| CPC G05D 1/0238 (2013.01) [G01S 17/08 (2013.01)] | 12 Claims |
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1. A self-moving device, comprising:
a body,
a walking assembly arranged on the body, and
a control system arranged in the body,
the self-moving device further comprising an optical receiving device and at least two optical emitting devices arranged on the body, paths of emitted light emitted by the at least two optical emitting devices being different, the optical receiving device being adapted to receive a reflected light formed after the emitted light emitted by at least one of the optical emitting devices hits an obstacle,
wherein the optical emitting device farther from the optical receiving device in two adjacent optical emitting devices forms a first included angle with a center line of the optical receiving device, the optical emitting device closer to the optical receiving device forms a second included angle with the center line of the optical receiving device, and the first included angle is smaller than the second included angle, and
wherein the closer the self-moving device is to the obstacle, the larger an area of the emitted light received by the optical receiving device is.
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