Visual module and self-moving device

Abstract

The utility model provides a visual module and self-moving equipment, and the visual module comprises a body which comprises a first installation groove, a second installation groove and a heat dissipation cavity, and the heat dissipation cavity is provided with a heat dissipation port; the image acquisition module is arranged in the first mounting groove; the control module is arranged in the heat dissipation cavity and is in control connection with the image acquisition module; the heat dissipation assembly is arranged at the heat dissipation opening to seal the heat dissipation cavity, and the heat dissipation assembly is used for guiding out heat in the heat dissipation cavity. According to the visual module, the first mounting groove, the second mounting groove and the heat dissipation cavity which are separated from one another are formed in the body of the visual module, so that the utilization of the internal space is optimized, an independent protection structure can be prevented from being arranged for the image acquisition module, the overall structure is simplified, the disassembly and assembly convenience is improved, and the equipment maintenance difficulty is reduced. The heat in the heat dissipation cavity can be conducted out in time through the heat dissipation assembly, and it can be guaranteed that the control module in the heat dissipation cavity operates stably at the proper temperature.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical equipment, in particular to a visual module and a self-moving device. BACKGROUND

[0002] In the field of modern mechanical equipment, self-moving devices such as lawn mowers are increasingly widely used. When the lawn mower performs the task of mowing the lawn, it is crucial to accurately identify the working area, which depends on the visual recognition system equipped by the device, which usually includes components such as cameras and fill light to identify working boundaries, obstacles, etc.

[0003] However, the camera and fill light often need to be provided with independent protective structures, making the overall structure complex, leading to difficult disassembly and installation of the camera and fill light, increasing the maintenance cost and use difficulty of the device, and limiting the further development and application of the self-moving device. SUMMARY

[0004] Therefore, the purpose of the present application is to provide a visual module with a simple structure and convenient disassembly and installation, and a self-moving device using the visual module.

[0005] To achieve one of the above purposes, in a first aspect, the present application provides a visual module, comprising:

[0006] a body provided with a first mounting slot, a second mounting slot and a heat dissipation cavity, the heat dissipation cavity having a heat dissipation opening;

[0007] an image acquisition module arranged in the first mounting slot;

[0008] a control module housed in the heat dissipation cavity and in control connection with the image acquisition module;

[0009] a heat dissipation assembly arranged in the heat dissipation opening to close the heat dissipation cavity, the heat dissipation assembly being used to dissipate heat in the heat dissipation cavity outward.

[0010] Further, the visual module further comprises a fill light module, the fill light module being detachably mounted in the second mounting slot, and the second mounting slot being provided with a plug-in assembly for connecting the fill light module and the control module.

[0011] Further, the fill light module comprises a second housing, and a second foolproof structure is arranged between the second housing and the second mounting slot; and a second sealing member is arranged between the second housing and the second mounting slot.

[0012] Further, the first mounting slot comprises a first opening communicating with the outside, the second mounting slot comprises a second opening communicating with the outside, and the opening directions of the first opening and the second opening are the same.

[0013] Further, along the vertical direction, the first mounting slot is at least partially above the second mounting slot, the heat dissipation assembly is below the second mounting slot, and at least part of the heat dissipation cavity is on a side of the first mounting slot away from the first opening.

[0014] Further, the image acquisition module is detachably mounted in the first mounting slot, the image acquisition module comprises a first housing, a first foolproof cooperation structure is arranged between the first housing and the first mounting slot, and a first sealing member is arranged between the first housing and the first mounting slot.

[0015] Further, the visual module further comprises a closing member, the closing member is alternatively mounted in the second mounting slot with the light supplementing module, is buckled at a second opening of the second mounting slot, and closes the second mounting slot.

[0016] Further, the body comprises a shielding portion, the shielding portion is arranged on an upper edge of the first mounting slot, and a normal projection of the shielding portion on a horizontal plane is at least partially outside a normal projection of the image acquisition module on the horizontal plane.

[0017] Further, the heat dissipation assembly comprises a heat dissipation plate and a heat dissipation fin arranged on a side of the heat dissipation plate away from the heat dissipation cavity, a receiving groove is arranged on a side of the heat dissipation plate facing the heat dissipation cavity, and the control module is received in the receiving groove.

[0018] In a second aspect, the application further provides a self-moving device, comprising a shell and the above-mentioned visual module, the shell comprises a first shell, a second shell and a third shell arranged in a clamping manner, the visual module is detachably mounted between the first shell and the third shell, and a mounting direction of the body of the visual module is inclined relative to the vertical direction and towards the ground.

[0019] In the visual module and the self-moving device provided in the application, the first mounting slot and the second mounting slot are arranged on the body of the visual module and are spaced apart from each other, the first mounting slot and the second mounting slot are respectively communicated with the heat dissipation cavity, the internal space of the body is optimized, the image acquisition module is detachably mounted in the first mounting slot, the control module is mounted in the heat dissipation cavity enclosed by the heat dissipation assembly, heat in the heat dissipation cavity is promptly dissipated through the heat dissipation assembly, the control module in the heat dissipation cavity is stably operated at an appropriate temperature, and the integration of the image acquisition, the control and the heat dissipation functions is realized. In this way, on the one hand, a separate protection structure is avoided for the image acquisition module, the overall structure is simplified, on the other hand, the disassembly and assembly convenience of the visual module is improved, and the equipment maintenance difficulty is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the application or the related art, the drawings needed to be used in the embodiments or the related art description will be briefly introduced. Obviously, the drawings in the following description are only embodiments of the application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0021] Figure 1 It is a schematic structural diagram of a self-moving device according to an embodiment of the application.

[0022] Figure 2 It is an enlarged schematic diagram of a partial structure of a self-moving device according to an embodiment of the application.

[0023] Figure 3 It is a schematic diagram of the overall structure of a vision module according to an embodiment of the application.

[0024] Figure 4 It is an exploded schematic diagram of a vision module according to an embodiment of the application.

[0025] Figure 5 It is a sectional view of a vision module according to an embodiment of the application.

[0026] Figure 6 It is a schematic diagram of the structure of a control module and a heat dissipation assembly of a vision module according to an embodiment of the application.

[0027] The following is an explanation of the reference signs:

[0028] 100, self-moving device; 101, first shell; 102, second shell; 103, third shell; 10, vision module;

[0029] 1, body; 11, first mounting groove; 111, first opening; 112, shielding part; 113, first wire connection hole; 12, second mounting groove; 121, second opening; 122, second wire connection hole; 13, heat dissipation cavity; 131, heat dissipation opening;

[0030] 2, image acquisition module; 21, first shell; 22, first connecting wire;

[0031] 3, control module;

[0032] 4, heat dissipation assembly; 41, heat dissipation plate; 411, accommodating groove; 42, heat dissipation fin; 43, wire through hole;

[0033] 5, light supplementing module; 51, second shell. DETAILED DESCRIPTION

[0034] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to specific embodiments and drawings.

[0035] It should be noted that, unless otherwise defined, technical terms or scientific terms used in the embodiments of the present application should be understood as their common meanings to those skilled in the art to which the present application pertains. The terms "first", "second" and similar terms used in the embodiments of the present application do not represent any order, number or importance, but are only used to distinguish different components. The terms "comprise", "include" and similar terms mean that the elements or objects before the terms encompass the elements or objects listed after the terms and their equivalents, and do not exclude other elements or objects. The terms "connect" or "connected" and similar terms do not mean physical or mechanical connection, but can include electrical connection, whether direct or indirect. The terms "upper", "lower", "left", "right" and the like only represent relative positional relationships, which can change accordingly when the absolute positions of the described objects change.

[0036] In order to make the drawings simple, only the parts related to the present application are shown in the drawings, which do not represent the actual structure of the product. In addition, in order to make the drawings simple and easy to understand, in some drawings, only one or more of the components with the same structure or function are shown, or only one or more of them are indicated.

[0037] Before the visual module of the embodiments of the present application is described, the application scenarios of the visual module will be briefly described to facilitate understanding.

[0038] The visual module of the present application can be applied to a self-moving device. In the following, the self-moving device will also be described as a smart mower or machine or lawn mower, but these configurations are only illustrative, and the solutions described herein can also be applied to other self-moving devices. For example, the self-moving device can be other outdoor garden machines, such as autonomous watering machines, autonomous snow throwers, etc., or outdoor garden machines with multiple functions combined, such as the combination of mowing function and watering function, insect repelling function, etc. In some cases, the self-moving device can also be an automatic navigation platform, and the corresponding functional working components are configured according to actual needs.

[0039] Figure 1 A self-moving device 100 in the form of a lawn mower is shown in a schematic manner, and in fact the specific structure of the self-moving device is not necessarily crucial to the understanding of the embodiments of the present application.

[0040] As Figure 1 , Figure 2As shown, an embodiment of this application provides a self-moving device 100, which includes a housing and a visual module 10 mounted on the housing. The housing includes a first housing 101 and a second housing 102 that are engaged with each other. The housing also includes a third housing 103 disposed on the first housing 101. The visual module 10 is detachably mounted between the first housing 101 and the third housing 103, and at least a portion of the visual module 10 is located between the first housing 101 and the third housing 103. In an embodiment of this application, the third housing 103 is a decorative cover, the first housing 101 is an upper cover, and the second housing 102 is a lower cover. The upper and lower covers are engaged with each other, and the decorative cover is mounted on the upper cover for decoration.

[0041] The vision module 10 penetrates at least the third housing 103 and is signal-connected to the main control unit within the first housing 101. The installation direction of the vision module 10 is tilted relative to the vertical direction. The installation direction of the vision module 10 can be considered close to the vertical direction. The specific tilt angle and tilt direction can be set according to actual usage requirements. For example, they can be set according to the installation position of the vision module 10 on the housing to ensure that the orientation of the image acquisition module 2 on the mounting body 1 meets the requirements, facing the working area in front of the lawnmower, and avoiding situations where the shooting range of the image acquisition module 2 is too high, too low, or blocked by the body of the self-moving device 100.

[0042] like Figures 3 to 6 As shown, embodiments of this application also provide a vision module 10, which includes a body 1, an image acquisition module 2, a control module 3, and a heat dissipation assembly 4. The body 1 is provided with a first mounting slot 11, a second mounting slot 12, and a heat dissipation cavity 13, the heat dissipation cavity 13 having a heat dissipation port 131. The image acquisition module 2 is detachably mounted in the first mounting slot 11. The control module 3 is disposed in the heat dissipation cavity 13 and is controllably connected to the image acquisition module 2. The heat dissipation assembly 4 is disposed at the heat dissipation port 131 to seal the heat dissipation cavity 13, and the heat dissipation assembly 4 is used to conduct heat outward from the heat dissipation cavity 13. The second mounting slot 12 can be used to optionally mount a supplementary lighting module 5, and the heat dissipation cavity 13 can dissipate heat outward through the heat dissipation assembly 4 located at the heat dissipation port 131.

[0043] Exemplarily, the body 1 of the visual module 10 is detachably mounted on the casing of the lawn mower. The body 1 penetrates part of the casing along the mounting direction, and the body 1 can be partially placed into the casing. During the working process of the lawn mower, the image acquisition module 2 (such as a camera) continuously acquires image information of the working area in front of the lawn mower. The control module 3 analyzes and processes these images, extracts feature information, and judges the current working condition, such as identifying the lawn boundary, obstacles, and the like. When a preset image feature (such as an obstacle image) is detected, the control module 3 transmits the judgment information to the main control unit of the lawn mower, and the main control unit controls the lawn mower to perform a preset action, such as turning to avoid obstacles. During the working process, the heat gathered in the heat dissipation cavity 13 can be dissipated to the outside through the heat dissipation assembly 4, so as to avoid affecting the performance of the control module 3 due to overheating.

[0044] In a relatively dark environment, the light supplement module 5 can be installed and turned on to provide auxiliary lighting for the image acquisition module 2, so as to ensure that clear images are obtained and the accuracy of visual recognition is improved.

[0045] The visual module 10 provided by the embodiment of the present application is provided with the first mounting groove 11 and the second mounting groove 12 which are spaced apart from each other and are respectively communicated with the heat dissipation cavity 13, so that a reasonable layout design is formed and the internal space utilization is optimized. Meanwhile, the image acquisition module 2 is detachably mounted in the first mounting groove 11, and the control module 3 is mounted in the heat dissipation cavity 13 which is enclosed by the heat dissipation assembly 4, so that the heat in the heat dissipation cavity can be timely discharged through the heat dissipation assembly, and the control module in the heat dissipation cavity can stably operate at a suitable temperature, thereby realizing the integration of the image acquisition, control and heat dissipation functions, ensuring the collaborative work of the modules, and providing a basis for the stable operation of the visual module 10. Further, the first mounting groove 11 for mounting the image acquisition module 2 is arranged on the body 1, so that an independent protection structure is avoided, the overall structure of the visual module 10 is simplified, the disassembly and assembly convenience of the image acquisition module 2 is improved, and the equipment maintenance difficulty is reduced.

[0046] In some embodiments, the visual module 10 further comprises the light supplement module 5. The arrangement of the light supplement module 5 can improve the working ability of the visual module 10 in an insufficient light environment, and expand the applicable scene, such as assisting the image acquisition module 2 to obtain clear images in the evening or a relatively dark area. The light supplement module 5 is arranged in a modular manner and is detachably mounted in the second mounting groove 12. The second mounting groove 12 is provided with a plug-in assembly for connecting the light supplement module 5 and the control module 3.

[0047] In the embodiment, the plug-in assembly includes plug-in wires and plug-in structures arranged at both ends of the plug-in wires, and the plug-in structure on one side is arranged in the second mounting groove 12, and the plug-in structure on the other side is connected with the control module 3. Specifically, the second mounting groove 12 is provided with a second connecting hole 122 between the second mounting groove 12 and the heat dissipation cavity 13, and the plug-in wires / plug-in structures in the plug-in assembly pass through the second connecting hole 122 and are connected with the control module 3. Preferably, the plug-in structure is a waterproof plug-in terminal.

[0048] Further, the light supplementing module 5 includes a second shell 51, and the second shell 51 is provided with a second fool-proof matching structure matched with the second mounting groove 12, and the second shell 51 is provided with a second sealing member between the second mounting groove 12. Specifically, the sealing structure is arranged between the second mounting groove 12 and the plug-in assembly to prevent water or water vapor entering the second mounting groove 12 from entering the heat dissipation cavity 13 through the connecting gap between the plug-in assembly and the second mounting groove 12, thereby affecting the control module 3 accommodated in the heat dissipation cavity 13; preferably, the sealing structure can be a sealing plug.

[0049] Exemplarily, the second shell 51 is made of a heat-conducting material (such as a metal material) to conduct heat generated during operation and complete heat dissipation through the gap between the second shell 51 and the second mounting groove 12.

[0050] In some possible embodiments, the visual module 10 further includes a closing member which is alternatively mounted in the second mounting groove 12 with the light supplementing module 5. The closing member can be buckled in the second opening 121 of the second mounting groove 12. That is, when the light supplementing module 5 is not needed to be assembled, the second opening 121 of the second mounting groove 12 can be blocked by the closing member to separate the second mounting groove 12 from the outside. When the light supplementing module 5 needs to be assembled, the closing member is removed from the second mounting groove 12.

[0051] In some embodiments, as shown in Figure 5 The first mounting groove 11 includes a first opening 111 in communication with the outside, and the second mounting groove 12 includes a second opening 121 in communication with the outside, and the opening directions of the first opening 111 and the second opening 121 are the same. Among them, the image acquisition module 2 and the light supplementing module 5 can be respectively installed from the first opening 111 and the second opening 121, and the opening directions of the first mounting groove 11 and the second mounting groove 12 are unified, so that the light emitted by the light supplementing module 5 is consistent with the shooting direction of the image acquisition module 2, thereby achieving the effect of light supplementing. Moreover, the installation directions are the same, which facilitates installation and maintenance operation, and can improve production and maintenance efficiency. For example, in actual production, it is not necessary to frequently adjust the installation angle, and the installation of the image acquisition module 2 and the light supplementing module 5 can be quickly completed.

[0052] In some embodiments, as shown in Figure 5As shown, in the vertical direction, the first mounting groove 11 is at least partially above the second mounting groove 12, and part of the heat dissipation cavity 13 is below the second mounting groove 12, and part of the heat dissipation cavity 13 is on the side away from the first opening 111 of the first mounting groove 11 and the second opening 121 of the second mounting groove 12. Among them, the first mounting groove 11, the second mounting groove 12 and the heat dissipation assembly 4 are stacked in the mounting direction of the body 1, and the part of the heat dissipation cavity 13 where the heat dissipation opening 131 is located is arranged below the first mounting groove 11 and the second mounting groove 12, and the remaining part is arranged on the side away from the opening of the first mounting groove 11 and the second mounting groove 12. It can make full use of the space below the image acquisition module 2, increase the heat dissipation area, improve the heat dissipation efficiency, improve the compactness and rationality of the internal layout of the equipment, and is conducive to the miniaturization and integration of the overall structure of the equipment. For example, in the lawn mower, the components of the visual module 10 can be better arranged in the limited fuselage space without affecting the layout of other functional modules.

[0053] Specifically, in the visual module 10, the mounting direction of the body 1 is inclined relative to the vertical direction towards the ground, and correspondingly, along the groove depth direction of the first mounting groove 11, the end part where the first opening 111 is located is closer to the ground than the groove bottom of the first mounting groove 11. Along the groove depth direction of the second mounting groove 12, the end part where the second opening 121 is located is closer to the ground than the groove bottom of the second mounting groove 12. Exemplarily, the groove depth direction of the first mounting groove 11 and the second mounting groove 12 is perpendicular to the mounting direction of the body 1.

[0054] Of course, in other embodiments, the first mounting groove 11, the second mounting groove 12 and the heat dissipation cavity 13 can also be adjusted in position according to actual conditions. For example, the second mounting groove 12 is arranged above the first mounting groove 11. For example, the heat dissipation cavity 13 is located on the side away from the opening of the first mounting groove 11 and the second mounting groove 12.

[0055] In some embodiments, the image acquisition module 2 is detachably mounted in the first mounting groove 11, and the image acquisition module 2 comprises a first shell 21, and a first foolproof cooperation structure is arranged between the first shell 21 and the first mounting groove 11; in this way, by arranging the first foolproof cooperation structure, installation errors can be avoided when the image acquisition module 2 and the first mounting groove 11 are installed, and the installation accuracy is improved.

[0056] Further, a first seal is arranged between the first housing 21 and the first mounting slot 11. The first seal can ensure the sealing performance when the image acquisition module 2 is assembled with the first mounting slot 11, prevent dust and water vapor from entering, protect the internal electronic components, and improve the environmental adaptability and reliability of the visual module 10. Preferably, the first seal is a sealing strip arranged on the outer peripheral edge of the first housing 21. When the image acquisition module 2 is installed in the first mounting slot 11, the sealing strip (i.e., the first seal) is in interference fit with the first mounting slot 11, thereby ensuring the sealing and waterproof performance between the image acquisition module 2 and the first mounting slot 11.

[0057] Further, a plug-in structure is reserved in the first mounting slot 11, which facilitates the control connection between the image acquisition module 2 and the control module 3, and realizes modular installation, thereby facilitating the installation and replacement of the image acquisition module 2. Specifically, the plug-in structure includes a first plug-in terminal arranged in the first mounting slot 11 and a first connecting line. An end of the first connecting line away from the first plug-in terminal is further provided with a connecting structure for connecting with the control module 3. Specifically, the image acquisition module 2 includes a first plug-in seat matched with the first plug-in terminal. A first connecting line hole 113 is arranged between the first mounting slot 11 and the heat dissipation cavity 13. The first plug-in terminal is connected with the control module 3 through the first connecting line 22 passing through the first connecting line hole 113. In this way, the image acquisition module 2 is connected with the control module 3 through the first plug-in terminal and the first connecting line 22, which can standardize the internal line connection, ensure the stable signal transmission between the image acquisition module 2 and the control module 3, and enable the image data to be accurately transmitted to the control module 3 for processing. Preferably, the first plug-in terminal is a waterproof plug-in terminal.

[0058] In some embodiments, as shown in FIG. 1, Figure 5 The body 1 includes a shielding portion 112 arranged at the upper edge of the first mounting slot 11. The orthogonal projection of the shielding portion 112 on a horizontal plane is at least partially located outside the orthogonal projection of the image acquisition module 2 on the horizontal plane. In other words, the shielding portion 112 protrudes forward relative to the image acquisition module 2 to serve as a shielding and protection function. The shielding portion 112 can provide light shielding and rain shielding protection for the image acquisition module 2, reduce damage to the image acquisition module 2 caused by external objects, dust, and rain, prolong the service life, and ensure the working stability and image acquisition quality. For example, in an outdoor mowing environment, the shielding portion 112 can prevent grass clippings and soil from splashing onto the camera, thereby ensuring that the mower accurately identifies the working area.

[0059] In some embodiments, as shown in FIG. 1, Figure 4 , Figure 6As shown, the heat dissipation assembly 4 includes a heat dissipation plate 41 and a heat dissipation fin 42 arranged on the side of the heat dissipation plate 41 away from the heat dissipation cavity 13. The side of the heat dissipation plate 41 facing the heat dissipation cavity 13 is provided with a receiving groove 411, and the control module 3 is received in the receiving groove 411. Specifically, the control module 3 includes a control board, and the receiving groove 411 is formed by downwardly recessing the side of the heat dissipation plate 41 facing the heat dissipation cavity 13, and the control board is installed in the receiving groove 411 and abuts against the bottom of the receiving groove 411.

[0060] The receiving groove 411 can maximize the heat dissipation area of the control module 3. The side of the heat dissipation plate 41 away from the heat dissipation cavity 13 is provided with a plurality of heat dissipation fins 42, which can improve the heat dissipation effect of the heat dissipation plate 41.

[0061] Optionally, a wiring through hole 43 is further formed in the heat dissipation plate 41, and a plug-in part on the control module 3 is connected through the wiring through hole 43 and passes through the first shell 101 and is connected to the main control unit of the mower.

[0062] Further, the heat dissipation plate 41 and the first shell 101 are sealed by a sealing ring to ensure the sealing of the whole machine cavity.

[0063] In the visual module 10 of the present application, the body 1 is hollow and is provided with a first mounting groove 11, a second mounting groove 12 and a heat dissipation cavity 13. The first mounting groove 11 and the second mounting groove 12 are open to the outside along the front side of the shell and are not sealed to facilitate heat dissipation. The end of the heat dissipation cavity 13 away from the mounting groove is closed by a heat dissipation assembly 4 to export the heat accumulated in the heat dissipation cavity 13.

[0064] It should be understood by those skilled in the art that the above discussion of any of the embodiments is merely exemplary and is not intended to suggest the scope of the present application (including the claims) is limited to these examples; under the concept of the present application, the above embodiments or technical features among different embodiments can also be combined, and the steps can be implemented in any order, and there are many other changes of different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of brevity.

[0065] Although the present application has been described in conjunction with the specific embodiments thereof, it is to be understood that many alternatives, modifications and variations will be apparent to those skilled in the art in light of the foregoing description.

[0066] The embodiments of the present application are intended to cover all such alternatives, modifications and variations as falling within the broad scope of the appended claims. Accordingly, any one of the above-described embodiments of the present application can be further modified through various combinations and permutations of the respective features of the embodiments, without departing from the scope of the present application.

Claims

1. A vision module, comprising: The visual module comprises: a body provided with a first mounting slot, a second mounting slot and a heat dissipation cavity, the heat dissipation cavity being provided with a heat dissipation opening; an image acquisition module arranged in the first mounting slot; a control module accommodated in the heat dissipation cavity and in control connection with the image acquisition module; a heat dissipation assembly arranged in the heat dissipation opening to close the heat dissipation cavity, the heat dissipation assembly being used to conduct heat in the heat dissipation cavity outward.

2. The visual module of claim 1, wherein, The visual module further comprises a light supplementing module, the light supplementing module being detachably mounted in the second mounting slot, and a plug-in assembly for connecting the light supplementing module and the control module being arranged in the second mounting slot.

3. The visual module of claim 2, wherein, The light supplementing module comprises a second shell, and a second fool-proof structure matched with the second mounting slot is arranged between the second shell and the second mounting slot; and a second sealing member is arranged between the second shell and the second mounting slot.

4. The visual module of claim 1, wherein, The first mounting slot comprises a first opening in communication with the outside, the second mounting slot comprises a second opening in communication with the outside, and the first opening and the second opening are in the same opening direction.

5. The visual module of claim 4, wherein, In the vertical direction, the first mounting slot is at least partially located above the second mounting slot, the heat dissipation assembly is located below the second mounting slot, and at least part of the heat dissipation cavity is located on the side of the first mounting slot away from the first opening.

6. The visual module of claim 1, wherein, The image acquisition module is detachably mounted in the first mounting slot, the image acquisition module comprises a first shell, and a first fool-proof structure is arranged between the first shell and the first mounting slot; and a first sealing member is arranged between the first shell and the first mounting slot.

7. The visual module of claim 2, wherein, The visual module further comprises a closing member, the closing member being alternatively mounted in the second mounting slot with the light supplementing module to be buckled in the second opening of the second mounting slot to close the second mounting slot.

8. The visual module of claim 1, wherein, The body comprises a shielding portion arranged on the upper edge of the first mounting slot, and the orthogonal projection of the shielding portion on the horizontal plane is at least partially located outside the orthogonal projection of the image acquisition module on the horizontal plane.

9. The visual module of claim 1, wherein, The heat dissipation assembly comprises a heat dissipation plate and a heat dissipation fin arranged on the side of the heat dissipation plate away from the heat dissipation cavity, and the side of the heat dissipation plate facing the heat dissipation cavity is provided with a receiving groove, and the control module is accommodated in the receiving groove.

10. A self-moving device, characterized by The visual module comprises: a body provided with a first mounting slot, a second mounting slot and a heat dissipation cavity, the heat dissipation cavity being provided with a heat dissipation opening; an image acquisition module arranged in the first mounting slot; a control module accommodated in the heat dissipation cavity and in control connection with the image acquisition module; a heat dissipation assembly arranged in the heat dissipation opening to close the heat dissipation cavity, the heat dissipation assembly being used to conduct heat in the heat dissipation cavity outward. The visual module further comprises a light supplementing module, the light supplementing module being detachably mounted in the second mounting slot, and a plug-in assembly for connecting the light supplementing module and the control module being arranged in the second mounting slot. The light supplementing module comprises a second shell, and a second fool-proof structure matched with the second mounting slot is arranged between the second shell and the second mounting slot; and a second sealing member is arranged between the second shell and the second mounting slot. The first mounting slot comprises a first opening in communication with the outside, the second mounting slot comprises a second opening in communication with the outside, and the first opening and the second opening are in the same opening direction. In the vertical direction, the first mounting slot is at least partially located above the second mounting slot, the heat dissipation assembly is located below the second mounting slot, and at least part of the heat dissipation cavity is located on the side of the first mounting slot away from the first opening. The image acquisition module is detachably mounted in the first mounting slot, the image acquisition module comprises a first shell, and a first fool-proof structure is arranged between the first shell and the first mounting slot; and a first sealing member is arranged between the first shell and the first mounting slot. The visual module further comprises a closing member, the closing member being alternatively mounted in the second mounting slot with the light supplementing module to be buckled in the second opening of the second mounting slot to close the second mounting slot. The body comprises a shielding portion arranged on the upper edge of the first mounting slot, and the orthogonal projection of the shielding portion on the horizontal plane is at least partially located outside the orthogonal projection of the image acquisition module on the horizontal plane. The heat dissipation assembly comprises a heat dissipation plate and a heat dissipation fin arranged on the side of the heat dissipation plate away from the heat dissipation cavity, and the side of the heat dissipation plate facing the heat dissipation cavity is provided with a receiving groove, and the control module is accommodated in the receiving groove. The visual module comprises: a body provided with a first mounting slot, a second mounting slot and a heat dissipation cavity, the heat dissipation cavity being provided with a heat dissipation opening; an image acquisition module arranged in the first mounting slot; a control module accommodated in the heat dissipation cavity and in control connection with the image acquisition module; a heat dissipation assembly arranged in the heat dissipation opening to close the heat dissipation cavity, the heat dissipation assembly being used to conduct heat in the heat dissipation cavity outward. The visual module further comprises a light supplementing module, the light supplementing module being detachably mounted in the second mounting slot, and a plug-in assembly for connecting the light supplementing module and the control module being arranged in the second mounting slot. The light supplementing module comprises a second shell, and a second fool-proof structure matched with the second mounting slot is arranged between the second shell and the second mounting slot; and a second sealing member is arranged between the second shell and the second mounting slot. The first mounting slot comprises a first opening in communication with the outside, the second mounting slot comprises a second opening in communication with the outside, and the first opening and the second opening are in the same opening direction. In the vertical direction, the first mounting slot is at least partially located above the second mounting slot, the heat dissipation assembly is located below the second mounting slot, and at least part of the heat dissipation cavity is located on the side of the first mounting slot away from the first opening. The image acquisition module is detachably mounted in the first mounting slot, the image acquisition module comprises a first shell, and a first fool-proof structure is arranged between the first shell and the first mounting slot; and a first sealing member is arranged between the first shell and the first mounting slot. The visual module further comprises a closing member, the closing member being alternatively mounted in the second mounting slot with the light supplementing module to be buckled in the second opening of the second mounting slot to close the second mounting slot. The body comprises a shielding portion arranged on the upper edge of the first mounting slot, and the orthogonal projection of the shielding portion on the horizontal plane is at least partially located outside the orthogonal projection of the image acquisition module on the horizontal plane. The heat dissipation assembly comprises a heat dissipation plate and a heat dissipation fin arranged on the side of the heat dissipation plate away from the heat dissipation cavity, and the side of the heat dissipation plate facing the heat dissipation cavity is provided with a receiving groove, and the control module is accommodated in the receiving groove.

Images