Structured light module and self-moving device

An autonomous mobile device, comprising:

• a device body, on which a main controller and a structured light module are installed, the main controller being electrically connected to the structured light module;
• wherein, the structured light module comprises:
• a first camera, line laser emitters distributed on both sides of the first camera, a second camera, and a module controller;
• wherein, the module controller controls the line laser emitters to emit line lasers externally and controls the first camera to collect a first environmental image detected by the line lasers during their emission, and sends the first environmental image to the main controller;
• the main controller controls the second camera to collect a second environmental image within its field of view and performs functional control of the autonomous mobile device based on the first and second environmental images;
• wherein, the first environmental image includes a laser image with laser stripes produced when the line lasers encounter an object, and the second environmental image is a visible light image that does not include laser stripes.