, and 213, respectively, based on their relative positional relationships. Here, at least two of the first, second, and third partial images may include overlapping portions; for example, a portion of the first partial image may also be located within the third partial image. As an example, when the third region 513 intersects with the first region 511 and the second region 512, portions of the first and second partial images are also located within the third partial image.

[0149] Of course, the first, second, and third image portions can all be images that do not contain duplicate parts. For example, the first, second, and third image portions together form an environmental image. In this case, the processor only needs to split the environmental image into the first, second, and third image portions corresponding to the first, second, and third laser lines 211, 212, and 213, respectively, based on the relative positional relationship between the first laser line 211, the second laser line 212, and the third laser line 213.

[0150] In some optional implementations of the embodiments of this disclosure, the first laser component 200 is used to emit a first line laser 211 toward a first region 511 and a second line laser 212 toward a second region 512; the first acquisition component 300 is used to acquire environmental images corresponding to the first region 511 and the first line laser 211, and to acquire environmental images corresponding to the second region 512 and the second line laser 212; the processor is used to determine the object distance of the first region 511 based on a first portion of the environmental image acquired by the first acquisition component 300 that corresponds to the first region 511, and is also used to determine the object distance of the second region 512 based on a second portion of the environmental image acquired by the first acquisition component 300 that corresponds to the second region 512.

[0151] In this implementation, the first laser component 200, the first acquisition component 300, and the processor have been described in the above embodiments, and will not be repeated here.

[0152] In this implementation, the first laser component 200 emits two line lasers, a first line laser 211 and a second line laser 212, which are similar to those in the above embodiments.

[0153] In this implementation, the positional relationship between the first line laser 211 and the second line laser 212 is not limited.

[0154] For example, as shown in Figure 10, the first line laser 211 and the second line laser 212 are parallel; in this case, the first part of the image and the second part of the image are adjacent. In one application, as shown in Figure 2, the first line laser 211 can be distributed along a first direction, which is perpendicular to the bearing surface 520, and the first line laser 211 and the second line laser 212 are generally spaced apart along the vertical direction.

[0155] Of course, the first laser 211 and the second laser 212 can also be perpendicular, or the first laser 211 and the second laser 212 can intersect but not be perpendicular.

[0156] Of course, in other implementations, the first laser component 200 can also be used to emit a first line laser 211 towards the first region 511 and a third line laser 213 towards the third region 513; the first acquisition component 300 can be used to acquire environmental images corresponding to the first region 511 and the first line laser 211, and to acquire environmental images corresponding to the third region 513 and the third line laser 213; the processor is used to determine the object distance of the first region 511 based on the first portion of the environmental image acquired by the first acquisition component 300 that corresponds to the first region 511, and is also used to determine the object distance of the second region 512 based on the third portion of the environmental image acquired by the first acquisition component 300 that corresponds to the third region 513. The first line laser 211 and the third line laser 213 have been described in the above embodiments, and will not be repeated here. As an example, as shown in FIG11, the first line laser 211 and the second line laser 212 are perpendicular. In this case, the first portion of the image and the second portion of the image can be adjacent, or the first portion of the image and the second portion of the image can intersect. In one application, as shown in Figure 3, the first line laser 211 can be distributed along a first direction, which is perpendicular to the bearing surface 520. The first line laser 211 is generally set along the vertical direction, and the third line laser 213 is generally set along the horizontal direction.

[0157] In this implementation, as shown in Figure 12, the detection device may further include a second laser component 800, which can be mounted on the support component 100 via a snap-fit ​​structure, threaded structure, adhesive structure, etc. The second laser component 800 is used to emit a third laser beam 213 towards the third region 513; the first acquisition component 300 is also used to acquire an environmental image of the third region 513; the processor is further used to determine the object distance in the third region 513 based on the environmental image corresponding to the third region 513 in the environmental image acquired by the first acquisition component 300.

[0158] Here, the detection device emits a first line laser 211 and a second line laser 212 through the first laser component 200, and emits a third line laser 213 through the second laser component 800. At this time, the detection device emits line lasers to three regions through two laser structures. Compared with the structure that emits line lasers to three regions through three laser structures, the detection device disclosed in this invention has a simpler structure and a smaller size.

[0159] Here, the second laser component 800 and the third line laser 213 are similar to the first laser component 200 and the third line laser 213 described above, and will not be repeated here.

[0160] Here, the relative positional relationship between the third laser 213 and the first laser 211 and the second laser 212 is not limited. For example, the first laser 211 and the second laser 212 can be parallel, and the third laser 213 can be perpendicular to the first laser 211 and the second laser 212 respectively.

[0161] Here, the second laser assembly 800 may include a second substrate, a second light source, and a second optical assembly. The second substrate may be disposed on the carrier assembly 100 through a snap-fit ​​structure, a threaded structure, an adhesive structure, etc.; the second light source may be disposed on the second substrate through an adhesive structure, a welding structure, a snap-fit ​​structure, etc.; the second optical assembly may be disposed on the side of the second light source opposite to the second substrate, for forming a third laser 213 from the laser emitted by the second light source.

[0162] The manner in which the second optical component forms the third line laser 213 from the laser emitted by the second light source is not limited. For example, the second optical component may include a wave mirror capable of expanding the point light source of the second light source into a linear distribution. As another example, the second optical component may include a cylindrical lens capable of expanding the point light source of the second light source into a linear distribution. Yet another example, the second optical component may also include a DOE lens capable of expanding the point light source of the second light source into a linear distribution.

[0163] The second optical component can also be used to make the third line laser 213 form a first depression angle with the first plane, or the second optical component can also be used to make the third line laser 213 form a first elevation angle with the first plane, wherein the first depression angle can be less than or equal to 30 degrees and the first elevation angle can be less than or equal to 30 degrees.

[0164] The manner in which the second optical component causes the third line laser 213 to form a first depression angle or a first elevation angle is not limited. For example, the second optical component may also include a second folding member, which causes the third line laser 213 to form a first depression angle or a first elevation angle with the first plane. The structure of the second folding member is not limited. For example, the second folding member may include a freeform lens; in this case, the freeform lens can cause the laser emitted by the second light source to form a first depression angle or a first elevation angle with the first plane.

[0165] In some optional implementations of the embodiments of this disclosure, the detection device may further include: a second acquisition component 600 disposed on the support component 100, the second acquisition component 600 being used to acquire an environmental image of a fourth region; the processor is further used to identify objects in the fourth region based on the environmental image acquired by the second acquisition component 600 corresponding to the fourth region; wherein, the fourth region includes at least a portion of at least two regions; by cooperating with the second acquisition component 600 and the processor, objects in at least a portion of at least two regions can be identified, and by cooperating with the first laser component 200, the first acquisition component 300 and the processor, the distances of objects in at least two different regions can be determined. In this case, the detection device can detect objects more comprehensively, so that the detection device or self-propelled device can accurately avoid obstacles.

[0166] In this implementation, the structure of the second acquisition component 600 is not limited. For example, the second acquisition component 600 is used to acquire color environmental images. As an example, the second acquisition component 600 may include an RGB camera. As another example, the second acquisition component 600 may include a mono camera. Yet another example, the second acquisition component 600 may include an RGB-D camera.

[0167] In this implementation, the processor can store relevant features of the object, such as the shape, color, and size of the object. The processor can compare the environmental image corresponding to the fourth region acquired by the second acquisition component 600 with the relevant features of the object stored in the processor to identify the object, thereby providing a precise walking route for the detection device and the self-propelled device.

[0168] In this implementation, the fourth region may include all or part of at least two regions. For example, the fourth region may include the third region 513. In one application, the third laser line 213 is generally distributed horizontally. In this case, the third laser line 213 is mainly used to measure the distance to objects near the detection device and the self-propelled device. The second acquisition component 600 can also identify objects near the detection device and the self-propelled device, thereby improving the obstacle avoidance accuracy in the area near the detection device and the self-propelled device. Alternatively, the fourth region may include the first region 511, the second region 512, and the third region 513 to improve the obstacle avoidance accuracy of each region of the detection device and the self-propelled device.

[0169] In this implementation, as shown in Figure 13, the detection device may further include a supplementary lighting component 700, which is disposed on the carrier component 100. The supplementary lighting component 700 is spaced apart from the second acquisition component 600, and the supplementary lighting component 700 is used to provide light to the fourth area so that the second acquisition component 600 can also acquire an environmental image with appropriate brightness even in a dark environment.

[0170] The structure of the supplementary lighting assembly 700 is not limited. For example, the supplementary lighting assembly 700 may include a supplementary light.

[0171] Here, as shown in Figure 14, the carrier component 100 may have a blocking protrusion 120 located on the periphery of the supplementary lighting component 700 in order to prevent cross-lighting by means of the blocking protrusion 120.

[0172] In this implementation, the second acquisition component 600 may have a second depression angle or a second elevation angle relative to the first plane, so that the second acquisition component 600 can acquire images of the parts corresponding to at least two areas near the detection device or self-propelled device.

[0173] Here, the value of the second depression angle is not limited. For example, the range of the second depression angle can be from 0 degrees to 10 degrees. Here, the value of the second elevation angle is not limited. For example, the range of the second elevation angle can be from 0 degrees to 10 degrees.

[0174] In this implementation, the relative positional relationship between the supplementary lighting component 700 and the second acquisition component 600 is not limited. For example, as shown in Figures 13 and 15, the supplementary lighting component 700 and the second acquisition component 600 can be spaced apart in a second direction F2, which can be parallel to the supporting surface 520. As another example, as shown in Figures 16 and 17, the supplementary lighting component 700 and the second acquisition component 600 can be spaced apart in a first direction F1, which can be perpendicular to the supporting surface 520.

[0175] In some optional implementations of the embodiments of this disclosure, as shown in FIG14, the carrier component 100 has a mounting groove 110, and at least a portion of the first laser component 200 can be disposed within the mounting groove 110; the first laser component 200 and the wall surrounding the mounting groove 110 can have an installation gap, which is used to adjust the position of the first laser component 200 relative to the carrier component 100 during the installation process. Since there are processing errors in the manufacturing process of the detection device, by reserving an installation gap for the first laser component 200, the position of the first laser component 200 can be adjusted during the installation process so that the first laser component 200 achieves the positional accuracy designed in the design, thereby improving the detection accuracy of the detection device.

[0176] In this implementation, since there are installation gaps between the first laser component 200 and the walls surrounding the mounting groove 110, the first laser component 200 can deflect in a second direction, such as left-right; the first laser component 200 can also deflect in a first direction, such as up-down. Furthermore, the first laser component 200 can also rotate clockwise or counterclockwise.

[0177] In this implementation, the value of the mounting gap is not limited. For example, based on the mounting gap, the first laser assembly 200 and the wall surrounding the mounting groove 110 can have a range of motion of at least 3° in each direction.

[0178] In this implementation, after the first laser component 200 is positioned relative to the carrier component 100, the position of the first laser component 200 relative to the carrier component 100 can be fixed by means of dispensing, snap-fitting, etc.

[0179] Of course, in other implementations, the first laser component 200 can also be directly fixed in the mounting groove 110 via a snap-fit ​​structure, adhesive structure, etc., in which case there is no installation gap. As an example, the first laser component 200 is tightly fitted with the support component 100. By designing an interference fit between the ribs of the support component 100 and the first laser component 200, the first laser component 200 is squeezed to achieve a tight fit. Here, the ribs can be located in the mounting groove 110, and at least two surfaces of the mounting groove 110 can be provided with ribs. In addition, the groove opening of the mounting groove 110 can also be provided with a baffle structure to prevent the first laser component 200 from slipping off. The end of the first laser component 200 facing away from the groove opening of the mounting groove 110 can be fixed by dispensing adhesive to enhance the reliability of the fixation of the first laser component 200.

[0180] The above description is merely a specific embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A detection device, characterized in that, include: Carrier component; A first laser component is disposed on the supporting component; The first laser component is used to emit line lasers into at least two different regions respectively; wherein, the first laser component includes a light source; A first acquisition component is disposed on the support component and corresponds to the position of the first laser component; the first acquisition component is used to acquire environmental images of at least two different regions corresponding to the line laser emitted by the first laser component; A processor is configured to determine the distances of objects in at least two different regions based on environmental images of at least two different regions acquired by the first acquisition component.

2. The detection device according to claim 1, characterized in that, The first laser component is used to emit a first laser beam into a first region, a second laser beam into a second region, and a third laser beam into a third region; The first acquisition component is used to acquire environmental images corresponding to the first line laser, the second region corresponding to the second line laser, and the third region corresponding to the third line laser; The processor is configured to determine the distance of an object in the first region based on a first portion of an image in the environmental image acquired by the first acquisition component that corresponds to the first region, to determine the distance of an object in the second region based on a second portion of an image in the environmental image acquired by the first acquisition component that corresponds to the second region, and to determine the distance of an object in the third region based on a third portion of an image in the environmental image acquired by the first acquisition component that corresponds to the third region.

3. The detection device of claim 2, wherein, The first and second line lasers are parallel, and the third line laser is perpendicular to both the first and second line lasers; the first and second regions are adjacent, and the third region is adjacent to or intersects with both the first and second regions. The first line laser is distributed along a first direction.

4. The detection device of claim 3, wherein, The first laser component includes: A first substrate is disposed on the carrier assembly; A first light source is disposed on the first substrate; A first optical component is disposed on the side of the first light source facing away from the first substrate, and is used to form the first line laser, the second line laser and the third line laser from the laser emitted by the first light source.

5. The detection device of claim 4, wherein, The first laser component also includes: A shielding member is disposed on the side of the first optical component facing away from the first substrate; the shielding member has a first wall, and a first inclined wall and a second inclined wall located on opposite sides of the first wall. The first inclined wall has a first opening, the second inclined wall has a second opening, and the first wall has a third opening; The first optical component is used to cause the first line laser to be emitted from the first opening; the first optical component is used to cause the second line laser to be emitted from the second opening; the first optical component is used to cause the third line laser to be emitted from the third opening.

6. The detection device of claim 4, wherein, The first optical component is used to make the third line laser form a first depression angle or a first elevation angle with the first plane, wherein the first depression angle is less than or equal to 30 degrees and the first elevation angle is less than or equal to 30 degrees; or... The first optical component is used to make the third line laser parallel to the first plane.

7. The detection device of claim 6, wherein, The first laser component has a first positioning surface parallel to the first plane; The first positioning surface is located on at least one of the first substrate and the first optical component.

8. The detection device of claim 4, wherein, The first optical component is used to make the first line laser form a first deflection angle with the second plane; The first optical component is used to make the second line laser form a second deflection angle with the second plane, wherein the first line laser and the second line laser deflect in opposite directions relative to the second plane.

9. The detection device of claim 8, wherein, The first laser component has a second positioning surface parallel to the second plane; The second positioning surface is located on at least one of the first substrate and the first optical component.

10. The detection device of claim 8, wherein, The value of the second deflection angle may be the same as or different from the value of the first deflection angle; The first deflection angle ranges from 25 degrees to 50 degrees, and the second deflection angle ranges from 25 degrees to 50 degrees.

11. The detection device of claim 8, wherein, The first optical component is also used to make the first line laser form a third deflection angle with the first plane; The first optical component is also used to cause the second line laser to form a fourth deflection angle with the first plane; The first plane and the second plane are perpendicular.

12. The detection device of claim 11, wherein, The value of the third deflection angle may be the same as or different from the value of the fourth deflection angle; The third deflection angle ranges from 0 degrees to 20 degrees, and the fourth deflection angle ranges from 0 degrees to 20 degrees.

13. The detection device according to claim 2, characterized in that, The first line laser is distributed along a first direction, and the second line laser is parallel to the first line laser; the third line laser is distributed along a second direction, and the first direction and the second direction are perpendicular to each other. The first acquisition component and the first laser component are at a first distance in a first direction, and the first acquisition component and the first laser component are at a second distance in a second direction.

14. The detection device according to claim 1, characterized in that, The first laser component is used to emit a first line of laser light into a first region and to emit a second line of laser light into a second region; The first acquisition component is used to acquire environmental images of the first region corresponding to the first line laser and the second region corresponding to the second line laser; The processor is configured to determine the distance of an object in the first region based on a first portion of the environmental image acquired by the first acquisition component that corresponds to the first region, and is also configured to determine the distance of an object in the second region based on a second portion of the environmental image acquired by the first acquisition component that corresponds to the second region.

15. The detection device of claim 14, wherein, The first and second line lasers are parallel; the first portion of the image and the second portion of the image are adjacent; or, The first line laser and the second line laser are perpendicular, and the first portion of the image and the second portion of the image are adjacent or intersect.

16. The detection device of claim 14, wherein, Also includes: A second laser component is disposed on the supporting component; the second laser component is used to emit a third laser beam toward the third region; The first acquisition component is also used to acquire environmental images of the third region; The processor is further configured to determine the object distance in the third region based on the environmental image corresponding to the third region in the environmental image acquired by the first acquisition component; The first and second line lasers are parallel, and the third line laser is perpendicular to both the first and second line lasers.

17. The detection device of claim 1, wherein, Also includes: The second acquisition component is disposed on the carrier component; The second acquisition component is used to acquire environmental images of the fourth region; The processor is further configured to identify objects in the fourth region based on the environmental image corresponding to the fourth region acquired by the second acquisition component; The fourth region includes at least a portion of the regions in at least two of the regions.

18. The detection device of claim 17, wherein, Also includes: A supplementary lighting component is disposed on the carrier component; the supplementary lighting component is disposed at an interval from the second acquisition component, and the supplementary lighting component is used to provide light to the fourth region; The supporting component has a shielding protrusion located on the periphery of the supplementary lighting component.

19. The detection device of claim 17, wherein, The second acquisition component has a second depression angle or a second elevation angle relative to the first plane; wherein the second depression angle ranges from 0 degrees to 10 degrees, and the second elevation angle ranges from 0 degrees to 10 degrees.

20. The detection device according to any one of claims 1 to 19, characterized in that The support component has a mounting groove, and at least a portion of the first laser component is disposed within the mounting groove; the first laser component has an installation gap with the wall surrounding the mounting groove, the installation gap being used to adjust the position of the first laser component relative to the support component during installation.

21. A self-propelled apparatus, comprising: include: The main body and the detection device according to any one of claims 1 to 20; The detection device is disposed on the main body.

22. The self-propelled apparatus according to claim 21, wherein The self-propelled device is used to travel on the bearing surface, and the first laser component is used to emit a first line laser into a first region. The first line laser is distributed along a first direction, which is perpendicular to the bearing surface.

23. The self-propelled apparatus according to claim 21, wherein The first acquisition component has a first angle with the second plane, and the first angle ranges from 0 degrees to 20 degrees. The second plane is the plane in which the self-propelled device moves forward.

24. The self-propelled apparatus according to any one of claims 21 to 23, characterized by Also includes: A cleaning component is disposed on the bottom side of the main body.

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