Self-moving device

Abstract

The utility model relates to a self-moving device which comprises a shell, an environment detection device used for detecting a working environment, a control device electrically connected with the environment detection device and a heat dissipation device connected with the control device. The shell comprises a base, an upper cover connected with the base in a sealed mode to form a main containing cavity and a housing connected with the base and / or the upper cover to form an auxiliary containing cavity, the auxiliary containing cavity is communicated with external environment fluid, and the heat dissipation device is arranged in the auxiliary containing cavity. In the walking operation process of the self-moving equipment, heat dissipation airflow flows into the auxiliary containing cavity from the external environment to accelerate heat volatilization of the heat dissipation device, so that the heat dissipation effect of the control device is improved, the control device is prevented from being in a high-temperature state for a long time, and the service life of the environment detection device is prolonged.

Description

TECHNICAL FIELD

[0001] The utility model relates to intelligent tool technical field especially, and it is a kind of self-moving equipment. BACKGROUND

[0002] With the development of science and technology, self-moving equipment that can operate autonomously without user operation is applied more and more in daily work and life. In order to cope with complex working environment, the existing self-moving equipment is equipped with environmental detection devices such as visual sensor and radar sensor to detect the surrounding environment. In the process of walking and working of the self-moving equipment, if the above-mentioned environmental detection devices detect obstacles or detect abnormal conditions such as rain and steep slope, the self-moving equipment will implement adaptive processing strategy according to the signals transmitted by the above-mentioned environmental detection devices.

[0003] In order to realize accurate detection of the surrounding environment of the self-moving equipment, the measurement range and accuracy of the environmental detection devices on the market are getting higher and higher, which also brings the problem of high heat. Therefore, on the one hand, if the environmental detection device installed on the self-moving equipment is in high temperature state for a long time, the preset protection program will be triggered automatically, which causes abnormal function of the sensor and the self-moving equipment cannot accurately identify obstacles, which has safety hazard. On the other hand, the above-mentioned environmental detection device is expensive, and if it is frequently in high temperature overload working state, the service life will be reduced.

[0004] Therefore, it is necessary to provide an improved self-moving equipment to overcome the defects of the prior art. SUMMARY

[0005] In view of the shortcomings of the prior art, the purpose of the utility model is to provide a self-moving equipment capable of effectively cooling the environmental detection device.

[0006] The utility model solves the problems of the prior art, which can adopt the following technical scheme: a self-moving equipment, comprising: a shell comprising a base and an upper cover sealingly connected with the base to form a main accommodating cavity; an environmental detection device for detecting the working environment of the self-moving equipment; a control device electrically connected with the environmental detection device, the control device being at least partially accommodated in the main accommodating cavity; the self-moving equipment further comprises a heat dissipation device connected with the control device, and the shell further comprises a cover connected with the base and / or the upper cover to form a secondary accommodating cavity, the secondary accommodating cavity being in fluid communication with the external environment, and the heat dissipation device being at least partially located in the secondary accommodating cavity.

[0007] Further, the shell further comprises a heat dissipation air duct formed in the auxiliary accommodating cavity, the heat dissipation air duct comprises a main air duct section and first and second air duct sections connected to rear of the main air duct section respectively, and the heat dissipation device is arranged in the main air duct section, and the heat dissipation airflow flows into the first and second air duct sections respectively after flowing through the heat dissipation device from the main air duct section.

[0008] Further, the first and second air duct sections are arranged in a left-right direction of the self-moving device.

[0009] Further, the first and second air duct sections both extend in a front-rear direction of the self-moving device.

[0010] Further, the main air duct section comprises an air inlet, a first air guide opening connected to the first air duct section, and a second air guide opening connected to the second air duct section, the heat dissipation airflow flows into the main air duct section from the air inlet, and flows into the first and second air duct sections from the first and second air guide openings respectively after flowing through the heat dissipation device.

[0011] Further, the first air duct section further comprises a first air outlet arranged behind the first air guide opening, the second air duct section further comprises a second air outlet arranged behind the second air guide opening, and the heat dissipation device is located between the first and second air outlets in the left-right direction of the self-moving device.

[0012] Further, the air inlet is arranged in front of the first and second air guide openings in the front-rear direction of the self-moving device.

[0013] Further, the environment detection device comprises a visual sensor and a radar sensor, and the visual sensor and the radar sensor are both located in the auxiliary accommodating cavity, and the radar sensor is located above the visual sensor in a height direction of the self-moving device.

[0014] Further, the control device comprises a first circuit board electrically connected to the visual sensor and a second circuit board electrically connected to the radar sensor, the heat dissipation device comprises a first heat dissipation member connected to the first circuit board and a second heat dissipation member connected to the second circuit board, and the first and second heat dissipation members are both located in the auxiliary accommodating cavity.

[0015] Further, the shell further comprises a heat dissipation air duct formed in the auxiliary accommodating cavity, the heat dissipation air duct comprises an air inlet and an air outlet located behind the heat dissipation device, and the air inlet is located between the first and second heat dissipation members in a height direction of the self-moving device.

[0016] Further, the shell further comprises a first sealed housing for accommodating the visual sensor, the first circuit board is installed in the main accommodating cavity, and the first sealed housing is arranged in the secondary accommodating cavity.

[0017] Further, the shell further comprises a second sealed housing for accommodating the radar sensor, the second circuit board is installed in the second sealed housing, and the second sealed housing is arranged in the secondary accommodating cavity.

[0018] Compared with the prior art, the self-moving device has the following beneficial effects: the shell of the self-moving device comprises a base, an upper cover in sealing connection with the base to form a main accommodating cavity, and a cover in connection with the base and / or the upper cover to form a secondary accommodating cavity, the secondary accommodating cavity is in fluid connection with the external environment, the self-moving device further comprises an environment detection device for detecting the working environment, a control device in electrical connection with the environment detection device, and a heat dissipation device connected with the control device, and the heat dissipation device is arranged in the secondary accommodating cavity, so that during the walking operation of the self-moving device, the heat dissipation airflow flows from the external environment to the secondary accommodating cavity to accelerate the heat volatilization of the heat dissipation device, thereby improving the heat dissipation effect of the control device, avoiding the control device being in a high temperature state for a long time, and prolonging the service life of the environment detection device. BRIEF DESCRIPTION OF DRAWINGS

[0019] The specific embodiments of the present application will be further described in detail below with reference to the accompanying drawings:

[0020] Figure 1 is the overall structure schematic diagram of the self-moving device in the preferred embodiment of the present application;

[0021] Figure 2 is Figure 1 the structure schematic diagram of the self-moving device after removing the cover shown in the figure;

[0022] Figure 3 is Figure 2 the local enlarged view of part A in the self-moving device shown in the figure;

[0023] Figure 4 is Figure 2 the local explosion view of the self-moving device shown in the figure.

[0024] Meaning of reference signs in the figure:

[0025] Intelligent mower 100 Shell 1

[0026] Base 11 Upper cover 12

[0027] Cover 13 Main accommodating cavity 14

[0028] Secondary accommodating cavity 15 First sealed housing 16

[0029] Second sealing shell 17 Heat dissipation air duct 18

[0030] Main air duct section 181 Inlet 1811

[0031] First air guide port 1812 Second air guide port 1813

[0032] First air duct section 182 First air outlet 1821

[0033] Second air duct section 183 Second air outlet 1831

[0034] Driving wheel 21 of walking module 2

[0035] Auxiliary wheel 22 Environment detection device 3

[0036] Visual sensor 31 Radar sensor 32

[0037] Control device 4 First circuit board 41

[0038] Heat dissipation device 5 First heat dissipation member 51

[0039] Second heat dissipation member 52

CONCRETE EMBODIMENT

[0040] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application. In the description of the present application, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0041] The terms used in the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. For example, the words such as "upper", "lower", "front", "back" and the like indicating the orientation or positional relationship are only based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device / element must have a particular orientation or be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the present application.

[0042] In addition, the technical features involved in different embodiments of the present application described below can be combined with each other as long as there is no conflict between them.

[0043] Please refer to Figures 1 to 4The self-moving device is shown in an embodiment of the utility model, in this embodiment, taking the intelligent mower 100 used for trimming garden lawn as an example, it should be noted that in other embodiments, the self-moving device can also be a cleaning robot, a service robot and other mobile robots capable of autonomous walking for operation.

[0044] The intelligent mower 100 comprises a shell 1, a walking module 2 for supporting the shell 1 to move, a cutting module (not shown) arranged at the bottom of the shell 1, a control device 4 at least partially installed in the shell 1 for controlling the automatic operation of the walking module 2 and the automatic work of the cutting module, and an energy module (not shown) for supplying energy to the intelligent mower 100.

[0045] The shell 1 comprises a base 11, an upper cover 12 sealingly connected with the base 11 to form a main containing cavity 14, and a cover 13 connected with the base 11 and / or the upper cover 12 and defining a secondary containing cavity 15. Specifically, the base 11 is used to install functional modules such as the walking module 2, the cutting module and the energy module; the upper cover 12 is at least partially wrapped around the base 11 and sealingly connected with the base 11 to form the main containing cavity 14, which is sealingly isolated from the external environment, and at least part of the control device 4 is contained in the main containing cavity 14; the cover 13 is connected with the upper cover 12 and defines the secondary containing cavity 15, and the modules for user operation such as the human-computer operation interface of the intelligent mower 100 are arranged in the secondary containing cavity 15. It should be noted that the cover 13 is connected with the upper cover 12 and defines the secondary containing cavity 15, which is only an optional embodiment of the utility model, and in other embodiments, the cover 13 can be connected with the base 11, or simultaneously connected with the base 11 and the upper cover 12 respectively.

[0046] The walking module 2 is used to drive the intelligent mower 100 to walk in the working area, and comprises a driving wheel 21 and an auxiliary wheel 22 installed on the shell 1. Specifically, the driving wheel 21 is provided with two driving wheels connected with corresponding walking motors (not shown), the walking motors drive the driving wheels 21 to rotate to realize the automatic walking of the intelligent mower 100; the auxiliary wheel 22 mainly plays a supporting role, the number of auxiliary wheels 22 is one or two, and the auxiliary wheels 22 are located at the front of the intelligent mower 100, the auxiliary wheels 22 are not connected with the walking motors, but are driven to roll when supporting the intelligent mower 100 to walk. Through the above structure, the intelligent mower 100 can be controlled by the control device 4, and can flexibly walk and turn on the working surface. When walking normally, the two walking motors output the same rotating speed to directly drive or indirectly drive the intelligent mower 100 to move through gear or belt transmission structure, and the auxiliary wheel 22 also rolls; when turning, the two walking motors output different rotating speeds, and the intelligent mower 100 turns to the side of the driving wheel 21 with lower rotating speed, or the side of the driving wheel 21 corresponding to the direction of retreat.

[0047] The cutting module (not shown) at least includes a cutting member for cutting the turf and a cutting motor for driving the cutting member to move. Specifically, the cutting motor is mounted on the base of the housing 1, and the cutting motor is electrically connected with the control device 4, which can control the start and stop of the cutting motor and adjust the rotating speed of the cutting motor; the cutting motor is accommodated in a motor cylinder, and a four-bar linkage structure is further arranged between the motor cylinder and the base, and the four-bar linkage structure is rotatably connected with the motor cylinder and the base, so that when the intelligent mower 100 encounters obstacles such as stones and low shrubs during the walking process, the cutting member will not collide with the above-mentioned obstacles, but will be pushed by the above-mentioned obstacles and drive the motor cylinder to move in the height direction, so that on the one hand, the cutting member can be prevented from being damaged by hard collision with the obstacles; on the other hand, the obstacle crossing ability of the intelligent mower 100 is also improved. It should be noted that the cutting member can be a cutting disc and a plurality of cutting blades mounted on the cutting disc, or can be a separate cutting blade, which is not limited here.

[0048] The intelligent mower 100 further comprises an environment detection device 3 for detecting the working environment and a heat dissipation device 5 connected with the control device 4, the secondary accommodating cavity 15 is in fluid communication with the external environment, and the heat dissipation device 5 is at least partially located in the secondary accommodating cavity 15. Specifically, the heat dissipation device 5 is configured as a metal heat dissipation fin, and the control device 4 is configured as a circuit board integrated with a control circuit, and the metal heat dissipation fin is attached to the circuit board to improve the heat dissipation efficiency of the circuit board. During the walking operation of the intelligent mower 100, the environment detection device 3 detects the environment in real time and collects the environment information, the control device 4 receives and processes the environment information detected by the environment detection device 3, and the heat dissipation airflow flows from the external environment into the secondary accommodating cavity 15 and flows through the heat dissipation device 5 connected with the control device 4, thereby improving the heat dissipation efficiency of the control device 4, avoiding the control device 4 being in a high temperature state for a long time, and prolonging the service life of the environment detection device 3.

[0049] Further, the environment detection device 3 includes a visual sensor 31 and a radar sensor 32, and correspondingly, the control device 4 includes a first circuit board 41 electrically connected with the visual sensor 31 and a second circuit board (not shown) electrically connected with the radar sensor 32, and the heat dissipation device 5 includes a first heat dissipation member 51 connected with the first circuit board 41 and a second heat dissipation member 52 connected with the second circuit board, and the first heat dissipation member 51 and the second heat dissipation member 52 are both located in the secondary accommodating cavity 15 in fluid communication with the external environment. In this embodiment, the first heat dissipation member 51 for dissipating heat for the first circuit board 41 and the second heat dissipation member 52 for dissipating heat for the second circuit board are both located in the secondary accommodating cavity 15 in fluid communication with the external environment, so that during the walking process of the intelligent mower 100, the heat dissipation airflow can flow into the secondary accommodating cavity 15 and flow through the first heat dissipation member 51 and the second heat dissipation member 52 respectively, thereby improving the heat dissipation efficiency of the first circuit board 41 and the second circuit board, and the heat dissipation effect is good.

[0050] The image acquisition part of the visual sensor 31 is used to acquire the current image of the location where the intelligent mower 100 is located, which can be various image acquisition devices such as a camera and a camera. The image processing part of the first circuit board 41 is used to analyze and process the current image, such as using an artificial intelligence model to recognize the current image to identify the environment around the intelligent mower 100. The image processing part can be a system on chip (SOC).

[0051] In the present embodiment, the radar sensor 32 is configured as a laser radar, including a laser transmitter and a laser receiver. During the walking and working process of the intelligent mower 100, the laser transmitter and the laser receiver always rotate to detect the environment within a 360-degree range. Correspondingly, the algorithm operation part of the second circuit board simultaneously identifies and calculates the data transmitted by the laser transmitter and the laser receiver.

[0052] The housing 1 further comprises a first sealed housing 16 for accommodating the visual sensor 31 and a second sealed housing 17 for accommodating the radar sensor 32. The first sealed housing 16 and the second sealed housing 17 are arranged in the auxiliary accommodating cavity 15. Specifically, the first circuit board 41 and the visual sensor 31 are electrically connected through wires (not shown). The wires extend from the main accommodating cavity 14 to the first sealed housing 16. The connection between the wires and the main accommodating cavity 14 and the connection between the wires and the first sealed housing 16 are respectively provided with sealing rubber plugs. In this way, the visual sensor 31 accommodated in the first sealed housing 16 is isolated from the external environment. Correspondingly, the first circuit board accommodated in the main accommodating cavity 14 is also isolated from the external environment. The second circuit board and the radar sensor 32 are also electrically connected through wires (not shown). The second circuit board and the radar sensor 32 are both installed in the second sealed housing 17. In this way, the second circuit board and the radar sensor 32 are both isolated from the external environment.

[0053] By arranging the first sealed housing 16 and the second sealed housing 17 in the auxiliary accommodating cavity 15 which is in fluid communication with the external environment, on the one hand, the heat dissipation airflow can flow through the first sealed housing 16 and the second sealed housing 17, which is beneficial to the heat dissipation of the visual sensor 31 and the radar sensor 32. On the other hand, compared with installing the visual sensor 31 and the radar sensor 32 in the main accommodating cavity 14, in the present embodiment, the visual sensor 31 and the radar sensor 32 are sealed and waterproof by their respective housings, which is independent of the waterproofing of the main accommodating cavity 14. This simplifies the sealing structure design of the intelligent mower 100 and facilitates the installation of the visual sensor 31 and the radar sensor 32.

[0054] The shell 1 further comprises a heat dissipation air duct 18 formed in the auxiliary accommodating cavity 15, the heat dissipation air duct 18 comprises a main air duct section 181 and a first air duct section 182 and a second air duct section 183 connected to the rear of the main air duct section 181 respectively, and the heat dissipation device 5 is arranged in the main air duct section 181, and the heat dissipation airflow flows into the first air duct section 182 and the second air duct section 183 respectively after flowing through the heat dissipation device 5 from the main air duct section 181.

[0055] Specifically, the main air duct section 181 comprises an air inlet 1811, a first air guide opening 1812 connected to the first air duct section 182, and a second air guide opening 1813 connected to the second air duct section 183, the first air duct section 182 further comprises a first air outlet 1821 arranged at the rear of the first air guide opening 1812, and the second air duct section 183 further comprises a second air outlet 1831 arranged at the rear of the second air guide opening 1813, and in the left-right direction of the intelligent mower 100, the heat dissipation device 5 is located between the first air outlet 1821 and the second air outlet 1831.

[0056] In this way, during the walking operation of the intelligent mower 100, after the heat dissipation airflow flows into the main air duct section 181 from the air inlet 1811, it flows through the first heat dissipation member 51 and the second heat dissipation member 52 respectively, and then is divided by the first air guide opening 1812 and the second air guide opening 1813, part of the heat dissipation airflow flows into the first air duct section 182 and leaves the intelligent mower 100 from the first air outlet 1821, and the other part of the heat dissipation airflow flows into the second air duct section 183 and leaves the intelligent mower 100 from the second air outlet 1831, and by arranging the first air duct section 182 and the second air duct section 183 to divide the heat dissipation airflow flowing through the heat dissipation device 5, the flow speed of the heat dissipation airflow is improved, thereby improving the heat dissipation effect of the visual sensor 31 and the radar sensor 32.

[0057] Further, in the left-right direction of the intelligent mower 100, the first air duct section 182 and the second air duct section 183 are arranged in a spaced manner, so that after the heat dissipation airflow is divided through the first air guide opening 1812 and the second air guide opening 1813, it flows along the first air duct section 182 and the second air duct section 183 respectively without interfering with each other, thereby further improving the flow speed of the heat dissipation airflow, further improving the heat dissipation efficiency of the first circuit board 41 and the second circuit board, and the heat dissipation effect is good.

[0058] In the front-rear direction of the intelligent mower 100, the air inlet 1811 is arranged in front of the first air guide opening 1812 and the second air guide opening 1813, and the first air duct section 182 and the second air duct section 183 both extend in the front-rear direction of the intelligent mower 100, so that the extension direction of the heat dissipation air duct 18 is basically consistent with the advancing direction of the intelligent mower 100, when the intelligent mower 100 advances, the heat dissipation airflow flows into the auxiliary accommodating cavity 15 from the air inlet 1811, and then passes through the main air duct section 181 and the first air duct section 182 or the second air duct section 183 in the front-rear direction of the intelligent mower 100, the flow of the heat dissipation airflow is smooth, without obstruction, and the heat dissipation effect is good.

[0059] In a preferred embodiment of the present application, the visual sensor 31 and the radar sensor 32 are both located in the auxiliary accommodating cavity 15, and in the height direction of the intelligent mower 100, the radar sensor 32 is located above the visual sensor 31. Correspondingly, the heat dissipation air duct 18 includes an air inlet 1811 and an air outlet (a first air outlet 1821 and a second air outlet 1831) located behind the heat dissipation device 5, and in the height direction of the intelligent mower 100, the air inlet 1811 is located between the first heat dissipation member 51 and the second heat dissipation member 52, so that during the advancing process of the intelligent mower 100, the heat dissipation airflow flows into the heat dissipation air duct 18 from the air inlet 1811, passes between the first heat dissipation member 51 and the second heat dissipation member 52 to achieve sufficient contact with the first heat dissipation member 51 and the second heat dissipation member 52, thereby achieving sufficient heat dissipation of the first heat dissipation member 51 and the second heat dissipation member 52, and improving the heat dissipation effect of the visual sensor 31 and the radar sensor 32.

[0060] The present application is not limited to the above-mentioned specific embodiments. Those skilled in the art can easily understand that the self-moving device of the present application has many other alternative solutions without departing from the principles and scope of the present application. The protection scope of the present application is subject to the contents of the claims.

Claims

1. A self-moving device, comprising: a housing including a base and a cover sealingly connected with the base to form a main accommodating cavity; an environment detecting device configured to detect a working environment of the self-moving device; a control device electrically connected with the environment detecting device, the control device being at least partially accommodated in the main accommodating cavity; characterized in that the self-moving device further comprises a heat dissipation device connected with the control device, and the housing further comprises a cover connected with the base and / or the cover to form a secondary accommodating cavity, the secondary accommodating cavity being in fluid communication with an external environment, and the heat dissipation device is at least partially located in the secondary accommodating cavity.

2. The self-moving device of claim 1, wherein: The housing further comprises a heat dissipation air duct formed in the secondary accommodating cavity, the heat dissipation air duct comprising a main air duct section and first and second air duct sections connected with the rear of the main air duct section respectively, and the heat dissipation device is arranged in the main air duct section, and the heat dissipation airflow flows through the heat dissipation device from the main air duct section and then flows into the first and second air duct sections respectively.

3. The self-moving device of claim 2, wherein: The first and second air duct sections are arranged in a left-right direction of the self-moving device.

4. The self-moving device of claim 2, wherein: The first and second air duct sections extend in a front-rear direction of the self-moving device.

5. The self-moving device of claim 2, wherein: The main air duct section comprises an air inlet, a first air guide opening connected with the first air duct section, and a second air guide opening connected with the second air duct section, the heat dissipation airflow flows into the main air duct section from the air inlet, and then flows into the first and second air duct sections from the first and second air guide openings respectively after flowing through the heat dissipation device.

6. The self-moving device of claim 5, wherein: The first air duct section further comprises a first air outlet arranged behind the first air guide opening, and the second air duct section further comprises a second air outlet arranged behind the second air guide opening, and the heat dissipation device is located between the first and second air outlets in the left-right direction of the self-moving device.

7. The self-moving device of claim 5, wherein: The air inlet is arranged in front of the first and second air guide openings in the front-rear direction of the self-moving device.

8. The self-moving device of claim 1, wherein: The environment detecting device comprises a vision sensor and a radar sensor, and the vision sensor and the radar sensor are both located in the secondary accommodating cavity, and the radar sensor is located above the vision sensor in a height direction of the self-moving device.

9. The self-moving device of claim 8, wherein: The control device comprises a first circuit board electrically connected with the vision sensor and a second circuit board electrically connected with the radar sensor, and the heat dissipation device comprises a first heat dissipation member connected with the first circuit board and a second heat dissipation member connected with the second circuit board, and the first and second heat dissipation members are both located in the secondary accommodating cavity.

10. The self-moving device of claim 9, wherein: The housing further comprises a heat dissipation air duct formed in the secondary accommodating cavity, the heat dissipation air duct comprising an air inlet and an air outlet located behind the heat dissipation device, and the air inlet is located between the first and second heat dissipation members in the height direction of the self-moving device.

11. The self-moving device of claim 9, wherein: The housing further comprises a first sealed shell configured to accommodate the vision sensor, and the first circuit board is arranged in the main accommodating cavity, and the first sealed shell is arranged in the secondary accommodating cavity.

12. The self-moving device of claim 9, wherein: The housing further includes a second sealed enclosure to house the radar sensor, the second circuit board mounted within the second sealed enclosure, the second sealed enclosure disposed within the secondary receiving cavity.

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