Self-moving device and self-moving system

Abstract

The application discloses a self-moving device and a self-moving system. The self-moving device can move on a moving surface along a moving direction, and comprises an identification module, a heat dissipation module, a first shell and a control module. The identification module is used for acquiring environmental information around the self-moving device. Along the moving direction, the identification module comprises oppositely arranged front and back sides, and the front side is inclined towards the moving surface. The heat dissipation module is supported and connected to the back side of the identification module. The first shell extends along the moving surface, and along the height direction of the self-moving device perpendicular to the moving surface, the first shell comprises a first side and a second side, and the heat dissipation module is arranged on the first side. The control module is connected to the second side, and the heat generated by the control module can be transmitted to the heat dissipation module. The front side of the identification module is inclined towards the moving surface, so that the environmental information in front of the self-moving device can be more comprehensively acquired. The back side of the identification module is connected to the heat dissipation module, which helps to stably incline the identification module.

Description

Technical Field

[0001] This application relates to the field of self-moving devices, specifically to a self-moving device and a self-moving system. Background Technology

[0002] With the development of technology, more and more electrical appliances can become intelligent. Intelligent electrical appliances have self-moving functions and can be called self-moving devices.

[0003] Self-moving devices need to acquire information about their surrounding environment while in motion. Therefore, devices with recognition capabilities can be installed, and there is a correlation between the installation location of the recognition device and the accurate acquisition of information about the surrounding environment. Utility Model Content

[0004] In view of this, this application provides a self-moving device and a self-moving system. The self-moving device identification module of this application, through its connection with the heat dissipation module, can be stably tilted, thereby stably acquiring environmental information.

[0005] This application is achieved through the following technical solution.

[0006] A first aspect of this application provides a self-moving device capable of traveling along a direction of travel on a surface. The self-moving device includes an identification module, a heat dissipation module, a first housing, and a control module. Along the direction of travel, the identification module includes a front side and a back side disposed opposite to each other, the front side being inclined toward the surface of travel. The heat dissipation module is supported and connected to the back side of the identification module. The first housing extends along the surface of travel, and the first housing includes a first side and a second side along a height direction perpendicular to the surface of travel of the self-moving device. The heat dissipation module is disposed on the first side. The control module is connected to the second side, and heat generated by the control module can be transferred to the heat dissipation module.

[0007] The front of the recognition module is tilted towards the travel surface, allowing for more comprehensive acquisition of environmental information in front of the mobile device. Connecting the back of the recognition module to the heat dissipation module helps ensure stable tilting of the module. The connection between the recognition module, heat dissipation module, and control module in this application helps ensure stable installation of the recognition module while also meeting the heat dissipation requirements of the control module.

[0008] In some embodiments, the heat dissipation module includes a support portion and a plurality of spaced heat dissipation fins. The support portion is located closer to the identification module than the heat dissipation fins, and the support portion protrudes from the first side and is connected to the back side of the identification module.

[0009] In some embodiments, adjacent heat dissipation fins have different heights along the height direction along the travel direction.

[0010] In some embodiments, along the height direction, the height of the support portion is greater than the height of the heat dissipation fins.

[0011] In some embodiments, the self-moving device includes a first seal that is sealingly connected between the support and the back side of the identification module.

[0012] In some embodiments, the first shell has a through hole, which is located between the heat dissipation module and the control module along the height direction. The heat generated by the heat dissipation module is directly transferred to the control module through the through hole.

[0013] In some embodiments, the projection of the through hole falls within the projection range of the heat dissipation module and the control module in the same projection plane perpendicular to the height direction.

[0014] In some embodiments, the self-moving device includes a second seal that is sealingly connected between the heat dissipation module and the first housing.

[0015] In some embodiments, the first shell has a through hole located between the heat dissipation module and the control module along the height direction. The self-moving device includes a thermally conductive layer that fills the through hole, allowing the heat generated by the control module to be transferred to the heat dissipation module through the thermally conductive layer.

[0016] In some embodiments, the thermally conductive layer is formed as part of the first shell.

[0017] In some embodiments, the support portion includes a plastic structural member connected to the back side of the identification module; or

[0018] The support includes a metal structural component, which is connected to the back side of the identification module.

[0019] In some embodiments, the self-moving device further includes a second shell, which covers the first shell and is disposed opposite to the first side of the first shell; the heat dissipation module further includes a top cover, which is connected to or partially formed by the second shell. Along the height direction, the top cover is located above the heat dissipation fins, and the space between the top cover and the heat dissipation fins forms a heat dissipation cavity. The second shell is provided with a plurality of ventilation holes, which communicate with the heat dissipation cavity. Heat transferred from the control module to the heat dissipation module is dissipated to the heat dissipation cavity and then dissipated through the ventilation holes.

[0020] In some embodiments, the second shell includes a first ventilation section and a second ventilation section disposed opposite to each other in a lateral direction, the first ventilation section and the second ventilation section constituting the outer surface of the self-moving device, and a plurality of ventilation holes distributed in the first ventilation section and the second ventilation section, wherein the lateral direction, the travel direction and the height direction are perpendicular to each other.

[0021] In some embodiments, the self-moving device further includes a third shell, which is disposed opposite to the second side of the first shell. The third shell and the first shell together form an accommodating space. The heat dissipation cavity communicates with the accommodating space. Air passing through the accommodating space enters the heat dissipation cavity and is then dissipated through the ventilation hole.

[0022] The second aspect of this application provides a self-mobile system, comprising: a self-mobile device as described in any one of the embodiments of the first aspect; and a base station, at least for providing power to the self-mobile device.

[0023] The front of the recognition module is tilted towards the travel surface, allowing for more comprehensive acquisition of environmental information in front of the mobile device. Connecting the back of the recognition module to the heat dissipation module helps ensure stable tilting of the module. The connection between the recognition module, heat dissipation module, and control module in this application helps ensure stable installation of the recognition module while also meeting the heat dissipation requirements of the control module. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly described below. It should be understood that the drawings described below are only a part of the drawings in the embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0025] Figure 1 A schematic diagram of the structure of the first shell of the self-moving device provided for some embodiments of this application;

[0026] Figure 2 First-view structural schematic diagrams of the identification module and heat dissipation module provided for some embodiments of this application;

[0027] Figure 3 For along Figure 2 A schematic diagram of the cross-sectional structure of line AA in the diagram;

[0028] Figure 4 Schematic diagrams of the self-moving device structure provided for some embodiments of this application;

[0029] Figure 5 for Figure 4 An enlarged view of part B in the image;

[0030] Figure 6 for Figure 5 An enlarged view of part C in the image;

[0031] Figure 7 A second-view structural schematic diagram of the identification module and heat dissipation module provided for some embodiments of this application.

[0032] Explanation of reference numerals in the attached figures:

[0033] 1. Self-moving device; 10. Identification module; 101. Front side; 102. Back side; 11. First shell; 110. Thermal conductive layer; 111. First side; 112. Second side; 12. Second shell; 120. Ventilation hole; 121. First ventilation section; 122. Second ventilation section; 13. Third shell; 20. Heat dissipation module; 201. Support section; 202. Heat dissipation fins; 203. Top cover; 30. Control module; 41. First seal; 42. Second seal; 43. Third seal; 50. Walking wheel; L. Traveling surface; X. Traveling direction; Y. Lateral direction; Z. Height direction; α. Tilt angle; S. Heat dissipation cavity. Detailed Implementation

[0034] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0035] With the development of technology, more and more electrical appliances can become intelligent. Intelligent electrical appliances have self-moving functions and can be called self-moving devices.

[0036] Self-moving devices need to acquire information about their surrounding environment while in motion. Therefore, devices with recognition capabilities can be installed, and there is a correlation between the installation location of the recognition device and the accurate acquisition of information about the surrounding environment.

[0037] In view of this, this application provides a self-moving device and a self-moving system. The self-moving device identification module of this application, through its connection with the heat dissipation module, can be stably tilted, thereby stably acquiring environmental information.

[0038] The self-moving device provided in this application can travel along a travel direction on a travel surface. The self-moving device includes an identification module, a heat dissipation module, a first shell, and a control module. Along the travel direction, the identification module includes a front side and a back side disposed opposite to each other, with the front side inclined towards the travel surface; the heat dissipation module is supported and connected to the back side of the identification module; the first shell extends along the travel surface and includes a first side and a second side along the height direction of the self-moving device perpendicular to the travel surface, with the heat dissipation module disposed on the first side; the control module is connected to the second side, and the heat generated by the control module can be transferred to the heat dissipation module.

[0039] The front of the recognition module is tilted towards the travel surface, allowing for more comprehensive acquisition of environmental information in front of the mobile device. Connecting the back of the recognition module to the heat dissipation module helps ensure stable tilting of the module. The connection between the recognition module, heat dissipation module, and control module in this application helps ensure stable installation of the recognition module while also meeting the heat dissipation requirements of the control module.

[0040] Figure 1 A schematic diagram of the structure of the first shell of the self-moving device provided for some embodiments of this application; Figure 2 First-view structural schematic diagrams of the identification module and heat dissipation module provided for some embodiments of this application; Figure 3 For along Figure 2 A schematic diagram of the cross-sectional structure of line AA in the diagram; Figure 4 Schematic diagrams of the self-moving device structure provided for some embodiments of this application; Figure 5 for Figure 4 An enlarged view of part B in the image; Figure 6 for Figure 5 An enlarged view of part C in the image; Figure 7 A second-view structural schematic diagram of the identification module and heat dissipation module provided for some embodiments of this application.

[0041] like Figures 1 to 4 As shown, the self-moving device 1 can travel along the direction of travel X on the travel surface L. The travel surface L can be any surface on which the self-moving device 1 moves and operates, such as the ground. It should be noted that the travel surface L can be a horizontal plane or a surface inclined relative to a horizontal plane (such as a slope). The self-moving device 1 can be a sweeping robot, a mopping robot, a sweeping and mopping robot combo, a floor waxing machine, or a lawnmower, etc.

[0042] The self-moving device 1 may include an identification module 10, a heat dissipation module 20, a first shell 11, and a control module 30.

[0043] The identification module 10 can be used to acquire environmental information about the surrounding environment of the self-moving device 1 during its movement. Environmental information refers to the situation of objects within a certain radius of the center of the self-moving device 1. The identification module 10 can transmit the acquired environmental information to the control module 30, which can then control the self-moving device 1 to move and operate accordingly.

[0044] In some embodiments, the recognition module 10 may be a visual recognition module 10 including a camera. In some embodiments, the recognition module 10 may be a binocular vision module including two cameras. Binocular vision modules can acquire more comprehensive environmental information; for example, a binocular vision module can acquire 3D image information by including a 3D camera or a depth camera. However, this application is not limited to this; in some embodiments, the recognition module 10 may also acquire environmental information using sensors such as ultrasonic sensors or infrared sensors.

[0045] In some embodiments, the identification module 10 may be located at the front end of the self-mobile device 1 along the travel direction X. As indicated by the arrow along the travel direction X, the arrow points to the front, and the arrow's back side 102 is the rear. Along the travel direction X, the identification module 10 may include a front side 101 and a back side 102 positioned opposite each other, with the front side 101 inclined towards the travel surface L. In some embodiments, the inclination angle α of the front side 101 towards the travel surface L may be in the range of approximately 6° to 10°. For example, the inclination angle α of the front side 101 towards the travel surface L may be approximately 6°, 7°, 8°, 9°, or 10°, etc. The inclination angle α may be the angle between the front side 101 and the height direction Z.

[0046] The front side 101 of the recognition module 10 is tilted towards the travel surface L, which helps the recognition module 10 to acquire as much environmental information as possible about the location that the self-moving device 1 is about to pass through in the travel direction X, thus reducing blind spots. Specifically, the tilt of the recognition module 10 towards the travel surface L enables it to acquire environmental information about the location that the self-moving device 1 is about to pass through in a timely manner, such as obstacles in front or some low obstacles, thereby ensuring smooth passage for the self-moving device 1.

[0047] like Figure 1 and Figure 4 As shown, the heat dissipation module 20 can be connected to the back side 102 of the recognition module 10. Since the front side 101 of the recognition module 10 is inclined towards the travel surface L, the connection of the heat dissipation module 20 to the back side 102 of the recognition module 10 is beneficial for supporting and stabilizing the recognition module 10 in the travel direction X, thereby maintaining the recognition module 10 stably set at a fixed tilt angle α.

[0048] like Figures 1 to 3As shown, the first shell 11 extends along the travel surface L. The first shell 11 includes a first side 111 and a second side 112 along the height direction Z of the self-moving device 1 perpendicular to the travel surface L. The heat dissipation module 20 is disposed on the first side 111, and the control module 30 is connected to the second side 112. The heat generated by the control module 30 can be transferred to the heat dissipation module 20.

[0049] The heat dissipation module 20 and the control module 30 are respectively disposed on both sides of the first housing 11. This allows the heat dissipation module 20 to fix both the heat dissipation module 20 and the control module 30, while also facilitating heat dissipation for the control module 30 through the heat dissipation module 20. Thus, while dissipating heat from the control module 30, the heat dissipation module 20, through its connection to the back side 102 of the identification module 10, provides support and stability to the identification module 10.

[0050] In some embodiments, the heat dissipation module 20 includes a support portion 201 and a plurality of spaced heat dissipation fins 202. The support portion 201 is disposed closer to the identification module 10 than the heat dissipation fins 202. The support portion 201 protrudes from the first side 111 and is connected to the back side 102 of the identification module 10.

[0051] In some embodiments, such as Figures 1 to 3 As shown, along the height direction Z, the bottom of the identification module 10 is lower than the position of the first shell 11. The support 201 can extend from the first side 111 of the first shell 11 and can extend toward the back side 102 of the heat dissipation module 20 to fix the identification module 10.

[0052] The support portion 201 can be connected to the identification module 10 by screws. However, this application is not limited to this, and the support portion 201 can also be connected to the identification module 10 by other connection methods, such as bonding or welding.

[0053] In some embodiments, the support portion 201 may extend to the edge of the back side 102 of the identification module 10, thereby connecting with the back side 102 of the identification module 10, which can better fix the identification module 10.

[0054] In some embodiments, the support portion 201 may form a large-area connection with the back side 102 of the identification module 10, that is, the side of the support portion 201 with a larger area is connected to the back side 102 of the identification module 10. Alternatively, a larger area (more than half of the total area of ​​the back side 102) of the identification module 10 may be connected to the identification module 10.

[0055] In some embodiments, along the height direction Z, the height of the support portion 201 is greater than the height of the heat dissipation fins 202. The greater height of the support portion 201 provides better support for the identification module 10 and provides space above the heat dissipation fins 202 for better heat dissipation.

[0056] In some embodiments, the support portion 201 includes a plastic structural component connected to the back side 102 of the identification module 10. Plastic has poor thermal conductivity; using plastic can reduce heat transfer from the heat dissipation components to the identification module 10, thereby reducing its impact on functionality.

[0057] In some embodiments, the support portion 201 includes a metal structural member connected to the back side 102 of the identification module 10. The metal has good thermal conductivity, which facilitates the transfer of heat generated by the identification module 10 through the support portion 201 to the heat dissipation module 20, thereby dissipating the heat and achieving heat dissipation for the identification module 10.

[0058] In some embodiments, the support portion 201 may include both plastic and metal structural components. For example, the portion of the support portion 201 that directly contacts the back side 102 may be a metal structural component, and the metal structural component is positioned as close as possible to the heat-generating location of the identification module 10. Other portions of the support portion 201 may be plastic structural components, and the plastic structural components are positioned as far away as possible from the heat-generating location of the identification module 10. Thus, the heat generated by the identification module 10 can be transferred through the support portion 201, and the heat from the heat dissipation module 20 is less likely to affect the identification module 10.

[0059] In some embodiments, such as Figure 2 and Figure 3 As shown, along the travel direction X, adjacent heat dissipation fins 202 have different heights along the height direction Z. The different heights of adjacent heat dissipation fins 202 can increase airflow between multiple heat dissipation fins 202, and can also increase the heat exchange area and optimize the airflow path.

[0060] In some embodiments, such as Figures 4 to 6 The self-moving device 1 may also include a first seal 41, which is sealed between the support portion 201 and the back side 102 of the identification module 10. For example, the first seal 41 may be a sealing ring, which can form a seal at the connection between the support portion 201 and the back side 102 to reduce the possibility of external impurities and moisture entering the identification module 10 through the connection between the support portion 201 and the back side 102, thereby reducing the damage to the identification module 10 caused by external impurities and moisture.

[0061] In some embodiments, such as Figures 4 to 6The self-moving device 1 includes a second seal 42, which is sealingly connected between the heat dissipation module 20 and the first housing 11. For example, the second seal 42 can be a sealing ring, which can form a seal at the connection between the heat dissipation module 20 and the first housing 11, reducing the possibility of external impurities and moisture entering the control module 30 below the first housing 11 through the connection between the heat dissipation module 20 and the first housing 11, thereby reducing damage to the control module 30 caused by external impurities and moisture.

[0062] In some embodiments, the first housing 11 may be provided with a through hole, and the projection of the through hole falls within the projection range of the heat dissipation module 20 and the control module 30 in the same projection plane perpendicular to the height direction Z. As a result, the heat generated by the control module 30 can be transferred to the heat dissipation module 20 with the shortest distance, thereby improving the heat dissipation efficiency.

[0063] Along the height direction Z, a through-hole is located between the heat dissipation module 20 and the control module 30. Heat generated by the control module 30 is directly transferred to the heat dissipation module 20 through the through-hole. "Direct transfer" means that there is no medium other than air for heat transfer between the heat dissipation module 20 and the control module 30; heat from the control module 30 can be directly transferred to the heat dissipation module 20. This application's direct transfer includes embodiments where the heat dissipation module 20 and the control module 30 are in direct contact, but is not limited to embodiments where the heat dissipation module 20 and the control module 30 are in direct contact.

[0064] In some embodiments, the size of the through hole is not limited to correspond to the heat dissipation module 20 or the control module 30. The through hole can be opened only at the position of the first shell 11 corresponding to the heat generation position of the control module 30. The number of through holes can be one or more.

[0065] In some embodiments, the self-moving device 1 includes a heat-conducting layer 110, which can fill through holes, allowing heat generated by the control module 30 to be transferred to the heat dissipation module 20 through the heat-conducting layer 110. The heat-conducting layer 110 filling the through holes serves both to conduct heat and to provide a certain degree of sealing for the control module 30, reducing the possibility of external impurities and moisture entering the control module 30 through the through holes.

[0066] In some embodiments, the thermally conductive layer 110 is formed as part of the first housing 11. Specifically, during the manufacturing stage, a thermally conductive material is used to form the first housing 11 at a position corresponding to the heat-generating position of the control module 30, thereby achieving a better sealing effect for the control module 30 while conducting heat.

[0067] The thermally conductive layer 110 can be, for example, a metal thermally conductive layer 110, a ceramic thermally conductive layer 110, a carbon-based thermally conductive layer 110, thermal grease, thermally conductive gel, etc. This application does not specifically limit the material of the thermally conductive layer 110.

[0068] In some embodiments, the control module 30 may be hermetically disposed on the second side 112. For example, the control module 30 may be encapsulated on the second side 112 by covering it with a sealing layer. For example, the control module 30 may be covered by a housing structure to form a seal.

[0069] In some embodiments, the self-moving device 1 may further include a third seal 43, which may be sealingly connected between the control module 30 and the second side 112 of the first housing 11. For example, the third seal 43 may be a sealing ring, which may form a seal at the connection between the control module 30 and the second side 112, reducing the possibility of external impurities and moisture entering the control module 30 through the connection between the control module 30 and the second side 112, thereby reducing damage to the control module 30 caused by external impurities and moisture.

[0070] In some embodiments, such as Figures 1 to 4 As shown, the self-moving device 1 may also include a second shell 12, which covers the first shell 11 and is disposed opposite to the first side 111 of the first shell 11.

[0071] like Figure 7 As shown, the heat dissipation module 20 also includes a top cover 203, which forms at least a portion of the second shell 12. Along the height direction Z, the top cover 203 is located above the heat dissipation fins 202, and the top cover 203 can cover the heat dissipation fins 202.

[0072] The space between the top cover 203 and the heat dissipation fins 202 forms a heat dissipation cavity S. The second shell 12 is provided with multiple ventilation holes 120. The heat transferred from the control module 30 to the heat dissipation module 20 is dissipated into the heat dissipation cavity S and then emitted through the ventilation holes 120.

[0073] In some embodiments, the top cover 203 may be connected to the second shell 12.

[0074] In some embodiments, the top cover 203 may be partially formed by the second shell 12, that is, a portion of the second shell 12 may be formed as the top cover 203.

[0075] Along the lateral direction Y, there is an opening between the top cover 203 and the heat dissipation fins 202, which communicates with the ventilation hole 120 so that heat in the heat dissipation cavity S can flow out through the ventilation hole 120. In this application, the lateral direction Y, the travel direction X, and the height direction Z are perpendicular to each other.

[0076] In some embodiments, the second housing 12 includes a first ventilation section 121 and a second ventilation section 122 disposed opposite to each other along the lateral direction Y. The first ventilation section 121 and the second ventilation section 122 constitute the exterior surface of the self-moving device 1, and a plurality of ventilation holes 120 are distributed in the first ventilation section 121 and the second ventilation section 122. The exterior surface refers to the component that can be directly observed by the operator when observing the self-moving device 1.

[0077] In some embodiments, the first ventilation section 121 may be a decorative element, which, as an appearance surface, can provide a good visual experience and enhance the user's experience.

[0078] In some embodiments, the second ventilation section 122 may be a decorative element, which, as an appearance surface, can provide a good visual experience and enhance the user's experience.

[0079] This application does not specifically limit the number and shape of the ventilation holes 120, and can set them according to the actual size of the first ventilation section 121 and the second ventilation section 122. The number and shape of the ventilation holes 120 located in the first ventilation section 121 can be the same as or different from the number and shape of the ventilation holes 120 located in the second ventilation section 122.

[0080] In some embodiments, such as Figures 4 to 6 As shown, the self-moving device 1 also includes a third shell 13, which is disposed opposite to the second side 112 of the first shell 11. The third shell 13 and the first shell 11 form an accommodating space. The heat dissipation cavity S is connected to the accommodating space. The air passing through the accommodating space enters the heat dissipation cavity S and is then dissipated through the ventilation hole 120.

[0081] In some embodiments, the second shell 12 may be the upper exterior structure of the self-moving device 1, for example, it may be referred to as the upper shell. The first shell 11 may be the internal shell of the self-moving device 1 for housing various components, for example, it may be referred to as the middle shell. The third shell 13 may be the lower exterior structure of the self-moving device 1, for example, it may be referred to as the lower shell.

[0082] A receiving space is formed between the third shell 13 and the second side 112 of the first shell 11, and the wheels 50 of the self-moving device 1 can typically be located in the receiving space. The receiving space is an open space, and wind can enter from the receiving space, that is, wind can enter from below the self-moving device 1. For example, during the movement of the self-moving device 1, disturbed wind can enter the receiving space from gaps such as the mounting points of the wheels 50. Since the receiving space can communicate with the heat dissipation cavity S, the wind from the receiving space can enter the heat dissipation cavity S and then be discharged from the self-moving device 1 through the ventilation holes 120.

[0083] like Figure 5The airflow path, indicated by the arrow, allows air to enter from the containment space, carrying away heat generated by the components within the containment space into the heat dissipation cavity S, and then flowing to the outside through the ventilation holes 120. Since the containment space is located at the bottom of the self-moving device 1, and the heat dissipation cavity S is located at the top, based on the principle of hot air rising, the air entering the containment space naturally flows upward into the heat dissipation cavity S due to the heat carried away by the components. The hot air in the heat dissipation cavity S is then discharged through the ventilation holes 120 to expel the heat from inside the self-moving device 1. This application utilizes a circulating ventilation path created by outside air to promptly dissipate heat from the upper and lower parts of the self-moving device 1.

[0084] Based on the same or similar concept, this application provides a self-mobile system, including a self-mobile device 1 as described in any of the foregoing embodiments and a base station, wherein the base station can at least be used to provide power to the self-mobile device 1.

[0085] The front side 101 of the identification module 10 is tilted towards the travel surface L, allowing for more comprehensive acquisition of environmental information in front of the mobile device 1. The rear side 102 of the identification module 10 is connected via the heat dissipation module 20, which helps to stably tilt the identification module 10. The connection relationship between the identification module 10, the heat dissipation module 20, and the control module 30 in this application helps to ensure stable installation of the identification module 10 while also meeting the heat dissipation requirements of the control module 30.

[0086] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0087] In the description of the embodiments of this application, technical terms such as "first," "second," and "third" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0088] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0089] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects are in an "or" relationship.

[0090] In the description of the embodiments of this application, the technical terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed, operated or used in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0091] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0092] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical term "contact" should be interpreted broadly, and can be direct contact, contact through an intermediate medium layer, contact between two contacting parties with substantially no interaction force, or contact between two contacting parties with interaction force.

[0093] The above embodiments are merely illustrative of the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A self-moving device, characterized in that, The self-moving device is capable of traveling along the direction of travel on the travel surface, and the self-moving device includes: The identification module, along the direction of travel, includes a front side and a back side disposed opposite to each other, the front side being inclined toward the direction of travel; A heat dissipation module is supported and connected to the back side of the identification module; A first housing extends along the travel surface, and the first housing includes a first side and a second side along a height direction perpendicular to the travel surface of the self-moving device; the heat dissipation module is disposed on the first side; and A control module is connected to the second side, and the heat generated by the control module can be transferred to the heat dissipation module.

2. The self-moving device according to claim 1, characterized in that, The heat dissipation module includes a support portion and a plurality of spaced heat dissipation fins. The support portion is located closer to the identification module than the heat dissipation fins. The support portion protrudes from the first side and is connected to the back side of the identification module.

3. The self-moving device according to claim 2, characterized in that, Along the direction of travel, the heights of adjacent heat dissipation fins are different along the height direction.

4. The self-moving device according to claim 2, characterized in that, Along the height direction, the height of the support is greater than the height of the heat dissipation fins.

5. The self-moving device according to claim 2, characterized in that, The self-moving device includes a first seal, which is sealed between the support and the back side of the identification module.

6. The self-moving device according to claim 1, characterized in that, The first shell has a through hole. Along the height direction, the through hole is located between the heat dissipation module and the control module. The heat generated by the control module is directly transferred to the heat dissipation module through the through hole.

7. The self-moving device according to claim 6, characterized in that, Within the same projection plane perpendicular to the height direction, the projection of the through hole falls within the projection range of the heat dissipation module and the control module.

8. The self-moving device according to claim 6 or 7, characterized in that, The self-moving device includes a second seal, which is sealed between the heat dissipation module and the first shell.

9. The self-moving device according to claim 1, characterized in that, The first shell has a through hole, which is located between the heat dissipation module and the control module along the height direction. The self-moving device includes a thermally conductive layer that fills the through-hole, allowing the heat generated by the control module to be transferred to the heat dissipation module through the thermally conductive layer.

10. The self-moving device according to claim 9, characterized in that, The thermally conductive layer is part of the first shell.

11. The self-moving device according to claim 2, characterized in that, The support portion includes a plastic structural component, which is connected to the back side of the identification module; or The support includes a metal structural component, which is connected to the back side of the identification module.

12. The self-moving device according to claim 2, characterized in that, The self-moving device further includes a second shell, which covers the first shell and is disposed opposite to the first side of the first shell; The heat dissipation module also includes a top cover, which is connected to or partially formed by the second shell. Along the height direction, the top cover is located above the heat dissipation fins, and the space between the top cover and the heat dissipation fins forms a heat dissipation cavity. The second shell is provided with multiple ventilation holes, which are connected to the heat dissipation cavity. Heat transferred from the control module to the heat dissipation module is dissipated into the heat dissipation cavity and then emitted through the ventilation holes.

13. The self-moving device according to claim 12, characterized in that, The second shell includes a first ventilation section and a second ventilation section arranged opposite to each other in the lateral direction. The first ventilation section and the second ventilation section constitute the outer surface of the self-moving device. A plurality of ventilation holes are distributed in the first ventilation section and the second ventilation section. The lateral direction, the direction of travel and the height direction are perpendicular to each other.

14. The self-moving device according to claim 12, characterized in that, The self-moving device also includes a third shell, which is disposed opposite to the second side of the first shell. The third shell and the first shell form a receiving space. The heat dissipation cavity is connected to the receiving space. Air passing through the receiving space enters the heat dissipation cavity and is then dissipated through the ventilation hole.

15. A self-moving system, characterized in that, include: The self-moving device as described in any one of claims 1 to 14; as well as A base station, at least for providing power to the self-moving device.

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