Self-moving operation equipment

Abstract

The utility model provides self-moving operation equipment. The self-moving operation equipment comprises an equipment body, a working unit, a moving assembly and a visual assembly. A first accommodating cavity is formed in the equipment main body; the working unit is arranged at the bottom of the equipment body and used for executing preset work tasks. The moving assembly is arranged on the equipment body and used for driving the equipment body to move. The visual assembly is arranged at the top of the equipment body and comprises a shell, an image acquisition unit and a visual mainboard, a second containing cavity is formed in the shell, the image acquisition unit is arranged on the shell and at least partially located in the second containing cavity, and the visual mainboard is arranged in the first containing cavity and electrically connected with the image acquisition unit; and the visual mainboard is used for carrying out data processing on the image acquired by the image acquisition unit. According to the self-moving operation equipment, heat is not prone to gathering, and operation reliability is high.

Description

Technical Field

[0001] The present application relates to the technical field of mobile working equipment, and in particular to a self-moving working equipment. Background Art

[0002] Installing visual components on self-moving working equipment can determine the position in the working area, perceive environmental information in the working area, etc. However, the visual components will generate a lot of heat during operation. If the heat is not dissipated in time, it will affect the operation of the visual components and cause the self-moving working equipment to malfunction. Utility Model Content

[0003] The present application provides a self-moving operating device which is not easy to accumulate heat and has high operating reliability.

[0004] Specifically, the present application provides a self-moving working device, comprising:

[0005] A device body, wherein the interior of the device body has a first accommodating cavity;

[0006] A working unit, which is arranged at the bottom of the device body and is used to perform a preset working task;

[0007] A moving component, which is disposed on the device body and is used to drive the device body to move; and

[0008] A visual component, wherein the visual component is disposed on the top of the device body, the visual component includes a shell, an image acquisition unit and a visual mainboard, the shell has a second accommodating cavity inside, the image acquisition unit is disposed on the shell and is at least partially located in the second accommodating cavity, the visual mainboard is disposed in the first accommodating cavity and is electrically connected to the image acquisition unit, and the visual mainboard is used to perform data processing on the image acquired by the image acquisition unit.

[0009] In a possible embodiment, the visual component further includes an adapter plate, which is disposed in the second accommodating cavity and is electrically connected to the image acquisition unit and the visual main board, respectively.

[0010] In a possible embodiment, the visual component further includes a connecting cable, one end of which is electrically connected to the adapter board, and the other end of which passes through the shell and the device body in sequence and is electrically connected to the visual main board.

[0011] In a possible embodiment, a first seal is provided between the shell and the device body; and / or a second seal is provided between the shell and the connecting cable.

[0012] In a possible embodiment, a first positioning member is provided on the adapter board, and the first positioning member is located at one end of the connecting cable connected to the adapter board, and is used to fix one end of the connecting cable on the adapter board; and / or,

[0013] The adapter board is provided with a second positioning member, which is located at one end of the connecting cable connected to the visual main board and is used to fix the other end of the connecting cable to the visual main board.

[0014] In a possible embodiment, the first positioning member is pressed onto a side of one end of the connecting cable away from the adapter board and is engaged with the adapter board; the second positioning member is pressed onto a side of the other end of the connecting cable away from the visual main board and is engaged with the visual main board.

[0015] In a possible embodiment, the self-moving operating device further includes a radiator, which is disposed in the first accommodating cavity and is in contact with the visual mainboard to dissipate heat generated by the visual mainboard.

[0016] In a possible embodiment, the device body includes a chassis and a top shell, the top shell is provided with a receiving groove for accommodating the shell, the bottom wall of the receiving groove is provided with a first through hole communicating with the second receiving cavity, the shell is constructed with a second through hole communicating with the first through hole, and the connecting cable passes through the second through hole and the first through hole.

[0017] In a possible embodiment, the bottom of the shell is constructed with a first protrusion, a second protrusion and a third protrusion, the first protrusion is annular and supported on the bottom wall of the accommodating groove, the second protrusion is annular and located inside the first protrusion, the second protrusion is used to limit the second sealing member, and the third protrusion is used to engage with the side wall of the accommodating groove with the first protrusion.

[0018] In a possible embodiment, a limiting wall is constructed on the top shell, the limiting wall is connected to the bottom wall of the accommodating groove, and one end of the visual main board is supported on a side of the limiting wall facing the first through hole.

[0019] The self-mobile working equipment provided by the present application drives the main body of the equipment to move by a mobile unit, and the working unit executes a preset working task to realize mobile working. The visual component can realize the positioning of the main body of the equipment during the working process, environmental recognition, etc. by acquiring image information of the working area. Since the interior of the main body of the equipment has a first accommodating cavity, the interior of the shell of the visual component has a second accommodating cavity, the image acquisition unit of the visual component is arranged on the shell and is at least partially located in the second accommodating cavity, and the visual main board of the visual component is arranged in the first accommodating cavity and is electrically connected to the image acquisition unit. Therefore, when image acquisition and image processing are realized, the heat generated by the operation of the image acquisition unit can be dissipated to the interior of the shell, and dissipated to the outside of the self-mobile working equipment through the shell. The heat generated by the operation of the visual main board can be dissipated to the interior of the main body of the equipment, and dissipated to the outside of the self-mobile working equipment through the main body of the equipment. This is beneficial to miniaturizing the shell of the visual component, and the heat generated by the visual main board will not be accumulated in the shell with a smaller inner cavity space, thereby avoiding the formation of high temperature, ensuring the normal operation of the visual component, and improving the operating reliability of the self-mobile working equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments are briefly introduced below.

[0021] Figure 1 A schematic structural diagram of a self-moving working device provided in the first embodiment of the present application;

[0022] Figure 2 A schematic cross-sectional structure diagram of a self-moving working device provided in the second embodiment of the present application;

[0023] Figure 3 Another schematic cross-sectional structure diagram of the self-moving working equipment provided in the second embodiment of the present application;

[0024] Figure 4 for Figure 2 A schematic diagram of a portion of the structure of a visual component in a self-mobile working device is shown;

[0025] Figure 5 for Figure 2 A partial enlarged schematic diagram of area A of the self-moving working equipment shown;

[0026] Figure 6 for Figure 3 A partial enlarged schematic diagram of area B of the self-moving working equipment shown;

[0027] Figure 7 for Figure 2 A schematic diagram of the structure of a housing, a connecting cable and a second sealing member in the self-moving operating device is shown;

[0028] Figure 8 for Figure 4 A structural schematic diagram of a first positioning member in the self-moving working equipment shown;

[0029] Fig. 9 for Figure 4 A structural schematic diagram of a second positioning member in the self-moving working equipment shown;

[0030] Fig.10 A schematic diagram of a partially exploded structure of a self-moving working device provided in a second embodiment of the present application;

[0031] Fig.11 for Fig.10 A schematic diagram of the structure of the top shell of the self-moving working equipment shown;

[0032] Fig.12 for Figure 2 A partial enlarged schematic diagram of the C area of ​​the self-moving working equipment shown;

[0033] Fig.13 for Fig.11 The top shell shown is a schematic diagram of the structure of the visual mainboard.

[0034] Description of reference numerals:

[0035] Self-mobile working equipment 100; equipment body 10; working unit 20; moving component 30; visual component 40; first accommodating chamber 101; second accommodating chamber 401; shell 402; image acquisition unit 403; visual main board 404; adapter plate 405; connecting cable 406; first sealing member 501; second sealing member 502; opening 520; first positioning member 407; first positioning column 470; first clamping portion 471; second positioning member 408; second positioning column 480; second clamping portion 481; radiator 60; chassis 102; top shell 103; accommodating groove 130; second through hole 420; first protrusion 421; second protrusion 422; third protrusion 423; limiting wall 131. DETAILED DESCRIPTION

[0036] The technical solution provided by the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the embodiments described in the present application are only a part of the embodiments, not all of the embodiments. Based on the embodiments described in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0037] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it mutually exclusive, independent, or alternative to other embodiments. It can be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0038] The terms "first", "second", etc. in the specification and claims of this application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example: a component or device including one or more parts is not limited to the one or more parts listed, but may optionally include one or more parts that are not listed but inherent to the exemplified product, or one or more parts that it should have based on the described function.

[0039] Please refer to Figures 1 to 3 , Figure 1 A structural schematic diagram of a self-moving working device 100 provided in an embodiment of the present application, Figure 2 for Figure 1 A schematic cross-sectional structure diagram of a self-moving working device 100 is shown. Figure 3 for Figure 1 Another cross-sectional structural schematic diagram of the self-moving working device 100 is shown. The self-moving working device 100 may be a lawn mower, a sweeper, etc. The embodiment of the present application takes a lawn mower as an example. The self-moving working device 100 may automatically move and perform corresponding operations. Specifically, the self-moving working device 100 includes a device body 10, a working unit 20, a moving component 30, and a visual component 40.

[0040] The device body 10 is used to carry the working unit 20, the moving component 30 and the visual component 40. In the linear moving direction of the self-moving working device 100, the device body 10 has a front part, a middle part and a rear part. The linear moving direction of the self-moving working device 100 can be referred to in the attached Figure 2The front of the device can be used to carry the visual component 40 to facilitate the acquisition of information in the working area. The middle of the device can be used to carry at least part of the working unit 20 to facilitate the corresponding operation. The rear of the device can be used to carry at least part of the mobile component 30 to achieve the mobility of the device body 10 without affecting the setting of the working unit 20 and the visual component 40. The interior of the device body 10 has a first accommodating chamber 101. In other words, the inner surface of the device body 10 is surrounded to form the first accommodating chamber 101. In a possible embodiment, the first accommodating chamber 101 may include a first sub-accommodating chamber, a second sub-accommodating chamber and a third sub-accommodating chamber that are sequentially connected along the moving direction of the self-mobile working device 100. The first sub-accommodating chamber is formed by the front of the device, the second sub-accommodating chamber is formed by the middle of the device, and the third sub-accommodating chamber is formed by the rear of the device. The second sub-accommodating chamber can be used to accommodate electronic devices corresponding to the working unit 20, such as motors, circuit boards, etc. The third sub-accommodation chamber can be used to accommodate electronic devices corresponding to the moving assembly 30, such as motors, circuit boards, etc. Of course, in other possible embodiments, the second sub-accommodation chamber can also be used to accommodate electronic devices corresponding to the moving assembly 30, and the third sub-accommodation chamber can also be used to accommodate electronic devices of the working unit 20.

[0041] The working unit 20 is arranged at the bottom of the equipment body 10, and is used to perform preset work tasks. In the embodiment of the present application, the working unit 20 may include a cutter disc, a blade, etc. for mowing the grass, and the working unit 20 is used to perform the mowing task. Of course, in other possible embodiments, the working unit 20 may also include a roller brush for cleaning, etc., and the working unit 20 is used to perform the cleaning task. In the embodiment of the present application, the working unit 20 is arranged at the bottom of the middle part of the equipment. Among them, the bottom and the top described in the following embodiments refer to the two ends along the height direction of the self-mobile working equipment 100, and the height direction of the self-mobile working equipment 100 is perpendicular to the straight-line moving direction of the self-mobile working equipment 100. The height direction of the self-mobile working equipment 100 can be referred to in the attached Figure 2 The Z-axis direction is shown.

[0042] The moving component 30 is arranged on the device body 10, and is used to drive the device body 10 to move. In a possible embodiment, the moving component 30 may include a plurality of moving wheels. The present application does not specifically limit the number of moving wheels. For example: the number of moving wheels may be four. Optionally, the moving component 30 may include two front moving wheels and two rear moving wheels. The two front moving wheels are arranged on both sides of the front end of the device along the width direction of the self-moving operation, and the two rear moving wheels are arranged on both sides of the rear end of the device along the width direction of the self-moving operation. The width direction of the self-moving operation is perpendicular to the linear moving direction of the self-moving operation equipment 100. The width direction of the self-moving operation equipment 100 can be referred to in the attached Figure 2The moving assembly 30 can be used to drive the device body 10 to move in a straight line, or can be used to drive the device body 10 to move in a curve. The left side and the right side described in the following embodiments refer to the two sides along the width direction of the mobile working device 100.

[0043] The visual component 40 is used to realize image acquisition and image processing of the working area. In a possible embodiment, the visual component 40 can be used to obtain image information from the front side of the position where the self-mobile working device 100 is located. Of course, in other possible embodiments, the visual component 40 can also be used to obtain image information from the left side, or the right side, or the back side of the position where the self-mobile working device 100 is located. The visual component 40 is arranged on the top of the device body 10. It can be understood that in the height direction of the self-mobile working device 100, the visual component 40 and the working unit 20 are respectively arranged on both sides of the device body 10. In other words, in the height direction of the self-mobile working device 100, the visual component 40 is arranged on the side of the device body 10 away from the working unit 20.

[0044] Please refer to Figures 4 to 6 , Figure 4 for Figure 3 The schematic diagram of a part of the structure of the visual component 40 in the mobile working device 100 is shown. Figure 5 for Figure 2 The schematic diagram of a partial enlargement of the A area of ​​the self-mobile working equipment 100 is shown. Figure 6 for Figure 3The schematic diagram of a partial enlargement of the B area in the mobile working equipment 100 is shown. The visual component 40 includes a shell 402, an image acquisition unit 403 and a visual mainboard 404. Among them, the image acquisition unit 403 is used to realize image acquisition. The visual mainboard 404 is used to realize image processing. Optionally, the image acquisition unit 403 includes at least one lens and at least one image sensor. The lens can be a standard lens, a zoom lens, a wide-angle lens, a telephoto lens, etc. The image sensor can be a CCD sensor, a CMOS sensor, etc. The image sensor is used to realize photoelectric conversion. Of course, the image acquisition unit 403 can also include at least one light source. The light source emits light, which can be used to realize illumination or fill light of the lens shooting area. The visual mainboard 404 includes an image processor. The image processor is used to realize image data processing. The shell 402 has a second accommodating chamber 401 inside. In other words, the inner surface of the shell 402 is surrounded to form the second accommodating chamber 401. The spatial volume of the second accommodating chamber 401 is smaller than the spatial volume of the first accommodating chamber 101. The image acquisition unit 403 is disposed on the shell 402 and is at least partially located in the second accommodating chamber 401. In one possible embodiment, the image acquisition unit 403 may be entirely located in the second accommodating chamber 401. In another possible embodiment, the lens of the image acquisition unit 403 may partially extend out of the shell 402, and the image sensor of the image acquisition unit 403 may be entirely located in the second accommodating chamber 401. The visual mainboard 404 is disposed in the first accommodating chamber 101 and is electrically connected to the image acquisition unit 403. In the embodiment of the present application, the visual mainboard 404 may be disposed in the first sub-accommodating chamber in the first accommodating chamber 101. The visual mainboard 404 and the image acquisition unit 403 may be indirectly electrically connected via an electrical connector. The visual mainboard 404 is used to perform data processing on the image acquired by the image acquisition unit 403.

[0045] The self-moving operation equipment 100 provided in the present application drives the equipment body 10 to move through the moving component 30, and the working unit 20 performs the preset work task to realize the mobile operation. The visual component 40 can realize the positioning and environment recognition of the equipment body 10 during the operation by acquiring the image information of the operation area. Since the interior of the equipment body 10 has a first accommodating cavity 101, the interior of the shell 402 of the visual component 40 has a second accommodating cavity 401, the image acquisition unit 403 of the visual component 40 is arranged on the shell 402 and is at least partially located in the second accommodating cavity 401, and the visual main board 404 of the visual component 40 is arranged in the first accommodating cavity 101 and is connected to the image acquisition unit 403. Electrically connected, so when realizing image acquisition and image processing, the heat generated by the operation of the image acquisition unit 403 can be dissipated into the interior of the shell 402, and dissipated to the outside of the self-mobile working equipment 100 through the shell 402. The heat generated by the operation of the visual mainboard 404 can be dissipated into the interior of the equipment body 10, and dissipated to the outside of the self-mobile working equipment 100 through the equipment body 10. This is beneficial to miniaturizing the shell 402 of the visual component 40, and the heat generated by the visual mainboard 404 will not be accumulated in the shell 402 with a smaller inner cavity space, thereby avoiding the formation of high temperature, ensuring the normal operation of the visual component 40, and improving the operating reliability of the self-mobile working equipment 100.

[0046] It can be understood that the present application can avoid the accumulation of heat generated by the visual component 40 by splitting the visual component 40 into the first accommodating cavity 101 of the device body 10 and the second accommodating cavity 401 of the shell 402, especially can avoid the large amount of heat generated on the visual main board 404 from accumulating in the second accommodating cavity 401 with a smaller space, thereby improving the operating reliability of the visual component 40 and facilitating the further miniaturization of the shell 402.

[0047] For further information, please refer to Figures 4 to 6 The visual component 40 further includes an adapter plate 405. The adapter plate 405 is disposed in the second accommodating cavity 401. The adapter plate 405 is electrically connected to the image acquisition unit 403 and the visual main board 404 respectively.

[0048] The adapter plate 405 may include a circuit board and a connector provided on the circuit board, or other electronic components. Among them, the circuit board may be a printed circuit board (PCB). The adapter plate 405 may be arranged close to the image acquisition unit 403 in the second accommodating cavity 401. In a possible embodiment, the adapter plate 405 may also be used to carry the image sensor in the image acquisition unit 403. At this time, the lens, image sensor and adapter plate 405 of the image acquisition unit 403 may be arranged in sequence along the optical axis direction of the visual component 40. In the embodiment of the present application, the optical axis direction of the visual component 40 is parallel to the X-axis direction.

[0049] By setting up the adapter board 405, the transmission and conversion of signals between the image acquisition unit 403 and the visual main board 404 can be realized. In addition, since the adapter board 405 can connect electronic components of different types and sizes and expand the number of interfaces, setting up the adapter board 405 can also reduce the restrictions on the types and sizes of electronic components in the image acquisition unit 403 and electronic components on the visual main board 404, thereby expanding the application scenarios of the visual component 40.

[0050] For further information, please refer to Figures 4 to 6 The visual component 40 further includes a connecting cable 406. One end of the connecting cable 406 is electrically connected to the adapter board 405. The other end of the connecting cable 406 passes through the housing 402 and the device body 10 in sequence and then is electrically connected to the visual mainboard 404.

[0051] The connecting cable 406 may include a plurality of connecting cables arranged at intervals. The material of the connecting cable may be metal, alloy, etc. The materials of the plurality of connecting cables may be the same or different. One end of the connecting cable 406 may be directly welded to the adapter board 405. The other end of the connecting cable 406 may be directly welded to the visual mainboard 404 after passing through the shell 402 and the device body 10 in sequence. In a possible embodiment, the connecting cable 406 may be a flexible circuit board cable. The connecting cable 406 includes a first cable portion, a second cable portion, and a third cable portion connected in sequence. The first cable portion is located in the second accommodating cavity 401 and is used to electrically connect the adapter board 405. The second cable portion passes through the bottom of the shell 402 and the top of the device body 10. The third cable portion is located in the first accommodating cavity 101 and is used to electrically connect the visual mainboard 404.

[0052] The provision of the connecting cable 406 is conducive to reducing the difficulty of electrical connection between the adapter board 405 located in the second accommodating cavity 401 and the visual main board 404 located in the first accommodating cavity 101, and is conducive to miniaturization of the adapter board 405. In addition, by providing the connecting cable 406, the other end of the connecting cable 406 is electrically connected to the visual main board 404 after passing through the shell 402 and the device body 10 in sequence, which is also conducive to reducing the gap between the shell 402 and the device body 10, and improving the sealing and waterproof performance between the shell 402 and the device body 10.

[0053] For further information, please refer to Figures 5 to 7 , Figure 7 Schematic diagram of a structure in which a second seal 502 is provided between the housing 402 and the connecting cable 406. A first seal 501 is provided between the housing 402 and the device body 10; and / or a second seal 502 is provided between the housing 402 and the connecting cable 406.

[0054] In a possible embodiment, a first seal 501 is provided between the housing 402 and the device body 10. The first seal 501 may be an annular seal ring. The material of the first seal 501 may be rubber, silicone, etc. The first seal 501 is provided between the bottom of the housing 402 and the top of the device body 10. The first seal 501 may be sandwiched between the bottom of the housing 402 and the top of the device body 10, or the first seal 501 may be embedded in one of the top of the housing 402 and the top of the device body 10, and sealably connect the other of the bottom of the housing 402 and the top of the device body 10. Optionally, the first seal 501 includes a first sealing portion, a second sealing portion and a third sealing portion which are bent and connected in sequence, and a sealing groove is formed between the first sealing portion, the second sealing portion and the third sealing portion. The bottom of the shell 402 can be extended into the sealing groove to enable the first seal 501 to be embedded in the shell 402, or the top of the device body 10 can be extended into the sealing groove to enable the first seal 501 to be embedded in the device body 10.

[0055] Since the interior of the shell 402 and the interior of the device body 10 need to accommodate the image acquisition unit 403 and the visual main board 404 respectively, the shell 402 and the device body 10 are not convenient to be integrally formed or integrally connected. Therefore, when the shell 402 is arranged on the top of the device body 10, by further providing a first sealing ring between the shell 402 and the device body 10, it is beneficial to improve the sealing performance of the self-mobile working equipment 100, and prevent the entry of dust, water stains, etc., which may affect the performance of the adapter plate 405, the connecting cable 406, and the visual main board 404.

[0056] In another possible embodiment, a second seal 502 is provided between the shell 402 and the connecting cable 406. The second seal 502 may be an annular seal ring. The material of the second seal 502 may be rubber, silicone, etc. The material of the second seal 502 may be the same as or different from the material of the first seal 501. Optionally, the elasticity of the second seal 502 may be better than the elasticity of the first seal 501. The second seal 502 is provided between the bottom of the shell 402 and the second cable portion of the connecting cable 406. The second seal 502 may pass through the bottom of the shell 402, and the second cable portion may pass through the second seal ring. Optionally, as Figure 7 As shown, the second sealing member 502 may have an opening 520. By providing the opening 520, the connection cable 406 can be easily passed through the second sealing member 502 while achieving sealing between the housing 402 and the connection cable 406.

[0057] The second seal 502 can further improve the sealing performance between the housing 402 and the connecting cable 406, and prevent the connecting cable 406 from being affected by external dust and water stains. In addition, the second seal 502 can limit and fix the connecting cable 406, reduce the possibility of the connecting cable 406 bending and tilting at the position where the connecting cable 406 passes through the housing 402, and can also prevent the connecting cable 406 from being cut or scratched when assembling the self-mobile working device 100, thereby improving the reliability of the visual component 40.

[0058] For further information, please refer to Figure 4 and Figure 8 , Figure 8 for Figure 4 A structural schematic diagram of a first positioning member 407 in a self-moving operation device is shown; a first positioning member 407 is provided on the adapter plate 405, and the first positioning member 407 is located at one end of the connecting cable 406 connected to the adapter plate 405, and is used to fix one end of the connecting cable 406 on the adapter plate 405; and / or, please refer to Figure 4 and Fig. 9 , Fig. 9 for Figure 4 A structural schematic diagram of a second positioning member 408 in a mobile operation device is shown. The adapter plate 405 is provided with a second positioning member 408, which is located at one end where the connecting cable 406 is connected to the visual mainboard 404, and is used to fix the other end of the connecting cable 406 to the visual mainboard 404.

[0059] In a possible embodiment, a first positioning member 407 is provided on the adapter plate 405. The first positioning member 407 is pressed on a side of one end of the connecting cable 406 away from the adapter plate 405, and is engaged with the adapter plate 405. Optionally, the first positioning member 407 includes at least one first positioning column 470 and at least one first clamping portion 471. The adapter plate 405 includes at least one first positioning groove and at least one first clamping groove. The first positioning column 470 cooperates with the first positioning groove, that is, the first positioning column 470 is at least partially located in the first positioning groove. The first clamping portion 471 cooperates with the first clamping groove, that is, the first clamping portion 471 is clamped in the first clamping groove. Among them, the first positioning column 470 can be a cylinder, a square column, etc. The present application does not specifically limit the number of the first positioning columns 470. For example, the number of the first positioning columns 470 can be four. In the Y-axis direction, two positioning columns can be respectively provided on both sides of the first positioning member 407. The shape and number of the first positioning grooves match the first positioning column 470. The first clamping portion 471 includes a first sub-clamping portion and a second sub-clamping portion that are bent and connected. The bending angle between the first sub-clamping portion and the second sub-clamping portion can be equal to or close to 90°. In other words, the first clamping portion 471 can be roughly L-shaped. The present application does not specifically limit the number of first clamping portions 471. For example: the number of first clamping portions 471 can be two. In the Y-axis direction, a first clamping portion 471 can be respectively provided on both sides of the first clamping portion 471. The first clamping portion 471 on each side can be arranged between two first positioning columns 470.

[0060] In another possible embodiment, a second positioning member 408 is provided on the adapter plate 405. The second positioning member 408 is pressed on the other end of the connecting cable 406 away from the side of the visual main board 404, and is engaged with the visual main board 404. Optionally, the second positioning member 408 includes at least one second positioning column 480 and at least one second clamping portion 481. The visual main board 404 includes at least one second positioning groove and at least one second clamping groove. The second positioning column 480 cooperates with the second positioning groove, that is, the second positioning column 480 is at least partially located in the second positioning groove. The second clamping portion 481 cooperates with the second clamping groove, that is, the second clamping portion 481 is clamped in the second clamping groove. Among them, the second positioning column 480 can be a cylinder, a square column, etc. The application does not specifically limit the number of the second positioning columns 480. For example, the number of the second positioning columns 480 can be four. In the Y-axis direction, two positioning columns can be respectively provided on both sides of the second positioning member 408. The shape and number of the second positioning groove match the second positioning column 480. The second clamping portion 481 includes a third sub-clamping portion and a fourth sub-clamping portion that are connected by bending. The bending angle between the third sub-clamping portion and the fourth sub-clamping portion can be equal to or close to 90°. In other words, the second clamping portion 481 can be roughly L-shaped. The present application does not specifically limit the number of second clamping portions 481. For example: the number of second clamping portions 481 can be two. In the Y-axis direction, a second clamping portion 481 can be provided on both sides of the second clamping portion 481. The second clamping portion 481 on each side can be arranged between two second positioning columns 480.

[0061] In this embodiment, by providing the first positioning member 407, the connection cable 406 is fixed to the adapter board 405, so that the reliability of the electrical connection between the connection cable 406 and the adapter board 405 can be improved. By providing the second positioning member 408, the connection cable 406 is fixed to the visual main board 404, so that the reliability of the electrical connection between the connection cable 406 and the visual main board 404 can be improved. In addition, the first positioning member 407 is pressed on the side of one end of the connection cable 406 away from the adapter board 405, and is engaged with the adapter board 405, so that the first positioning member 407 is easy to assemble without the aid of assembly tools. The second positioning member 408 is pressed on the side of one end of the connection cable 406 away from the visual main board 404, and is engaged with the visual main board 404, so that the second positioning member 408 is easy to assemble without the aid of assembly tools.

[0062] By making the first positioning member 407 include at least one first positioning portion and at least one first clamping portion 471, the first positioning column 470 can assist in positioning during the assembly process while the first positioning member 407 is engaged with the adapter plate 405, thereby further improving the assembly efficiency of the first positioning member 407. By making the second positioning member 408 include at least one second positioning portion and at least one second clamping portion 481, the second positioning column 480 can assist in positioning during the assembly process while the second positioning member 408 is engaged with the visual main board 404, thereby further improving the assembly efficiency of the second positioning member 408.

[0063] For further information, please refer to Figures 4 to 6 The self-moving operation device 100 further includes a radiator 60. The radiator 60 is disposed in the first accommodation cavity 101. The radiator 60 contacts the visual mainboard 404 to dissipate the heat generated by the visual mainboard 404.

[0064] The radiator 60 may be an air-cooled radiator, a water-cooled radiator, a heat pipe radiator, or a heat sink radiator. In a possible embodiment, the radiator 60 may be disposed in the first accommodation cavity 101 and located on a side of the visual mainboard 404 away from the housing 402. It is understandable that the radiator 60 is located below the visual mainboard 404 along the Z-axis direction.

[0065] Optionally, the radiator 60 is a heat sink type radiator. The radiator 60 includes a plurality of heat sinks arranged at intervals. The material of the heat sink can be metal, such as copper, aluminum, etc. The shape of the heat sink includes but is not limited to V-shaped, cylindrical, rectangular, and wing-shaped. The self-mobile operating device 100 also includes one or more cooling fans arranged in the first accommodating chamber 101. The cooling fan is used to accelerate the air circulation in the first accommodating chamber 101, thereby accelerating the heat dissipation of the visual mainboard 404 and preventing the temperature of the visual mainboard 404 from being too high.

[0066] By providing the heat sink 60 to dissipate heat from the visual mainboard 404, the temperature of the visual mainboard 404 can be further reduced, heat accumulation can be avoided, and the reliability of the visual component 40 can be improved. In addition, by locating the heat sink 60 on the side of the visual mainboard 404 away from the housing 402, the arrangement of the connecting cable 406 and the second positioning member 408 can be facilitated, and interference between the heat sink 60 and the installation of the connecting cable 406 and the second positioning member 408 can be avoided.

[0067] Please refer to Figures 10 to 12 , Fig.10 for Figure 1 The exploded structural diagram of the self-mobile working equipment 100 is shown. Fig.11 for Fig.10The schematic diagram of the structure of the top shell 103 in the mobile working equipment 100 is shown. Fig.12 for Figure 2 The figure shows a partial enlarged schematic diagram of the C area of ​​the mobile working device 100. The device body 10 includes a chassis 102 and a top shell 103, the top shell 103 is provided with a receiving groove 130 for receiving the shell 402, the bottom wall of the receiving groove 130 is provided with a first through hole communicating with the second receiving cavity 401, the shell 402 is configured with a second through hole 420 communicating with the first through hole, and the connecting cable 406 passes through the second through hole 420 and the first through hole.

[0068] In the embodiment of the present application, the shell 402, the top shell 103 and the chassis 102 are arranged in sequence along the Z-axis direction. The working unit 20 is arranged at the bottom of the chassis 102. The accommodating groove 130 includes a bottom wall and a peripheral side wall connected by a bend. The shell 402 is supported on the bottom wall and accommodated between the bottom wall and the peripheral side wall. The first through hole is formed on the bottom wall. The present application does not specifically limit the shape of the first through hole, the size of the first through hole, the shape of the second through hole 420, and the size of the second through hole 420. For example; the first through hole can be a rectangular hole, or a circular hole, etc. The second through hole 420 can be a rectangular hole, or a circular hole, etc. The diameter of the first through hole can be greater than the diameter of the second through hole 420.

[0069] In this embodiment, by providing a receiving groove 130 for accommodating the shell 402 on the top shell 103, an embedded design of the top shell 103 and the shell 402 can be achieved, that is, the bottom of the shell 402 is embedded in the top shell 103. This is beneficial for reducing the height of the self-mobile working equipment 100, improving the sealing performance between the shell 402 and the top shell 103, and improving the structural compactness of the self-mobile working equipment 100.

[0070] Please refer to Figure 7 and Fig.12 The bottom of the shell 402 is constructed with a first protrusion 421, a second protrusion 422 and a third protrusion 423. The first protrusion 421 is annular and supported on the bottom wall of the accommodating groove 130. The second protrusion 422 is annular and is located inside the first protrusion 421. The second protrusion 422 is used to limit the second sealing member 502. The third protrusion 423 and the first protrusion 421 are used to engage with the side wall of the accommodating groove 130.

[0071] The protrusion height of the second protrusion 422 may be less than or equal to the protrusion height of the first protrusion 421. The protrusion height of the third protrusion 423 may be less than or equal to the protrusion height of the first protrusion 421. The first protrusion 421 may be in the shape of a circular ring, or a rectangular ring, etc. The second protrusion 422 may be in the shape of a circular ring, or a rectangular ring, etc. The third protrusion 423 may be provided on at least one side of the first protrusion 421.

[0072] In this embodiment, the first protrusion 421 is constructed at the bottom of the housing 402. The first protrusion 421 extends into the receiving groove 130 and is supported on the bottom wall of the receiving groove 130, so that the housing 402 and the top shell 103 can be embedded. By providing the second protrusion 422, the second sealing member 502 is clamped in the second protrusion 422, so that the second sealing member 502 can be fixed. By providing the third protrusion 423, the top shell 103 can be engaged between the first protrusion 421 and the third protrusion 423, so as to further improve the connection reliability between the housing 402 and the top shell 103.

[0073] For further information, please refer to Figures 11 to 13 , Fig.13 for Fig.11 The top shell 103 is a schematic diagram of a structure in which a visual mainboard 404 is placed. The top shell 103 is provided with a limiting wall 131, which is connected to the bottom wall of the receiving groove 130, and one end of the visual mainboard 404 is supported on the side of the limiting wall 131 facing the first through hole.

[0074] The limiting wall 131 includes a first sub-limiting wall and a second sub-limiting wall connected by bending. One end of the first sub-limiting wall away from the second sub-limiting wall is connected to the bottom wall of the accommodating groove 130. One end of the second sub-limiting wall away from the first sub-limiting wall extends in a direction away from the peripheral side wall of the accommodating groove 130. The bending angle between the first sub-limiting wall and the second sub-limiting wall can be equal to or close to 90°.

[0075] By constructing a limiting wall 131 on the top shell 103 , one end of the visual mainboard 404 is supported on a side of the limiting wall 131 facing the first through hole, which can be used to support and limit the visual mainboard 404 .

[0076] The features mentioned in the specification, claims and drawings can be arbitrarily combined with each other as long as they are meaningful within the scope of this application. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of this application, and these improvements and modifications are also regarded as the protection scope of this application.

Claims

1. A self-moving working equipment, characterized in that: include: A device body, wherein the interior of the device body has a first accommodating cavity; A working unit, which is arranged at the bottom of the device body and is used to perform a preset working task; A moving component, the moving component is arranged on the device body and is used to drive the device body to move; and A visual component, wherein the visual component is disposed on the top of the device body, the visual component includes a shell, an image acquisition unit and a visual mainboard, the shell has a second accommodating cavity inside, the image acquisition unit is disposed on the shell and is at least partially located in the second accommodating cavity, the visual mainboard is disposed in the first accommodating cavity and is electrically connected to the image acquisition unit, and the visual mainboard is used to perform data processing on the image acquired by the image acquisition unit.

2. The self-moving working equipment according to claim 1, characterized in that: The visual component also includes an adapter plate, which is arranged in the second accommodating cavity and is electrically connected to the image acquisition unit and the visual main board respectively.

3. The self-moving working equipment according to claim 2, characterized in that: The visual component also includes a connecting cable, one end of which is electrically connected to the adapter board, and the other end of which passes through the shell and the device body in sequence and is electrically connected to the visual main board.

4. The self-moving working equipment according to claim 3, characterized in that: A first sealing member is provided between the housing and the device body; and / or, A second sealing member is provided between the housing and the connecting cable.

5. The self-moving working equipment according to claim 3, characterized in that: A first positioning member is provided on the adapter board, and the first positioning member is located at one end of the connecting cable connected to the adapter board, and is used to fix one end of the connecting cable on the adapter board; and / or, The adapter board is provided with a second positioning member, which is located at one end of the connecting cable connected to the visual main board and is used to fix the other end of the connecting cable to the visual main board.

6. The self-moving working equipment according to claim 5, characterized in that: The first positioning member is pressed onto a side of one end of the connecting cable away from the adapter board, and is engaged with the adapter board; The second positioning member is pressed onto a side of the other end of the connecting cable away from the visual main board, and is engaged with the visual main board.

7. The self-moving working equipment according to claim 1, characterized in that: The self-moving operating equipment also includes a radiator, which is disposed in the first accommodating cavity and is in contact with the visual mainboard to dissipate heat generated by the visual mainboard.

8. The self-moving working equipment according to claim 4, characterized in that: The device body includes a chassis and a top shell, the top shell is provided with a receiving groove for accommodating the shell, the bottom wall of the receiving groove is provided with a first through hole communicating with the second receiving cavity, the shell is constructed with a second through hole communicating with the first through hole, and the connecting cable passes through the second through hole and the first through hole.

9. The self-moving working equipment according to claim 8, characterized in that: The bottom of the shell is constructed with a first protrusion, a second protrusion and a third protrusion. The first protrusion is annular and supported on the bottom wall of the accommodating groove. The second protrusion is annular and located inside the first protrusion. The second protrusion is used to limit the second sealing member. The third protrusion and the first protrusion are used to engage with the side wall of the accommodating groove.

10. The self-moving working equipment according to claim 8, characterized in that: A limiting wall is constructed on the top shell, the limiting wall is connected to the bottom wall of the accommodating groove, and one end of the visual main board is supported on a side of the limiting wall facing the first through hole.

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