Detection apparatus and autonomous mobile device

Abstract

A detection apparatus and an autonomous mobile device. The detection apparatus comprises: a laser assembly, used for emitting at least one beam of first-type line laser toward a first region, and emitting at least one beam of second-type line laser toward a second region, wherein the energy of the first-type line laser is greater than that of the second-type line laser; and a collection assembly, used for collecting first-type information, corresponding to the first-type line laser, of the first region, and collecting second-type information, corresponding to the second-type line laser, of the second region.

Description

A detection device and a self-moving device Cross-reference to related applications

[0001] This application claims priority to application No. 202510018745.9, filed with the China National Intellectual Property Administration on January 6, 2025, entitled "A Detection Device and Self-Moving Equipment", and application No. 202520025431.7, filed with the China National Intellectual Property Administration on January 6, 2025, entitled "A Detection Device and Self-Moving Equipment", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of detection technology, and in particular to a detection device and a self-moving 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. Summary of the Invention

[0004] In view of this, embodiments of this application aim to provide a detection device and a self-moving device.

[0005] To achieve the above objectives, the technical solution of this application is implemented as follows:

[0006] This application provides a detection device, including:

[0007] A laser assembly for emitting at least one beam of a first type of line laser toward a first region and for emitting at least one beam of a second type of line laser toward a second region; wherein the energy of the first type of line laser is greater than the energy of the second type of line laser.

[0008] A collection component is used to collect first type of information corresponding to the first type of line laser in the first region, and to collect second type of information corresponding to the second type of line laser in the second region.

[0009] Some alternative implementations also include:

[0010] A first processor is configured to construct a map based on a first type of information collected by the collection component, and to determine object distances in the second region based on a second type of information collected by the collection component.

[0011] In some alternative implementations, the collection component includes:

[0012] An optical receiver is configured to receive first type of information reflected from the first region by the first type of line laser, and to receive second type of information reflected from the second region by the second type of line laser.

[0013] In some alternative implementations, the collection component includes:

[0014] An optical receiver is used to receive first type of information reflected from the first type of line laser light in the first region;

[0015] The acquisition component is used to acquire a second type of information corresponding to the second type of line laser in the second region; wherein, the second type of information includes an environmental image.

[0016] In some alternative implementations, the laser component is used to emit a first line laser and a second line laser toward the first region, and the laser component is also used to emit a third line laser toward the second region; the energy of the first line laser is greater than the energy of the third line laser, and the energy of the second line laser is greater than the energy of the third line laser;

[0017] Wherein, the first line laser, the second line laser, and the third line laser are parallel; or, the first line laser and the second line laser intersect, and the first line laser and the third line laser are parallel; or, the first line laser and the second line laser intersect, and the first line laser and the third line laser intersect.

[0018] In some alternative implementations, the laser component is used to emit a first line laser and a second line laser toward the first region, and the laser component is also used to emit a third line laser toward the second region; the energy of the first line laser is greater than the energy of the third line laser, and the energy of the second line laser is greater than the energy of the third line laser;

[0019] The first line laser and the second line laser intersect, and the first line laser and the third line laser are parallel; the first line laser is distributed along a first direction.

[0020] The first line laser has an angle greater than or equal to 60 degrees, the second line laser has an angle greater than or equal to 20 degrees, and the third line laser has an angle greater than or equal to 80 degrees.

[0021] In some alternative implementations, the laser component is used to emit a first line of laser light toward the first region, and the laser component is also used to emit a third line of laser light toward the second region; the energy of the first line of laser light is greater than the energy of the third line of laser light.

[0022] Wherein, the first line laser and the third line laser are parallel; or, the first line laser and the third line laser intersect.

[0023] In some optional implementations, the laser component includes a first light source, a second light source, and a third light source. The laser component uses the first light source to emit a first line of laser light into the first region; the laser component uses the second light source to emit a second line of laser light into the first region; and the laser component uses the third light source to emit a third line of laser light into the second region. The energy of the first line of laser light is greater than the energy of the third line of laser light, and the energy of the second line of laser light is greater than the energy of the third line of laser light.

[0024] The collection component is used to collect first sub-first type information corresponding to the first region and the first line laser, and to collect second sub-first type information corresponding to the second line laser; it is also used to collect second type information corresponding to the second region and the third line laser.

[0025] In some alternative implementations, the laser component further includes:

[0026] A substrate, wherein the first light source, the second light source, and the third light source are disposed at intervals on the substrate;

[0027] A first optical component is disposed on the side of the first light source facing away from the substrate; the first optical component is used to form the first line laser by the laser emitted by the first light source.

[0028] A second optical component is disposed on the side of the second light source facing away from the substrate; the second optical component is used to form the second line laser by the laser emitted by the second light source.

[0029] A third optical component is disposed on the side of the third light source facing away from the substrate; the third optical component is used to form the third line laser by the laser emitted by the third light source.

[0030] In some alternative implementations, the first optical component is used to make the first line laser parallel to the first plane;

[0031] The second optical component is used to make the second line laser parallel to the second plane; wherein the second plane intersects the first plane;

[0032] The third 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 ranges from 5 degrees to 30 degrees and the first elevation angle ranges from 5 degrees to 30 degrees; or, the third optical component is used to make the third line laser form a first deflection angle in a third direction or a second deflection angle in a fourth direction with the second plane, wherein the first deflection angle ranges from 5 degrees to 30 degrees and the second deflection angle ranges from 5 degrees to 30 degrees.

[0033] In some alternative implementations, the first line laser is distributed along a first direction.

[0034] The first light source, the second light source, and the third light source are arranged along a second direction, which intersects with the first direction.

[0035] In some alternative implementations, the first light source, the second light source, and the third light source are used to emit laser light simultaneously; or, the first light source, the second light source, and the third light source are used to emit laser light in a time-division manner.

[0036] In some alternative implementations, the power of the first light source is greater than the power of the third light source, and the power of the second light source is greater than the power of the third light source.

[0037] In some alternative implementations, the peak power of the first light source is greater than 2W, the peak power of the second light source is greater than 2W, and the distance between the first region and the laser component is greater than 4m.

[0038] In some alternative implementations, the laser assembly includes a fourth light source and a third light source, wherein the laser assembly uses the fourth light source to emit at least one beam of first-type line laser towards the first region; and the laser assembly uses the third light source to emit at least one beam of second-type line laser towards the second region.

[0039] In some alternative implementations, the laser component uses a fourth light source to emit a first line laser and a second line laser towards the first region; the laser component uses a third light source to emit a third line laser towards the second region; the energy of the first line laser is greater than the energy of the third line laser.

[0040] The collection component is used to collect first sub-first type information corresponding to the first region and the first line laser, and to collect second sub-first type information corresponding to the second line laser; it is also used to collect second type information corresponding to the second region and the third line laser.

[0041] In some alternative implementations, the fourth light source and the third light source are used to emit lasers simultaneously; or, the fourth light source and the third light source are used to emit lasers in a time-division manner.

[0042] In some alternative implementations, the laser assembly includes a fourth light source, which is used to emit at least one beam of first-type line laser towards the first region at a first power; the laser assembly is also used through the fourth light source to emit at least one beam of second-type line laser towards the second region at a second power; the first power is greater than the second power.

[0043] In some alternative implementations, the laser component is used via a fourth light source to emit a first line laser and a second line laser at a first power toward the first region; the laser component is also used via the fourth light source to emit a third line laser and a fourth line laser at a second power toward the second region; the energy of the first line laser is greater than the energy of the third line laser;

[0044] The collection component is used to collect first sub-first type information corresponding to the first region and the first line laser, and to collect second sub-first type information corresponding to the second line laser; it is also used to collect first sub-second type information corresponding to the second region and the third line laser, and to collect second sub-second type information corresponding to the fourth line laser.

[0045] In some alternative implementations, the first and second line lasers intersect; the third and fourth line lasers intersect; or,

[0046] The first and second line lasers are parallel, and the third and fourth line lasers are parallel.

[0047] In some alternative implementations, the laser component is configured to emit a first line laser beam at a first power into the first region via a fourth light source; the laser component is also configured to emit a third line laser beam at a second power into the second region via the fourth light source; the energy of the first line laser beam is greater than the energy of the third line laser beam.

[0048] The collection component is used to collect a first type of information corresponding to the first line laser in the first region; and is also used to collect a second type of information corresponding to the third line laser in the second region.

[0049] This application also provides a self-moving device, including: a main body and the detection device described in this application embodiment; the detection device is disposed on the main body;

[0050] The first processor of the detection device is used to construct a map based on a first type of information collected by the collection component, and to determine the object distance in the second region based on a second type of information collected by the collection component.

[0051] Some alternative implementations also include:

[0052] A cleaning component is disposed on the bottom side of the main body.

[0053] In some alternative implementations, the self-moving device is used to travel on a bearing surface, and the laser component is used to emit a first line laser towards a first region, the first line laser being distributed along a first direction parallel to the bearing surface. Attached Figure Description

[0054] Figure 1 is a schematic diagram of an optional structure of the detection device in an embodiment of this application;

[0055] Figure 2 is a schematic diagram of another optional structure of the detection device in an embodiment of this application;

[0056] Figure 3 is a schematic diagram of an optional working scenario of the self-moving device in an embodiment of this application;

[0057] Figure 4 is a schematic diagram of another optional working scenario for the self-moving device in an embodiment of this application;

[0058] Figure 5 is a schematic diagram of another optional working scenario of the self-mobile device in the embodiments of this application;

[0059] Figure 6 is a schematic diagram of an optional structure of the laser component in an embodiment of this application;

[0060] Figure 7 is a partial structural diagram of Figure 6;

[0061] Figure 8 is a schematic diagram of an optional structure of the three light sources of the laser component in an embodiment of this application;

[0062] Figure 9 is a schematic diagram of an optional structure of the laser component with two light sources in an embodiment of this application;

[0063] Figure 10 is a schematic diagram of an optional structure of a light source of a laser component in an embodiment of this application.

[0064] Reference numerals: 100, Supporting component; 200, Laser component; 210, First type line laser; 211, First line laser; 212, Second line laser; 220, Second type line laser; 221, Third line laser; 231, First light source; 232, Second light source; 233, Third light source; 234, Fourth light source; 241, First optical component; 242, Second optical component; 243, Third optical component; 244, Folding component; 245, Fourth optical component; 250, Substrate; 300, Collection component; 310, Optical receiver; 320, Acquisition component; 400, Main body; 510, Wall surface; 511, First area; 520, Supporting surface; 521, Second area. Detailed Implementation

[0065] The technical solution of this application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0066] In the embodiments described in this application, it should be noted that, unless otherwise stated and limited, the term "connection" should be interpreted broadly. For example, it can be 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.

[0067] It should be noted that the terms "first," "second," and "third" used in the embodiments of this application 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 application described herein can be implemented in an order other than those illustrated or described herein.

[0068] The detection device and self-moving device described in the embodiments of this application will be described in detail below with reference to Figures 1 to 10.

[0069] 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, a detection structure is installed in a cleaning device. The cleaning device typically has an obstacle avoidance laser structure and a mapping laser structure. The obstacle avoidance laser structure is used for obstacle avoidance during cleaning, and the mapping laser structure is used to create a cloud map. Because the cleaning device requires separate obstacle avoidance and mapping laser structures, its size is relatively large. Furthermore, the separate setup of obstacle avoidance and mapping laser structures increases the cost of the cleaning device.

[0070] This application discloses a detection device, including a laser component 200 and a collection component 300. The laser component 200 is used to emit at least one beam of first-type line laser 210 towards a first region 511 and at least one beam of second-type line laser 220 towards a second region 521; wherein the energy of the first-type line laser 210 is greater than the energy of the second-type line laser 220; the collection component 300 is used to collect first-type information corresponding to the first-type line laser 210 in the first region 511 and to collect second-type information corresponding to the second-type line laser 220 in the second region 521. The laser component 200, with its single structure, can emit at least one beam of first-type line laser 210 towards the first region 511 and at least one beam of second-type line laser 220 towards the second region 521; this significantly simplifies the structure and reduces the size of the detection device, thereby enabling miniaturization and thinning of the detection device. Meanwhile, since the energy of the first type of line laser 210 is greater than that of the second type of line laser 220, the laser component 200 can emit at least one beam of the first type of line laser 210 towards the relatively distant first region 511, and at least one beam of the second type of line laser 220 towards the relatively close second region 521. The collecting component 300 can collect the first type of information corresponding to the first type of line laser 210 in the first region 511, and the second type of information corresponding to the second type of line laser 220 in the second region 521, so as to determine the distance of the object in the relatively distant first region 511 through the first type of information, and determine the distance of the object in the relatively close second region 521 through the second type of information.

[0071] Here, the positions of the collecting component 300 and the laser component 200 can correspond so that the collecting component 300 can collect the first type of information corresponding to the first type of line laser 210 in the first region 511, and collect the second type of information corresponding to the second type of line laser 220 in the second region 521.

[0072] In some optional implementations of the embodiments of this application, the detection device may further include a support component 100. The laser component 200 may be disposed on the support component 100 by means of bonding, snap-fitting, welding, etc.; the collecting component 300 may be disposed on the support component 100 by means of bonding, snap-fitting, welding, etc., and its position corresponds to that of the laser component 200. Of course, in some implementations, the laser component 200 and the collecting component 300 may not be provided with a support component 100. In this case, the laser component 200 and the collecting component 300 may be directly disposed on the body structure of the self-moving device or other application device.

[0073] In some optional implementations of the embodiments of this application, the detection device may further include a first processor, which is used to construct a map based on a first type of information collected by the collection component 300, and to determine the object distance of the second region 521 based on a second type of information collected by the collection component 300.

[0074] Here, the structure of the first processor is not limited. For example, the first processor can be a central processing unit (CPU).

[0075] Here, the method by which the first processor constructs a map based on the first type of information collected by the collection component 300 is not limited, nor is the method by which the first processor determines the object distances in the second region 521 based on the second type of information collected by the collection component 300.

[0076] For example, as shown in FIG1, the collecting component 300 may include an optical receiver 310, which is used to receive first type information reflected by a first type of line laser 210 in a first region 511, and to receive second type information reflected by a second type of line laser 220 in a second region 521.

[0077] In this example, the relative positions of the optical receiver 310 and the laser assembly 200 are not limited, as long as the optical receiver 310 can receive the first type of information reflected by the first type of line laser 210 in the first region 511 and the second type of information reflected by the second type of line laser 220 in the second region 521. As an example, as shown in FIG1, the optical receiver 310 and the laser assembly 200 are arranged at a distance of F2 in the second direction; here, the first type of line laser 210 may include a first line laser 211 distributed along the first direction, and the first direction and the second direction may intersect. As an example, the first direction and the second direction may be perpendicular or non-perpendicular.

[0078] In this example, the first type of information may include the time when the first region 511 reflects the first type of line laser 210, and the second type of information may include the time when the second region 521 reflects the second type of line laser 220. The first processor can determine the object distance in the first region 511 based on the reflection time in the first type of information and the emission time of the first type of line laser 210, and construct a map based on the object distance in the first region 511. The first processor can determine the object distance in the second region 521 based on the reflection time in the second type of information and the emission time of the second type of line laser 220.

[0079] In this example, the structure of the optical receiver 310 is not limited. For example, the optical receiver 310 can be a (Time of Flight, ToF) receiver.

[0080] For example, as shown in Figure 2, the collection component 300 may include an optical receiver 310 and an acquisition component 320. The optical receiver 310 is used to receive first-type information of the first-type line laser 210 reflected from the first region 511; the acquisition component 320 is used to acquire second-type information corresponding to the second-type line laser 220 in the second region 521; wherein, the second-type information includes an environmental image.

[0081] In this example, the relative positions of the optical receiver 310, laser component 200, and acquisition component 320 are not limited, as long as the optical receiver 310 can receive the first type of information from the first type of line laser 210 reflected by the first region 511, and the acquisition component 320 can acquire the second type of information corresponding to the second type of line laser 220 in the second region 521. As an example, as shown in Figure 2, the optical receiver 310 and laser component 200 are spaced apart in the first direction F1; the optical receiver 310 and acquisition component 320 are spaced apart in the second direction F2. Here, the first type of line laser 210 may include first line laser 211 distributed along the first direction, and the first and second directions may intersect. As an example, the first and second directions may be perpendicular or non-perpendicular.

[0082] In this example, the structure of the acquisition component 320 is not limited. For example, the acquisition component 320 may include an infrared lens. As an example, the acquisition component 320 may include an IR camera.

[0083] In this example, the optical receiver 310 and the first type of information have already been described above, and will not be repeated here. As an example, a high-energy first-type line laser 210 cooperates with the optical receiver 310. The high-energy first-type line laser 210 generates high-energy pulses. The distance between each small segment of photons on the line and the object being measured is calculated based on the time of flight. This yields the distance between each point on the first-type line laser 210 and the object being measured. As the detection device moves forward and twists, point cloud information is obtained over a 360-degree radius around the detection device, which is then superimposed to form a map of the area around the detection device. In one application, the first-type line laser 210 includes a high-energy first-type line laser 211 and a second-type line laser 212. The first-type line laser 211 is distributed along a first direction, which can be horizontal. The second-type line laser 212 is distributed along a second direction, which can intersect with the first direction, or be perpendicular to or non-perpendicular to the first direction. The second direction can be vertical or non-vertical. High-energy horizontal and vertical linear lasers work in conjunction with TOF receivers to generate high-energy pulses. Each small segment of photons on the line calculates the distance between itself and the object being measured based on its time of flight. This yields the distance between each point in the horizontal and vertical directions and the object being measured. As the detection device moves forward and twists, point cloud information in the horizontal 360-degree direction and the vertical height direction is obtained and superimposed to form the mapping information around the detection device.

[0084] In this example, the second type of information includes an environmental image, and the first processor can determine the object distance in the second region 521 based on the environmental image in the second type of information. The first processor can determine the object distance in the second region 521 using a relatively simple algorithm through the environmental image in the second type of information. As an example, the first processor can determine the object distance in the second region 521 relatively easily using triangulation.

[0085] Of course, in other implementations, the first processor can also be used to determine the object distance in the first region 511 based on the first type of information collected by the collection component 300. In this case, the first processor can determine the object distance in the relatively distant first region 511 based on the first type of information collected by the collection component 300, and it can also determine the object distance in the relatively close second region 521 based on the second type of information collected by the collection component 300. Here, the way the first processor determines the object distance in the first region 511 based on the first type of information collected by the collection component 300 is similar to the way the first processor determines the object distance in the second region 521 based on the second type of information collected by the collection component 300, and will not be repeated here. As an example, the first type of information may include an environmental image, and the first processor can determine the object distance in the first region 511 based on the environmental image in the first type of information.

[0086] This application also describes a self-moving device, which includes a main body 400 and a detection device according to this application embodiment. The detection device is disposed in the main body 400. The first processor of the detection device is used to construct a map based on a first type of information collected by a collection component 300, and to determine the distance of objects in a second region 521 based on a second type of information collected by the collection component 300. The self-moving device can determine its walking route based on the map constructed by the first processor and the distance of objects in the second region 521 determined by the first processor, thereby achieving precise obstacle avoidance. Furthermore, since the detection device can be made relatively small, the self-moving device can also achieve miniaturization and thinness through its small size. In addition, since the self-moving device can both construct a map and achieve obstacle avoidance through the detection device, the manufacturing cost of the self-moving device is greatly reduced.

[0087] In related technologies, obstacle avoidance structures cannot achieve mapping functions, and mapping structures have poor obstacle avoidance accuracy and cannot complete close-range obstacle avoidance. This application can integrate obstacle avoidance and mapping into the same detection device, greatly simplifying the structure of the self-moving device and reducing the manufacturing cost of the self-moving device.

[0088] In this embodiment of the application, the first processor can determine the walking route based on the map constructed by the first processor and the object distances in the second region 521 determined by the first processor; thereby achieving precise obstacle avoidance. In this case, the self-moving device and the detection device share a single processor.

[0089] Of course, the self-moving device and the detection device may not share a single processor. In this case, the self-moving device may include a second processor, which is used to determine the walking route based on the map constructed by the first processor and the object distances in the second region 521 determined by the first processor. Here, the structure of the second processor is not limited. For example, the second processor can be a CPU.

[0090] In the embodiments of this application, the structure of the self-moving device is not limited. For example, the self-moving device can be a delivery robot, a self-driving car, or a sweeping robot.

[0091] As an example, the self-moving device may also include a cleaning component disposed on the underside of the main body 400 for cleaning floors, roads, etc., using the self-moving device. The structure of the cleaning component is not limited here. For example, the cleaning component may include a cleaning brush.

[0092] In this embodiment, the structure of the main body 400 is not limited. For example, the main body 400 can be the shell of a self-moving device or the frame of a self-moving device. Here, the laser component 200 and the collecting component 300 can be directly mounted on the main body 400 through threaded structures, snap-fit ​​structures, welding structures, etc. Of course, the laser component 200 and the collecting component 300 can also be mounted on the supporting component 100 of the detection device, and the supporting component 100 can be mounted on the main body 400 as a whole through threaded structures, snap-fit ​​structures, welding structures, etc.

[0093] In this embodiment, the method by which the second processor or the first processor determines the walking route based on the map constructed by the first processor and the object distances in the second region 521 determined by the first processor is not limited. For example, the second processor or the first processor may first determine the preliminary walking route of the self-moving device based on the map constructed by the first processor, and then determine the specific walking route when encountering objects based on the object distances in the second region 521 determined by the first processor.

[0094] In this embodiment, the location of the first processor is not limited. For example, the first processor may be located on the support component 100 or on the main body 400.

[0095] In this embodiment, as shown in Figures 3, 4, and 5, the self-moving device is used to travel on the bearing surface 520. The laser component 200 can be used to emit a first line laser 211 towards the first region 511. The first line laser 211 is distributed along a first direction, which is parallel to the bearing surface 520. That is, the first line laser 211 is generally a horizontal line laser. By setting the first line laser 211 along the horizontal direction, the range of the laser component 200 emitting the first line laser 211 towards the first region 511 can be increased. When the self-moving device is moving, it can be ensured that the laser component 200 emits at least one first-type line laser 210 in the horizontal direction towards the entire first region 511 around the self-moving device, ensuring that the map constructed by the first processor is more comprehensive and complete.

[0096] Here, the bearing surface 520 is used to support the self-moving equipment. For example, the bearing surface 520 can be a road surface or the ground.

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

[0098] In this embodiment, the first region 511 is farther from the laser component 200 than the second region 521. As an example, the self-moving device can be a robotic vacuum cleaner. In this case, the first region 511 can be a region on the wall 510, and the second region 521 can be a region on the supporting surface 520, as shown in Figures 3 and 4. Of course, the first region 511 can be a region on the wall 510, and the second region 521 can be a region on the supporting surface 520, as shown in Figure 5.

[0099] In the embodiments of this application, the forms of the first type of line laser 210 and the second type of line laser 220 are not limited, as long as the energy of the first type of line laser 210 is greater than the energy of the second type of line laser 220.

[0100] For example, laser component 200 is used to emit a first line laser 211 and a second line laser 212 into a first region 511, and laser component 200 is also used to emit a third line laser 221 into a second region 521; the energy of the first line laser 211 is greater than the energy of the third line laser 221, and the energy of the second line laser 212 is greater than the energy of the third line laser 221.

[0101] In this example, the energy of the first laser 211 and the energy of the second laser 212 can be the same or different.

[0102] In this example, the relative positions of the first line laser 211, the second line laser 212, and the third line laser 221 are not limited. For example, the first line laser 211 is distributed along a first direction.

[0103] As an example, the first laser 211 and the second laser 212 can intersect, and the first laser 211 and the third laser 221 can be parallel. For example, the first laser 211 and the second laser 212 can be perpendicular or not perpendicular. In one application, as shown in Figure 3, the first laser 211 is distributed along a first direction, which is parallel to the bearing surface 520. In this case, the first laser 211 is generally distributed horizontally, the second laser 212 is generally distributed vertically, and the third laser 221 is generally distributed horizontally.

[0104] As another example, the first laser line 211 and the second laser line 212 can intersect, and the first laser line 211 and the third laser line 221 can intersect. For example, the first laser line 211 and the second laser line 212 can be perpendicular or not perpendicular, and the first laser line 211 and the third laser line 221 can be perpendicular or not perpendicular. In one application, as shown in Figure 5, the first laser line 211 is distributed along a first direction, which is parallel to the bearing surface 520. In this case, the first laser line 211 is distributed generally in a horizontal direction, the second laser line 212 is distributed generally in a vertical direction, and the third laser line 221 is distributed generally in a vertical direction.

[0105] As another example, the first laser 211, the second laser 212, and the third laser 221 are parallel. In one application, the first laser 211 is distributed along a first direction parallel to the bearing surface 520, in which case the first laser 211, the second laser 212, and the third laser 221 are all distributed generally in a horizontal direction.

[0106] In this example, the angle of the first laser 211 is not limited. For example, the angle of the first laser 211 can be greater than or equal to 60 degrees.

[0107] In this example, the angle of the second laser 212 is not limited. For example, the angle of the second laser 212 can be greater than or equal to 20 degrees.

[0108] In this example, the angle of the third laser 221 is not limited. For example, the angle of the third laser 221 can be greater than or equal to 80 degrees.

[0109] For example, the laser component 200 is used to emit a first line laser 211 into the first region 511, and the laser component 200 is also used to emit a third line laser 221 into the second region 521; the energy of the first line laser 211 is greater than the energy of the third line laser 221.

[0110] In this example, the first line laser 211 and the third line laser 221 are similar to the first line laser 211 and the third line laser 221 in the above example, and will not be described again here.

[0111] As an example, the first line laser 211 and the third line laser 221 can be parallel. In one application, as shown in Figure 4, the first line laser 211 is distributed along a first direction, which is parallel to the bearing surface 520. In this case, both the first line laser 211 and the third line laser 221 are distributed generally in a horizontal direction.

[0112] As another example, the first laser line 211 and the third laser line 221 can intersect. For example, the first laser line 211 and the third laser line 221 can be perpendicular or not perpendicular.

[0113] In the embodiments of this application, the number of light sources in the laser component 200 is not limited. For example, the laser component 200 may include three light sources, one light source, or three light sources.

[0114] In some optional implementations of the embodiments of this application, the laser component 200 may include three light sources, namely, a first light source, a second light source, and a third light source. The laser component 200 emits a first line laser 211 into a first region 511 through the first light source 231; the laser component 200 emits a second line laser 212 into the first region 511 through the second light source 232; and the laser component 200 emits a third line laser 221 into a second region 521 through the third light source 233. The energy of the first line laser 211 is greater than the energy of the third line laser 221, and the energy of the second line laser 212 is greater than the energy of the third line laser 221. The collection component 300 is used to collect first sub-first type information corresponding to the first region 511 and the first line laser 211, and to collect second sub-first type information corresponding to the second line laser 212; it is also used to collect second type information corresponding to the second region 521 and the third line laser 221.

[0115] In this implementation, the structures of the first light source 231, the second light source 232, and the third light source 233 can be the same or different.

[0116] In this implementation, the energy of the first laser 211 and the energy of the second laser 212 can be the same or different.

[0117] In this implementation, the collection component 300 and the second type of information have already been described above, and will not be repeated here. In this implementation, the first sub-first type of information and the second sub-first type of information are similar to the first type of information described above, and will not be repeated here.

[0118] In this implementation, the laser component 200 may further include a substrate 250, and a first light source 231, a second light source 232 and a third light source 233 may be disposed at intervals on the substrate 250. By disposing the first light source 231, the second light source 232 and the third light source 233 on a single substrate 250, the structure of the laser component 200 can be greatly simplified and the installation volume of the laser component 200 can be reduced.

[0119] Here, the arrangement of the first light source 231, the second light source 232, and the third light source 233 is not limited. For example, as shown in Figure 7, the first light source 231, the second light source 232, and the third light source 233 can be arranged along the second direction F2. As an example, the first line laser 211 is distributed along the first direction F1, and the first light source 231, the second light source 232, and the third light source 233 are arranged along the second direction F2. The second direction and the first direction can intersect. The second direction and the first direction can be perpendicular or not perpendicular. As another example, as shown in Figure 8, the first light source 231 and the third light source 233 can be arranged along the second direction F2, with the second light source 232 having a first predetermined distance from the first light source 231 in the first direction, and the second light source 232 having a second predetermined distance from the first light source 231 in the second direction.

[0120] Here, the first processor can control the first light source 231, the second light source 232, and the third light source 233 to emit lasers simultaneously, so that the collection component 300 can simultaneously and quickly collect first-type information and second-type information. Alternatively, the first processor can control the first light source 231, the second light source 232, and the third light source 233 to emit lasers in a time-division manner to avoid mutual interference between them, thus reducing the difficulty of processing the first-type and second-type information. In one application, a first chip, a second chip, and a third chip are disposed on the substrate 250. The first chip drives the first light source 231, the second chip drives the second light source 232, and the third chip drives the third light source 233. In this case, the first processor can control the first chip, the second chip, and the third chip respectively to make the first light source 231, the second light source 232, and the third light source 233 emit lasers in a time-division manner, thereby avoiding mutual interference between them.

[0121] In this implementation, the method by which the energy of the first laser 211 is greater than that of the third laser 221, and the energy of the second laser 212 is greater than that of the third laser 221, is not limited. For example, the power of the first light source 231 is greater than that of the third light source 233, so that the energy of the first laser 211 is greater than that of the third laser 221, and the power of the second light source 232 is greater than that of the third light source 233, so that the energy of the second laser 212 is greater than that of the third laser 221. As an example, the peak power of the first light source 231 is greater than 2W, and the peak power of the second light source 232 is greater than 2W, so that the distance between the first region 511 and the laser component 200 is greater than 4m. When the first processor is used to construct a map based on the first type of information collected by the collection component 300, by making the peak power of the first light source 231 greater than 2W and the peak power of the second light source 232 greater than 2W, it is possible to ensure that an echo with a distance of more than 4m is obtained, thereby enabling the calculation of sufficiently large spatial distance information.

[0122] Of course, the first laser 211 and the second laser 212 can also be set with smaller opening angles, and the third laser 221 can also be set with larger opening angles, so that the energy of the first laser 211 is greater than the energy of the third laser 221, and the energy of the second laser 212 is greater than the energy of the third laser 221.

[0123] In this implementation, the laser component 200 may further include: a first optical component 241, a second optical component 242, and a third optical component 243. The first optical component 241 is disposed on the side of the first light source 231 facing away from the substrate; the first optical component 241 is used to form a first line laser 211 from the laser emitted by the first light source 231; the second optical component 242 is disposed on the side of the second light source 232 facing away from the substrate; the second optical component 242 is used to form a second line laser 212 from the laser emitted by the second light source 232; the third optical component 243 is disposed on the side of the third light source 233 facing away from the substrate; the third optical component 243 is used to form a third line laser 221 from the laser emitted by the third light source 233.

[0124] Here, the structure of the first optical component 241 is not limited. For example, as shown in FIG6, the first optical component 241 may include a wave mirror, which can expand the point light source of the first light source 231 into a linear distribution. As another example, the first optical component 241 may include a cylindrical lens, which can expand the point light source of the first light source 231 into a linear distribution. Yet another example, the first optical component 241 may also include a DOE lens, which can expand the point light source of the first light source 231 into a linear distribution.

[0125] Here, the structure of the second optical component 242 is not limited. For example, as shown in FIG6, the second optical component 242 may include a wave mirror, which can expand the point light source of the second light source 232 into a linear distribution. As another example, the second optical component 242 may include a cylindrical lens, which can expand the point light source of the second light source 232 into a linear distribution. Yet another example, the second optical component 242 may also include a DOE lens, which can expand the point light source of the second light source 232 into a linear distribution.

[0126] Here, the structure of the third optical component 243 is not limited. For example, as shown in FIG6, the third optical component 243 may include a wave mirror, which can expand the point light source of the third light source 233 into a linear distribution. As another example, the third optical component 243 may include a cylindrical lens, which can expand the point light source of the third light source 233 into a linear distribution. Yet another example, the third optical component 243 may also include a DOE lens, which can expand the point light source of the third light source 233 into a linear distribution.

[0127] In this implementation, the first optical component 241 is used to make the first line laser 211 parallel to the first plane; the second optical component 242 is used to make the second line laser 212 parallel to the second plane; wherein the second plane and the first plane may intersect; the third optical component 243 is used to make the third line laser 221 form a first depression angle with the first plane; or, the third optical component 243 is used to make the third line laser 221 form a first elevation angle with the first plane.

[0128] Here, the second plane and the first plane can be perpendicular. Of course, the second plane and the first plane can also be non-perpendicular.

[0129] Here, the orientation of the first and second planes is not limited. For example, the first plane can be parallel to the bearing surface 520, and the second plane can intersect with the bearing surface 520. By setting the first line laser 211 parallel to the first plane, the first line laser 211 can reach a larger area. As an example, the second plane can be perpendicular to or not perpendicular to the bearing surface 520. As yet another example, the first plane can be generally horizontal, and the second plane can be generally vertical. In this case, the first line laser 211 is a high-energy horizontal line laser, the second line laser 212 is a high-energy vertical line laser, and the third line laser 221 is a low-energy horizontal line laser. Here, the second plane can be the plane in the direction of movement of the self-moving device.

[0130] Here, by setting a first depression angle or a first elevation angle between the third laser 221 and the first plane, a triangulation model is formed between the third laser 221 and the acquisition component 320. This allows the distance between the laser and the nearby object to be calculated when the laser strikes it, thus enabling obstacle avoidance. Here, when the third laser 221 is distributed along the first direction, the laser component 200 and the acquisition component 320 are spaced apart along the second direction to form a triangulation model.

[0131] Here, as shown in Figure 6, the third optical component 243 may further include a folding member 244, which is used to make the laser emitted by the third light source 233 form a first depression angle or a first elevation angle with the first plane. The structure of the folding member 244 is not limited. For example, the folding member 244 may include a freeform lens; in this case, the freeform lens can make the laser emitted by the third light source 233 form a first depression angle or a first elevation angle with the first plane.

[0132] Here, the value of the first depression angle is not limited. For example, the range of the first depression angle can be from 5 degrees to 30 degrees.

[0133] Here, the value of the first elevation angle is not limited. For example, the range of the first elevation angle can be from 5 degrees to 30 degrees.

[0134] Of course, in other examples, the third optical component 243 can also be used to make the third line laser 221 form a first deflection angle in a third direction or a second deflection angle in a fourth direction with the second plane. Here, the third line laser 221 is distributed along the second direction. Here, the second plane can be the plane in the direction of travel of the self-moving device, and the third and fourth directions are opposite. For example, the third direction can be the left direction of the self-moving device, and the fourth direction can be the right direction of the self-moving device. By setting the third line laser 221 with the first plane at the first deflection angle or the second deflection angle, the third line laser 221 and the acquisition component 320 can form a triangulation model, so that when the line laser hits the nearby object being measured, the distance between the object and the object can be calculated, thereby performing obstacle avoidance. Here, when the third line laser 221 is distributed along the second direction, the laser component 200 and the acquisition component 320 are spaced apart in the first direction to form a triangulation model. The value of the first deflection angle is not limited. As an example, the range of the first deflection angle is 5 degrees to 30 degrees. The value of the second deflection angle is not limited. As an example, the second deflection angle ranges from 5 degrees to 30 degrees.

[0135] In some optional implementations of the embodiments of this application, the laser component 200 may include two light sources. The laser component 200 emits at least one beam of first-type line laser 210 into the first region 511 through a fourth light source 234, and emits at least one beam of second-type line laser 220 into the second region 521 through a third light source 233.

[0136] In this implementation, the number of first-type line lasers 210 is not limited. For example, the laser assembly 200 uses a fourth light source 234 to emit a line laser beam into the first region 511. Alternatively, the laser assembly 200 uses the fourth light source 234 to emit at least two line laser beams into the first region 511.

[0137] In this implementation, the number of second-type line lasers 220 is not limited. For example, the laser assembly 200 uses a third light source 233 to emit a line laser beam into the second region 521. Alternatively, the laser assembly 200 uses a third light source 233 to emit at least two line laser beams into the second region 521.

[0138] In this implementation, as shown in Figure 9, the laser component 200 emits a first line laser 211 and a second line laser 212 into the first region 511 via a fourth light source 234; the laser component 200 emits a third line laser 221 into the second region 521 via a third light source 233; the collection component 300 collects first sub-first type information corresponding to the first line laser 211 in the first region 511, and collects second sub-first type information corresponding to the second line laser 212; it also collects second type information corresponding to the third line laser 221 in the second region 521.

[0139] In this implementation, the structures of the fourth light source 234 and the third light source 233 can be the same or different.

[0140] In this implementation, the energy of the first laser 211 and the energy of the second laser 212 can be the same. The energy of the first laser 211 is greater than the energy of the third laser 221.

[0141] In this implementation, the collection component 300 and the second type of information have already been described above, and will not be repeated here. In this implementation, the first sub-first type of information and the second sub-first type of information are similar to the first type of information described above, and will not be repeated here.

[0142] In this implementation, the laser component 200 may further include: a substrate 250, and a fourth light source 234 and a third light source 233 may be disposed at intervals on the substrate 250; by disposing the fourth light source 234 and the third light source 233 on a single substrate 250, the structure of the laser component 200 can be greatly simplified and the size of the laser component 200 can be reduced.

[0143] Here, the arrangement of the fourth light source 234 and the third light source 233 is not limited. For example, the fourth light source 234 and the third light source 233 can be arranged along the second direction. As an example, the first line laser 211 is arranged along the first direction, and the fourth light source 234 and the third light source 233 are arranged along the second direction, which can intersect the first direction. Here, the second direction and the first direction can be perpendicular or not perpendicular. For another example, the first line laser 211 is arranged along the first direction, the third light source 233 and the fourth light source 234 have a third predetermined distance in the first direction, and the third light source 233 and the fourth light source 234 have a fourth predetermined distance in the second direction.

[0144] Here, the first processor can control the fourth light source 234 and the third light source 233 to emit lasers simultaneously, so that the collection component 300 can simultaneously and quickly collect the first type of information and the second type of information. Alternatively, the first processor can control the fourth light source 234 and the third light source 233 to emit lasers in a time-division manner to avoid mutual interference between them, thus reducing the difficulty of processing the first and second types of information. In one application, a first chip and a second chip are disposed on the substrate 250. The first chip drives the fourth light source 234, and the second chip drives the third light source 233. In this case, the first processor can control the first chip and the second chip respectively to make the fourth light source 234 and the third light source 233 emit lasers in a time-division manner, thereby avoiding mutual interference between them.

[0145] In this implementation, the method by which the energy of the first laser 211 is greater than that of the third laser 221 is not limited. For example, the power of the fourth light source 234 is greater than that of the third light source 233, so that the energy of the first laser 211 is greater than that of the third laser 221. As an example, the peak power of the fourth light source 234 is greater than 2W, so that the distance between the first region 511 and the laser component 200 is greater than 4m. When the first processor uses it to construct a map based on the first type of information collected by the collection component 300, by making the peak power of the fourth light source 234 greater than 2W, it is possible to ensure that an echo with a distance of more than 4m is obtained, thereby enabling the calculation of sufficiently large spatial distance information.

[0146] Of course, the first laser 211 and the second laser 212 can also be set with a smaller opening angle, and the third laser 221 can also be set with a larger opening angle, so that the energy of the first laser 211 is greater than the energy of the third laser 221.

[0147] In this implementation, the laser assembly 200 may further include a fourth optical assembly 245 and a third optical assembly 243. The fourth optical assembly 245 is disposed on the side of the fourth light source 234 facing away from the substrate; the fourth optical assembly 245 is used to cause the laser emitted by the fourth light source 234 to form a first line laser 211 and a second line laser 212; the third optical assembly 243 is disposed on the side of the third light source 233 facing away from the substrate; the third optical assembly 243 is used to cause the laser emitted by the third light source 233 to form a third line laser 221.

[0148] Here, the relative positional relationship between 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 or intersecting. As an example, when the first laser 211 and the second laser 212 intersect, the first laser 211 and the second laser 212 can be perpendicular or not perpendicular.

[0149] Here, the structure of the fourth optical component 245 is not limited, as long as the fourth optical component 245 can enable the laser emitted by the fourth light source 234 to form the first line laser 211 and the second line laser 212. For example, the fourth optical component 245 may include a DOE grating. As another example, the fourth optical component 245 may include a multi-spot laser.

[0150] Here, the third optical component 243 and the third light source 233 have been described in the above embodiments, and will not be repeated here.

[0151] In this implementation, the fourth optical component 245 can be used to make the first line laser 211 parallel to the first plane and to make the second line laser 212 parallel to the second plane; wherein the second plane and the first plane can intersect; the third optical component 243 is used to make the third line laser 221 form a first depression angle with the first plane; or, the third optical component 243 is used to make the third line laser 221 form a first elevation angle with the first plane.

[0152] Here, the second plane and the first plane can be perpendicular or not perpendicular.

[0153] The first plane, the second plane, the first depression angle, and the first elevation angle have been described in the above embodiments, and will not be repeated here.

[0154] In some optional implementations of the embodiments of this application, the laser component 200 includes a light source, and the laser component 200 is used by a fourth light source 234 to emit at least one beam of first-type line laser 210 into a first region 511 at a first power; the laser component 200 is also used by the fourth light source 234 to emit at least one beam of second-type line laser 220 into a second region 521 at a second power; the first power is greater than the second power; by making the laser component 200 only provided with a single light source, the structure of the laser component 200 can be greatly simplified.

[0155] In this implementation, the number of first-type line lasers 210 is not limited. For example, laser assembly 200 can be used to emit a single line laser beam into the first region 511. Alternatively, laser assembly 200 can be used to emit at least two line laser beams into the first region 511.

[0156] In this implementation, the number of second-type line lasers 220 is not limited. For example, laser assembly 200 can be used to emit a single line laser beam into the second region 521. Alternatively, laser assembly 200 can be used to emit at least two line laser beams into the second region 521.

[0157] It should be noted that the number of Type I line lasers 210 emitted by the laser component 200 is the same as the number of Type II line lasers 220 emitted.

[0158] In this implementation, as shown in Figure 10, the laser component 200, through the fourth light source 234, can be used to emit a first line laser 211 and a second line laser 212 to the first region 511 at a first power; the laser component 200, through the fourth light source 234, is also used to emit a third line laser 221 and a fourth line laser to the second region 521 at a second power; the collection component 300 is used to collect first sub-first type information corresponding to the first line laser 211 in the first region 511, and to collect second sub-first type information corresponding to the second line laser 212; it is also used to collect first sub-second type information corresponding to the third line laser 221 in the second region 521, and to collect second sub-second type information corresponding to the fourth line laser.

[0159] In this implementation, the energy of the first laser 211 and the second laser 212 can be the same. The energy of the third laser 221 and the fourth laser can be the same. The energy of the first laser 211 can be greater than the energy of the third laser 221.

[0160] In this implementation, the collection component 300 has already been described above, and will not be repeated here.

[0161] In this implementation, the first sub-first type of information and the second sub-first type of information are similar to the first type of information mentioned above, and the first sub-second type of information and the second sub-second type of information are similar to the second type of information mentioned above, and will not be described again here.

[0162] In this implementation, the laser component 200 may further include a substrate 250, and a fourth light source 234 may be disposed on the substrate 250. By disposing of a light source on a substrate 250, the structure of the laser component 200 can be greatly simplified and the size of the laser component 200 can be reduced.

[0163] In this implementation, the first processor can control the fourth light source 234 to emit the first type of line laser 210 and the second type of line laser 220 in a time-division manner.

[0164] In this implementation, the values ​​of the first power and the second power are not limited. For example, the peak power of the first power of the fourth light source 234 is greater than 2W, so that the distance between the first region 511 and the laser component 200 is greater than 4m. When the first processor is used to build a map based on the first type of information collected by the collection component 300, by making the peak power of the fourth light source 234 greater than 2W, it can ensure that an echo with a distance of more than 4m is obtained, thereby enabling the calculation of sufficiently large spatial distance information.

[0165] In this implementation, the laser component 200 may further include a fourth optical component 245. The fourth optical component 245 is disposed on the side of the fourth light source 234 facing away from the substrate; the fourth optical component 245 is used to cause the laser emitted by the fourth light source 234 to form a first line laser 211 and a second line laser 212; or, to form a third line laser 221 and a fourth line laser.

[0166] Here, the relative positional relationship between the first laser line 211 and the second laser line 212 is not limited, nor is the relative positional relationship between the third laser line 221 and the fourth laser line. For example, the first laser line 211 and the second laser line 212 can intersect; the third laser line 221 and the fourth laser line can intersect. Here, the first laser line 211 and the second laser line 212 can be perpendicular or not perpendicular. The third laser line 221 and the fourth laser line can be perpendicular or not perpendicular. For another example, the first laser line 211 and the second laser line 212 can be parallel, and the third laser line 221 and the fourth laser line can be parallel.

[0167] Here, the structure of the fourth optical component 245 is not limited, as long as the fourth optical component 245 can enable the laser emitted by the fourth light source 234 to form two line laser beams. For example, the fourth optical component 245 may include a DOE grating. As another example, the fourth optical component 245 may include a multi-line spot laser.

[0168] In this implementation, the fourth optical component 245 can be used to make the first line laser 211 parallel to the first plane and to make the second line laser 212 parallel to the second plane; wherein the second plane and the first plane intersect. Here, the second plane and the first plane can be perpendicular or not perpendicular.

[0169] The first plane and the second plane have been described in the above embodiments, and will not be repeated here.

[0170] In this implementation, the laser component 200 can also be used to emit a first line laser 211 into the first region 511 at a first power via the fourth light source 234; the laser component 200 can also be used to emit a third line laser 221 into the second region 521 at a second power via the fourth light source 234; the collection component 300 is used to collect a first type of information corresponding to the first region 511 and the first line laser 211; and is also used to collect a second type of information corresponding to the second region 521 and the third line laser 221.

[0171] Here, the first laser 211 and the third laser 221 can be parallel.

[0172] The fourth light source 234, the first power, the second power, the first line laser 211, the third line laser 221, the first type of information, and the second type of information have already been described above, and will not be repeated here.

[0173] Here, the laser assembly 200 may further include a fourth optical assembly 245. The fourth optical assembly 245 is disposed on the side of the fourth light source 234 facing away from the substrate; the fourth optical assembly 245 is used to form a first line laser 211 or a third line laser 221 from the laser emitted by the fourth light source 234.

[0174] Here, the structure of the fourth optical component 245 is similar to that of the first optical component 241 described above, and will not be repeated here.

[0175] The detection device of this application, through a single structure of a laser component, can emit at least one beam of first-type line laser towards a first region and at least one beam of second-type line laser towards a second region; this can greatly simplify the structure of the detection device and reduce its volume; thereby enabling the miniaturization and thinning of the detection device.

[0176] The above description is merely a specific embodiment of this application, but the scope of protection of this application 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 application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A detection device, wherein, include: A laser assembly for emitting at least one beam of a first type of line laser toward a first region and for emitting at least one beam of a second type of line laser toward a second region; wherein the energy of the first type of line laser is greater than the energy of the second type of line laser. A collection component is used to collect first type of information corresponding to the first type of line laser in the first region, and to collect second type of information corresponding to the second type of line laser in the second region.

2. The detection device according to claim 1, wherein, Also includes: A first processor is configured to construct a map based on a first type of information collected by the collection component, and to determine object distances in the second region based on a second type of information collected by the collection component.

3. The detection device according to claim 1 or 2, wherein, The collection component includes: An optical receiver is configured to receive first type of information reflected from the first region by the first type of line laser, and to receive second type of information reflected from the second region by the second type of line laser.

4. The detection device according to claim 1 or 2, wherein, The collection component includes: An optical receiver is used to receive first type of information reflected from the first type of line laser light in the first region; The acquisition component is used to acquire a second type of information corresponding to the second type of line laser in the second region; wherein, the second type of information includes an environmental image.

5. The detection device according to any one of claims 1-4, wherein, The laser component is used to emit a first line laser and a second line laser towards the first region, and the laser component is also used to emit a third line laser towards the second region; the energy of the first line laser is greater than the energy of the third line laser, and the energy of the second line laser is greater than the energy of the third line laser; Wherein, the first line laser, the second line laser, and the third line laser are parallel; or, the first line laser and the second line laser intersect, and the first line laser and the third line laser are parallel; or, the first line laser and the second line laser intersect, and the first line laser and the third line laser intersect.

6. The detection device according to any one of claims 1-4, wherein, The laser component is used to emit a first line laser and a second line laser towards the first region, and the laser component is also used to emit a third line laser towards the second region; the energy of the first line laser is greater than the energy of the third line laser, and the energy of the second line laser is greater than the energy of the third line laser; The first line laser and the second line laser intersect, and the first line laser and the third line laser are parallel; the first line laser is distributed along a first direction. The first line laser has an angle greater than or equal to 60 degrees, the second line laser has an angle greater than or equal to 20 degrees, and the third line laser has an angle greater than or equal to 80 degrees.

7. The detection device according to any one of claims 1-4, wherein, The laser component is used to emit a first line of laser light into the first region, and the laser component is also used to emit a third line of laser light into the second region; the energy of the first line of laser light is greater than the energy of the third line of laser light. Wherein, the first line laser and the third line laser are parallel; or, the first line laser and the third line laser intersect.

8. The detection device according to any one of claims 1-4, wherein, The laser assembly includes a first light source, a second light source, and a third light source. The laser assembly emits a first line of laser light into the first region through the first light source; the laser assembly emits a second line of laser light into the first region through the second light source; and the laser assembly emits a third line of laser light into the second region through the third light source. The energy of the first line of laser light is greater than the energy of the third line of laser light, and the energy of the second line of laser light is greater than the energy of the third line of laser light. The collection component is used to collect first sub-first type information corresponding to the first region and the first line laser, and to collect second sub-first type information corresponding to the second line laser; it is also used to collect second type information corresponding to the second region and the third line laser.

9. The detection device according to claim 8, wherein, The laser component also includes: A substrate, wherein the first light source, the second light source, and the third light source are disposed at intervals on the substrate; A first optical component is disposed on the side of the first light source facing away from the substrate; the first optical component is used to form the first line laser by the laser emitted by the first light source. A second optical component is disposed on the side of the second light source facing away from the substrate; the second optical component is used to form the second line laser by the laser emitted by the second light source. A third optical component is disposed on the side of the third light source facing away from the substrate; the third optical component is used to form the third line laser by the laser emitted by the third light source.

10. The detection device according to claim 9, wherein, The first optical component is used to make the first line laser parallel to the first plane; The second optical component is used to make the second line laser parallel to the second plane; wherein the second plane intersects the first plane; The third 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 ranges from 5 degrees to 30 degrees and the first elevation angle ranges from 5 degrees to 30 degrees; or, the third optical component is used to make the third line laser form a first deflection angle in a third direction or a second deflection angle in a fourth direction with the second plane, wherein the first deflection angle ranges from 5 degrees to 30 degrees and the second deflection angle ranges from 5 degrees to 30 degrees.

11. The detection apparatus according to any one of claims 8-10, wherein, The first linear laser is distributed along a first direction. The first light source, the second light source, and the third light source are arranged along a second direction, which intersects with the first direction.

12. The detection device according to any one of claims 8-11, wherein, The first light source, the second light source, and the third light source are used to emit laser light simultaneously; or, the first light source, the second light source, and the third light source are used to emit laser light in a time-division manner.

13. The detection apparatus according to any one of claims 8-12, wherein, The power of the first light source is greater than the power of the third light source, and the power of the second light source is greater than the power of the third light source.

14. The detection apparatus according to any one of claims 8-13, wherein, The peak power of the first light source is greater than 2W, the peak power of the second light source is greater than 2W, and the distance between the first region and the laser component is greater than 4m.

15. The detection apparatus according to any one of claims 1-4, wherein, The laser assembly includes a fourth light source and a third light source. The laser assembly uses the fourth light source to emit at least one beam of first-type line laser towards the first region; the laser assembly uses the third light source to emit at least one beam of second-type line laser towards the second region.

16. The detection device according to claim 15, wherein, The laser assembly emits a first line laser and a second line laser towards the first region via the fourth light source; the laser assembly emits a third line laser towards the second region via the third light source; the energy of the first line laser is greater than the energy of the third line laser. The collection component is used to collect first sub-first type information corresponding to the first region and the first line laser, and to collect second sub-first type information corresponding to the second line laser; it is also used to collect second type information corresponding to the second region and the third line laser.

17. The detection device according to claim 15 or 16, wherein, The fourth light source and the third light source are used to emit lasers simultaneously; or, the fourth light source and the third light source are used to emit lasers in a time-division manner.

18. The detection apparatus according to any one of claims 1-4, wherein, The laser assembly includes a fourth light source, which is used to emit at least one beam of first-type line laser into the first region at a first power; the laser assembly is also used to emit at least one beam of second-type line laser into the second region at a second power; the first power is greater than the second power.

19. The detection device according to claim 18, wherein, The laser assembly, via the fourth light source, is used to emit a first line laser and a second line laser at a first power toward the first region; the laser assembly, via the fourth light source, is also used to emit a third line laser and a fourth line laser at a second power toward the second region; the energy of the first line laser is greater than the energy of the third line laser. The collection component is used to collect first sub-first type information corresponding to the first region and the first line laser, and to collect second sub-first type information corresponding to the second line laser; it is also used to collect first sub-second type information corresponding to the second region and the third line laser, and to collect second sub-second type information corresponding to the fourth line laser.

20. The detection device according to claim 19, wherein, The first and second line lasers intersect; the third and fourth line lasers intersect; or, The first and second line lasers are parallel, and the third and fourth line lasers are parallel.

21. The detection apparatus according to any one of claims 18-20, wherein, The laser assembly is used to emit a first line laser at a first power into the first region via the fourth light source; the laser assembly is also used to emit a third line laser at a second power into the second region via the fourth light source; the energy of the first line laser is greater than the energy of the third line laser. The collection component is used to collect a first type of information corresponding to the first line laser in the first region; and is also used to collect a second type of information corresponding to the third line laser in the second region.

22. A self-moving device, wherein, include: The main body and the detection device according to any one of claims 1 to 21; The detection device is disposed on the main body; The first processor of the detection device is used to construct a map based on a first type of information collected by the collection component, and to determine the object distance in the second region based on a second type of information collected by the collection component.

23. The self-moving device according to claim 22, wherein, Also includes: A cleaning component is disposed on the bottom side of the main body.

24. The self-moving device according to claim 22, wherein, The self-moving device is used to travel on the bearing surface, and the laser component is used to emit a first line laser into a first region, the first line laser being distributed along a first direction parallel to the bearing surface.

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