Self-moving device

Abstract

The utility model relates to a self-moving device, which comprises a shell and a radar module installed in the shell, the radar module is used for detecting the working environment of the self-moving device, and the radar module comprises an array laser transmitter and an array laser detector which is matched with the array laser transmitter to obtain three-dimensional point cloud data of the working environment. In the moving process of the self-moving equipment, the array laser transmitter and the array laser detector are both kept fixed relative to the shell. The radar module of the utility model can realize instantaneous three-dimensional imaging of the whole field of view by means of array light source emission and array detector reception, the imaging frame rate is high, the detection sensitivity is high, and the array laser emitter and the array laser detector are both fixed relative to the housing, so that the radar module does not need to rotate by a mechanical part during operation, and the cost is low. The reliability is high and the service life is long.

Description

[Technical Field]

[0001] This utility model relates to the field of intelligent tool technology, and in particular to a self-moving device. [Background Technology]

[0002] With the development of technology, self-moving devices capable of operating autonomously without user intervention are increasingly used in daily work and life. To cope with complex working environments, existing self-moving devices are equipped with environmental detection devices such as LiDAR and cameras to detect the surrounding environment. During the self-moving device's operation, if the aforementioned environmental detection devices detect obstacles or abnormal conditions such as rain or steep slopes, the self-moving device will implement adaptive processing strategies based on the signals transmitted by the aforementioned environmental detection devices.

[0003] Commercially available mobile devices use scanning lidar for environmental detection. However, the laser transmitter and receiver of the scanning lidar rotate 360 ​​degrees during the operation of the mobile device to perform optical scanning. As a result, after the mobile device has been in operation for a long time, the mechanical parts of the scanning lidar are prone to wear and tear, resulting in low reliability.

[0004] Therefore, it is indeed necessary to provide an improved self-moving device to overcome the shortcomings of the existing technology. [Utility Model Content]

[0005] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a self-moving device with a long service life of radar module.

[0006] The present invention addresses the existing technical problems by adopting the following technical solution: A self-moving device includes: a housing; a radar module for detecting the working environment of the self-moving device, the radar module being installed on the housing; the radar module includes an array laser emitter and an array laser detector that cooperates with the array laser emitter to obtain three-dimensional point cloud data of the working environment, wherein during the movement of the self-moving device, both the array laser emitter and the array laser detector remain relatively fixed to the housing.

[0007] Furthermore, the housing includes a base, a top cover connected to the base to form a main receiving cavity, and a cover connected to the base and / or the top cover to form a secondary receiving cavity. The main receiving cavity and the secondary receiving cavity are isolated from each other, and the secondary receiving cavity is in fluid communication with the external environment.

[0008] Furthermore, the first air duct segment and the second air duct segment are spaced apart in the left-right direction of the self-moving device.

[0009] Furthermore, both the first air duct segment and the second air duct segment extend along the front-rear direction of the self-moving device.

[0010] Furthermore, the main air duct section includes an air inlet, a first air guide connected to the first air duct section, and a second air guide connected to the second air duct section. The heat dissipation airflow flows into the main air duct section from the air inlet, and after flowing through the radar module, it flows into the first air duct section and the second air guide section from the first air guide and the second air guide, respectively.

[0011] Furthermore, the first air duct section also includes a first air outlet disposed behind the first air guide, and the second air duct section also includes a second air outlet disposed behind the second air guide. In the left-right direction of the self-moving device, the radar module is located between the first air outlet and the second air outlet.

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

[0013] Furthermore, the radar module also includes a radar housing disposed in the secondary receiving cavity. The radar housing defines a radar cavity that houses the array laser emitter and the array laser detector. The radar cavity is isolated from the external environment and is isolated from the main receiving cavity.

[0014] Furthermore, the self-moving device also includes a vision module for detecting the working environment of the self-moving device, the vision module being disposed within the radar cavity.

[0015] Furthermore, in the longitudinal direction of the self-moving device, the housing includes a front surface and a rear surface disposed opposite to the front surface, and the distance between the foremost end of the radar module and the front surface is no greater than one-third of the length of the housing in the longitudinal direction.

[0016] Furthermore, in the height direction of the self-moving device, the housing includes an upper surface and a lower surface disposed opposite to the upper surface, and the distance between the lowest point of the radar module and the upper surface is no greater than one-third of the height of the housing.

[0017] Furthermore, the uppermost part of the radar module does not protrude from the upper surface of the housing.

[0018] Furthermore, the detection direction of the radar module is tilted downward at a preset angle relative to the horizontal reference plane, and the preset angle ranges from 0 to 30 degrees.

[0019] Furthermore, the horizontal field of view of the radar module ranges from 75 degrees to 150 degrees.

[0020] Furthermore, the vertical field of view of the radar module ranges from 15 degrees to 90 degrees.

[0021] Compared with the prior art, the present invention has the following advantages: The self-moving device includes a housing and a radar module installed on the housing. The radar module is used to detect the working environment of the self-moving device. The radar module includes an array laser emitter and an array laser detector that cooperates with the array laser emitter to obtain three-dimensional point cloud data of the working environment. During the movement of the self-moving device, the array laser emitter and the array laser detector remain relatively fixed to the housing. Thus, on the one hand, the radar module can achieve instantaneous three-dimensional imaging of the entire field of view through arrayed light source emission and arrayed detector reception, with high imaging frame rate and high detection sensitivity; on the other hand, since the array laser emitter and the array laser detector remain relatively fixed to the housing, the radar module does not require mechanical parts to rotate, resulting in high reliability and long service life. [Attached Image Description]

[0022] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings:

[0023] Figure 1 This is a schematic diagram of the overall structure of the self-moving device in a preferred embodiment of the present invention;

[0024] Figure 2 yes Figure 1 The diagram shows the structure of the self-moving device after the cover has been removed.

[0025] Figure 3 yes Figure 2 A magnified view of part M of the self-moving device shown;

[0026] Figure 4 yes Figure 2 The rear view of the self-moving device shown.

[0027] Meaning of the reference numerals in the diagram:

[0028] Smart lawnmower 100 housing 1

[0029] Base 11, Top Cover 12

[0030] Casing 13 Main Receiving Cavity 14

[0031] Sub-accommodation cavity 15 Heat dissipation air duct 16

[0032] Main air duct section 161, air inlet 1611

[0033] First air guide 1612 Second air guide 1613

[0034] First air duct section 162, first air outlet 1621

[0035] Second air duct section 163, second air outlet 1631

[0036] Front surface 111 Rear surface 112

[0037] Upper surface 113 Lower surface 114

[0038] Walking module 2 Drive wheels 21

[0039] Auxiliary wheel 22, radar module 3

[0040] Radar housing 31 Radar cavity 32

[0041] Heatsink 33

Detailed Implementation Methods

[0042] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model. In the description of this specification, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0043] The terminology used in this invention is for the purpose of describing specific embodiments only and is not intended to limit the invention. For example, terms such as "upper," "lower," "front," and "rear" that indicate orientation or positional relationship are based solely on the orientation or positional relationship shown in the accompanying drawings and are used only for the convenience of describing the invention and simplifying the description. They do not indicate or imply that the device / component referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention.

[0044] Furthermore, the technical features involved in the different embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0045] Please see Figures 1 to 4 The image shows a self-moving device according to one embodiment of the present invention. In this embodiment, the self-moving device is an intelligent lawnmower 100 used for trimming garden lawns. It should be noted that in other embodiments, the self-moving device can also be a cleaning robot, a service robot, or other mobile robots that can walk autonomously and perform operations.

[0046] The intelligent lawnmower 100 includes a housing 1, a walking module 2 for supporting the movement of the housing 1, a cutting module (not shown) disposed at the bottom of the housing 1, a control module (not shown) at least partially installed in the housing 1 for controlling the automatic operation of the walking module 2 and controlling the automatic operation of the cutting module, and an energy module (not shown) for supplying power to the intelligent lawnmower 100.

[0047] The housing 1 includes a base 11, a top cover 12 sealed to the base 11 to form a main receiving cavity 14, and a cover 13 connected to the base 11 and / or the top cover 12 and defining a secondary receiving 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; while the top cover 12 is configured to at least partially cover the base 11 and is sealed to the base 11 to form the main receiving cavity 14, which is sealed and isolated from the external environment, and at least a portion of the control module is housed in the main receiving cavity 14; the cover 13 is connected to the top cover 12 and defines the secondary receiving cavity 15, and modules for user operation, such as the human-machine interface of the intelligent lawnmower 100, are located in the secondary receiving cavity 15. It should be noted that the connection of the cover 13 to the top cover 12 and the definition of the secondary receiving cavity 15 is only one optional embodiment of this utility model. In other embodiments, the cover 13 may also be connected to the base 11, or simultaneously connected to both the base 11 and the top cover 12.

[0048] The walking module 2 is used to drive the intelligent lawnmower 100 to move within the working area, and includes drive wheels 21 and auxiliary wheels 22 mounted on the housing 1. Specifically, there are two drive wheels 21, each connected to a corresponding walking motor (not shown). The walking motor drives the drive wheels 21 to rotate, thereby enabling the intelligent lawnmower 100 to move automatically. The auxiliary wheels 22 mainly serve as auxiliary supports. There are one or two auxiliary wheels 22, located at the front of the intelligent lawnmower 100. The auxiliary wheels 22 are not connected to the walking motor, but they are driven to roll while supporting the intelligent lawnmower 100 to move. With the above structural arrangement, the intelligent lawnmower 100 can be controlled by the control module to move and turn flexibly on the working surface. During normal walking, the two walking motors output the same speed, directly driving or indirectly driving the intelligent lawnmower 100 through a transmission structure such as gears or belts, while the auxiliary wheel 22 also rolls. When turning, the two walking motors output different speeds, and the intelligent lawnmower 100 will turn towards the side of the driving wheel 21 with the lower speed or towards the side of the driving wheel 21 with the direction of reversing.

[0049] The intelligent lawnmower 100 also includes a radar module 3 for detecting the working environment, which is mounted on the housing 1. Specifically, the radar module 3 includes an array laser emitter (not shown) and an array laser detector (not shown) that works in conjunction with the array laser emitter to acquire three-dimensional point cloud data of the working environment. During the movement of the intelligent lawnmower 100, both the array laser emitter and the array laser detector remain relatively fixed to the housing 1. Thus, on the one hand, the radar module 3 can achieve instantaneous three-dimensional imaging of the entire field of view through arrayed light source emission and arrayed detector reception, with a high imaging frame rate and high detection sensitivity; on the other hand, since both the array laser emitter and the array laser detector remain relatively fixed to the housing 1, the radar module 3 does not require mechanical parts to rotate during operation, resulting in high reliability and a long service life.

[0050] The radar module 3 also includes a radar housing 31 disposed within the secondary receiving cavity 15. The radar housing 31 defines a radar cavity 32 that houses the array laser emitter and array laser detector. The radar cavity 32 is isolated from the external environment and is isolated from the main receiving cavity 14. Specifically, the radar housing 31 defines a sealed cavity that houses the array laser emitter and array laser detector to isolate the radar module 3 from the external environment, and the radar cavity 32 is isolated from the main receiving cavity 14. Thus, the waterproofing of the radar module 3 and the waterproofing of the main receiving cavity 14 are independent of each other, improving the waterproofing performance of the intelligent lawnmower 100 while simplifying the sealing structure design of the intelligent lawnmower 100.

[0051] It should be noted that, in one embodiment of this utility model, the intelligent lawnmower 100 also includes a vision module (not shown) for detecting the working environment. The combination of the vision module and the radar module 3 further improves the accuracy of environmental detection. The vision module is also set in the radar cavity 32. Thus, on the one hand, the housing 1 of the intelligent lawnmower 100 does not need additional space for installing the vision module, improving the structural compactness of the intelligent lawnmower 100; on the other hand, the waterproofing of the vision module is also achieved through the radar housing 31, further simplifying the sealing structure design of the intelligent lawnmower 100.

[0052] Furthermore, in this embodiment, the radar housing 31 is disposed in the secondary receiving cavity 15 which is in fluid communication with the external environment, and a heat sink 33 is formed on the outer surface of the radar housing 31. Thus, during the walking operation of the intelligent lawnmower 100, the array laser emitter and array laser detector perform real-time environmental detection to collect environmental information. The heat generated by the high-frequency operation of the array laser emitter and array laser detector is transferred to the radar housing 31 and evaporated through the heat sink 33. The heat dissipation airflow can flow from the external environment to the secondary receiving cavity 15 and pass through the heat sink 33, thereby improving the heat evaporation efficiency of the heat sink 33, avoiding the radar module 3 from being in a high-temperature state for a long time, and extending the service life of the radar module 3.

[0053] The housing 1 also includes a heat dissipation duct 16 formed in the secondary receiving cavity 15. The heat dissipation duct 16 includes a main air duct section 161 and a first air duct section 162 and a second air duct section 163 respectively connected to the rear of the main air duct section 161. The radar module 3 is disposed in the main air duct section 161. The heat dissipation airflow flows from the main air duct section 161 through the radar module 3 and then flows into the first air duct section 162 and the second air duct section 163 respectively.

[0054] Specifically, the main air duct section 161 includes an air inlet 1611, a first air guide 1612 connected to the first air duct section 162, and a second air guide 1613 connected to the second air duct section 163. The first air duct section 162 also includes a first air outlet 1621 located behind the first air guide 1612. The second air duct section 163 also includes a second air outlet 1631 located behind the second air guide 1613. In the left-right direction of the intelligent lawnmower 100, the radar module 3 is located between the first air outlet 1621 and the second air outlet 1631.

[0055] Thus, during the operation of the intelligent lawnmower 100, the cooling airflow flows into the main air duct section 161 from the air inlet 1611 and passes through the radar module 3. Then, it is split by the first air guide 1612 and the second air guide 1613. Part of the cooling airflow flows into the first air duct section 162 and leaves the intelligent lawnmower 100 through the first air outlet 1621, while the other part flows into the second air duct section 163 and leaves the intelligent lawnmower 100 through the second air outlet 1631. By splitting the cooling airflow through the radar module 3 via the first air duct section 162 and the second air duct section 163, the flow speed of the cooling airflow is increased, thereby improving the heat dissipation effect of the radar module 3.

[0056] Furthermore, in the left and right directions of the intelligent lawnmower 100, the first air duct section 162 and the second air duct section 163 are arranged at intervals. In this way, after the heat dissipation airflow is diverted through the first air guide 1612 and the second air guide 1613, it flows along the isolated first air duct section 162 and the second air duct section 163 respectively without interfering with each other, thereby further improving the flow speed of the heat dissipation airflow and further improving the heat dissipation efficiency of the heat sink 33, resulting in good heat dissipation effect.

[0057] In the front-back direction of the intelligent lawnmower 100, the air inlet 1611 is located in front of the first air guide 1612 and the second air guide 1613, and the first air duct section 162 and the second air duct section 163 both extend in the front-back direction of the intelligent lawnmower 100. Thus, the extension direction of the heat dissipation air duct 16 is basically consistent with the forward direction of the intelligent lawnmower 100. When the intelligent lawnmower 100 moves forward, the heat dissipation airflow flows into the secondary receiving cavity 15 from the air inlet 1611, and passes through the main air duct section 161 and the first air duct section 162 or the second air duct section 163 in sequence along the front-back direction of the intelligent lawnmower 100. The flow of the heat dissipation airflow is smooth and unobstructed, and the heat dissipation effect is good.

[0058] In the longitudinal direction of the intelligent lawnmower 100, the housing 1 also includes a front surface 111 and a rear surface 112 opposite to the front surface 111. The distance A between the frontmost end of the radar module 3 and the front surface 111 is not greater than one-third of the length of the housing 1 in the longitudinal direction. In the height direction of the intelligent lawnmower 100, the housing 1 also includes an upper surface 113 and a lower surface 114 opposite to the upper surface 113. The distance B between the uppermost end of the radar module 3 and the upper surface 113 is not greater than one-third of the height of the housing 1.

[0059] Thus, in the front-to-back direction of the intelligent lawnmower 100, the radar module 3 is installed on the housing 1 of the intelligent lawnmower 100 near the front surface 111; in the height direction of the intelligent lawnmower 100, the radar module 3 is installed on the housing 1 of the intelligent lawnmower 100 near the upper surface 113, thereby avoiding the field of view of the radar module 3 being blocked by the housing 1, reducing the blind spot of the radar module 3, and improving the accuracy of environmental detection during the operation of the intelligent lawnmower 100.

[0060] Furthermore, in one embodiment of this utility model, the uppermost end of the radar module 3 does not protrude from the upper surface 113 of the housing 1. Thus, the radar module 3 is protected by the housing 1 at the height of the smart lawnmower 100. On the one hand, this avoids the radar module 3 from directly colliding with garden trees, shrubs, etc., reducing the probability of accidental damage to the radar module 3 and extending the service life of the radar module 3. On the other hand, the upper surface 113 of the housing 1 can protect the radar module 3 from direct rain, reducing the probability of the radar module 3 getting damp.

[0061] The detection direction of radar module 3 is at a preset angle relative to the horizontal reference plane. The preset angle ranges from 0 to 30 degrees. In this way, by placing radar module 3 horizontally or tilting it downward, the detection range of radar module 3 in the left and right directions of intelligent lawnmower 100 is improved. At the same time, the tilt angle of radar module 3 relative to the horizontal reference plane is kept small to reduce the blind spots of radar module 3 in the front and back directions of intelligent lawnmower 100, thereby comprehensively improving the environmental detection capability of radar module 3.

[0062] The radar module 3 has a horizontal field of view of 75-150 degrees. As a result, on the one hand, a single scan of the radar module 3 can cover the fan-shaped area in front of the smart lawnmower 100, thereby quickly sensing obstacles in front and on both sides and reducing the need for the smart lawnmower 100 to frequently rotate or adjust its posture; on the other hand, during the mapping process of the smart lawnmower 100, the wide horizontal field of view supports rapid map construction and shortens the global path planning time.

[0063] The vertical field of view of radar module 3 is 15 degrees to 90 degrees. Therefore, on the one hand, the vertical field of view must cover obstacles at least 5cm to 50cm above the ground, and a vertical field of view of 15 degrees to 90 degrees can effectively detect such targets. On the other hand, the narrower vertical field of view can reduce the reception of signals reflected from bushes, branches, etc., reduce the risk of false judgment by radar module 3, filter high-altitude noise, and improve the accuracy of ground obstacle detection.

[0064] This utility model is not limited to the specific embodiments described above. Those skilled in the art will readily understand that many other alternative solutions exist for the self-moving device of this utility model without departing from its principles and scope. The scope of protection of this utility model is determined by the claims.

Claims

1. A self-moving device, comprising: case; A radar module is used to detect the operating environment of the self-moving device, and the radar module is installed in the housing; The radar module is characterized in that: the radar module includes an array laser emitter and an array laser detector that cooperates with the array laser emitter to obtain three-dimensional point cloud data of the working environment; during the movement of the self-moving device, both the array laser emitter and the array laser detector remain relatively fixed to the housing.

2. The self-moving device according to claim 1, characterized in that: The housing includes a base, a top cover that is sealed to the base to form a main receiving cavity, and a cover that is connected to the base and / or the top cover to form a secondary receiving cavity. The main receiving cavity and the secondary receiving cavity are isolated from each other, and the secondary receiving cavity is in fluid communication with the external environment.

3. The self-moving device according to claim 2, characterized in that: The housing also includes a heat dissipation duct formed in the secondary accommodating cavity. The heat dissipation duct includes a main air duct section and a first air duct section and a second air duct section respectively connected to the rear of the main air duct section. The radar module is disposed in the main air duct section. The heat dissipation airflow flows from the main air duct section through the radar module and then flows into the first air duct section and the second air duct section respectively.

4. The self-moving device according to claim 3, characterized in that: The first air duct section and the second air duct section are spaced apart in the left and right direction of the self-moving device.

5. The self-moving device according to claim 3, characterized in that: Both the first air duct section and the second air duct section extend along the front-rear direction of the self-moving device.

6. The self-moving device according to claim 3, characterized in that: The main air duct section includes an air inlet, a first air guide connected to the first air duct section, and a second air guide connected to the second air duct section. The heat dissipation airflow flows into the main air duct section from the air inlet, and after flowing through the radar module, it flows into the first air duct section and the second air guide section from the first air guide and the second air guide, respectively.

7. The self-moving device according to claim 6, characterized in that: The first air duct section further includes a first air outlet disposed behind the first air guide, and the second air duct section further includes a second air outlet disposed behind the second air guide. In the left-right direction of the self-moving device, the radar module is located between the first air outlet and the second air outlet.

8. The self-moving device according to claim 6, characterized in that: In the front-rear direction of the self-moving device, the air inlet is located in front of the first air guide and the second air guide.

9. The self-moving device according to claim 2, characterized in that: The radar module also includes a radar housing disposed in the secondary receiving cavity. The radar housing defines a radar cavity that houses the array laser emitter and the array laser detector. The radar cavity is isolated from the external environment and is isolated from the main receiving cavity.

10. The self-moving device according to claim 9, characterized in that: The self-moving device also includes a vision module for detecting the working environment of the self-moving device, the vision module being disposed within the radar cavity.

11. The self-moving device according to claim 1, characterized in that: In the height direction of the self-moving device, the housing includes an upper surface and a lower surface disposed opposite to the upper surface, and the distance between the uppermost end of the radar module and the upper surface is no greater than one-third of the height of the housing.

12. The self-moving device according to claim 11, characterized in that: The uppermost part of the radar module does not protrude from the upper surface of the housing.

13. The self-moving device according to claim 1, characterized in that: In the longitudinal direction of the self-moving device, the housing includes a front surface and a rear surface disposed opposite to the front surface, and the distance between the foremost end of the radar module and the front surface is no greater than one-third of the length of the housing in the longitudinal direction.

14. The self-moving device according to claim 1, characterized in that: The detection direction of the radar module is at a preset angle relative to the horizontal reference plane, and the preset angle ranges from 0 to 30 degrees.

15. The self-moving device according to claim 1, characterized in that: The horizontal field of view of the radar module is 75 degrees to 150 degrees.

16. The self-moving device according to claim 1, characterized in that: The vertical field of view of the radar module is 15 degrees to 90 degrees.

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