US 11,966,233 B2
Line laser module and autonomous mobile device
Guang Yu, Beijing (CN); Yongji Long, Beijing (CN); and Dan Liu, Beijing (CN)
Assigned to Beijing Roborock Technology Co., Ltd., Beijing (CN)
Filed by Beijing Roborock Technology Co., Ltd., Beijing (CN)
Filed on Mar. 11, 2022, as Appl. No. 17/692,696.
Claims priority of application No. 202110615607.0 (CN), filed on Jun. 2, 2021.
Prior Publication US 2022/0390947 A1, Dec. 8, 2022
Int. Cl. G05D 1/02 (2020.01); G05D 1/00 (2006.01)
CPC G05D 1/024 (2013.01) [G05D 1/0225 (2013.01); G05D 1/0242 (2013.01); G05D 1/0248 (2013.01); G05D 2201/0203 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A line laser module comprising:
a module body;
a first image capturing assembly, provided on the module body and comprising a first camera, at least one laser emitter, a first image processing module, and a first filter, wherein the at least one laser emitter is provided adjacent to the first camera and configured to emit a line laser with a linear projection toward outside of the module body, the first camera is configured to capture a first environment image containing the line laser, the first image processing module is configured to acquire obstacle distance information based on the first environment image, the line laser is infrared line light, the first camera is an infrared camera, and the first filter is configured to allow only infrared light to enter the first camera; and
a second image capturing assembly, comprising a second camera, a second image processing module, and a second filter, wherein the second camera is configured to capture a second environment image, the second image processing module is configured to acquire obstacle type information based on the second environment image, the second camera is an RGB camera, and the second filter is configured to allow only visible light to enter the second camera, wherein:
the at least one laser emitter comprises two laser emitters, and
the first camera and the second camera are provided side by side horizontally between the two laser emitters, so that the first environment image and the second environment image are at least partially overlapped.