Perception module and self-moving device

Abstract

The application provides a perception module and a self-moving device, and relates to the technical field of self-moving devices. The perception module comprises a first base, a driving device, a lifting assembly, a perception assembly and a damping structure. The driving device is arranged on the first base. The lifting assembly comprises a rotating rod and a threaded sleeve, a threaded structure is formed between the rotating rod and the threaded sleeve, and the rotating rod is rotatably connected to the first base. An output end of the driving device is connected to the rotating rod, so that the driving device drives the rotating rod to drive the threaded sleeve to move. The perception assembly is connected to the threaded sleeve. The damping structure is arranged at the threaded sleeve and is used for generating relative rotation between the threaded sleeve and the rotating rod. When the driving device drives the rotating rod to rotate forward, the threaded sleeve is driven to move upward relative to the rotating rod to the upper limit, and the threaded sleeve and the rotating rod move synchronously to drive the perception assembly to rotate. When the driving device drives the rotating rod to rotate reversely, the threaded sleeve is driven to move downward relative to the rotating rod. In this way, the perception module has a small size and low cost.

Description

Technical Field

[0001] This application relates to the field of self-moving device technology, and more particularly to a sensing module and a self-moving device. Background Technology

[0002] With the development of technology, self-moving devices such as robotic vacuum cleaners and floor scrubbers are increasingly widely used in people's daily work and life. Self-moving devices often include a sensing module located at the top of the device, such as a laser distance sensor (LDS) module. The sensing module can be used to realize functions such as environmental detection.

[0003] In related technologies, a sensing module includes a sensing component, a lifting motor, and a rotating motor. The lifting motor drives the sensing component to move up and down, and the rotating motor drives the sensing component to rotate. Sensing modules in these related technologies are relatively large and expensive. Utility Model Content

[0004] This application provides a sensing module and a self-moving device to solve the problems of large size and high cost of sensing modules in related technologies.

[0005] The first aspect of this application provides a sensing module, which includes a first base, a driving device, a lifting assembly, a sensing assembly, and a damping structure. The driving device is disposed on the first base.

[0006] The lifting assembly includes a rotating rod and a threaded sleeve, with a threaded structure between them. The rotating rod is rotatably connected to a first base. The output end of a drive device is connected to the rotating rod to drive the threaded sleeve.

[0007] The sensing component is connected to the threaded sleeve.

[0008] The damping structure is located at the threaded sleeve to generate relative rotation between the threaded sleeve and the rotating rod.

[0009] When the drive unit drives the rotating rod to rotate in the forward direction, causing the threaded sleeve to move upward relative to the upper limit, the threaded sleeve and the rotating rod move synchronously to drive the sensing component to rotate in order to detect the environment.

[0010] When the drive device drives the rotating rod to rotate in the opposite direction, it causes the threaded sleeve to move downwards.

[0011] The sensing module provided in this application embodiment allows the raising, lowering, and rotation of the sensing components to be driven by a single drive device. In other words, a single drive device is sufficient to achieve these functions, reducing the number of drive devices required and thus decreasing the module's size and cost. Furthermore, the reduced number of drive devices allows for the use of larger individual drive devices, enabling more flexible selection and further reducing overall module cost.

[0012] In one possible implementation, the rotating rod has a threaded structure. The threaded structure forms a threaded connection with the threaded sleeve.

[0013] When the drive device drives the rotating rod to rotate in the forward direction, causing the threaded sleeve to move upward relative to the upper limit, the threaded sleeve and the rotating rod move synchronously through the contact between the threaded tooth structure and the threaded sleeve.

[0014] In this way, by utilizing the threaded tooth structure of the rotating rod to abut against the threaded sleeve that has risen to its upper limit, the structure of the rotating rod is relatively simple, making it easier to achieve the threaded connection between the rotating rod and the threaded sleeve, and to achieve abutment between the threaded sleeve and the rotating rod after it rises to its upper limit. Furthermore, it also facilitates releasing the abutment between the rotating rod and the threaded sleeve when they rotate in opposite directions, thereby driving the threaded sleeve to descend.

[0015] In one possible implementation, the threaded sleeve has a thread and an abutment structure. The abutment structure is located at the lower end of the thread, forming a threaded structure between the thread and the threaded tooth structure.

[0016] When the drive device drives the rotating rod to rotate in the forward direction, causing the threaded sleeve to move upward relative to the upper limit, the threaded sleeve and the rotating rod move synchronously through the contact between the threaded tooth structure and the abutment structure.

[0017] In this way, the threaded connection between the threaded thread and the threaded tooth structure enables the threaded sleeve to rise and fall. Furthermore, the abutment structure located at the lower end of the thread allows the threaded sleeve to engage with the threaded tooth structure when it reaches its upper limit. This makes it easier to achieve the rising and falling of the threaded sleeve, and to ensure that the threaded sleeve rotates synchronously with the rotating rod after reaching the upper limit, while also simplifying the structure of the threaded sleeve. Additionally, the abutment structure's location at the lower end of the thread minimizes its impact on the rising and falling of the threaded sleeve between the upper and lower limits.

[0018] In one possible implementation, the rotating rod includes a toothed section, with the tooth structure located within the toothed section. The threaded sleeve includes a threaded section, with the thread located within the threaded section. The length of the threaded section is greater than the length of the toothed section.

[0019] This design allows the threaded structure to traverse a relatively long threaded section before engaging with the abutment structure. While enabling the threaded sleeve to rise and fall, and facilitating engagement of the threaded structure with the abutment structure at the upper limit, it also allows for shorter lengths of the rotating rod and threaded sleeve, thus reducing the size of the sensing module. The shorter lengths of the rotating rod and threaded sleeve also allow for a larger lifting stroke of the threaded sleeve.

[0020] In one possible implementation, the threaded section is located at the upper end of the rotating rod, so that the abutting structure will only abut against the threaded structure after it moves to the upper end of the rotating rod, which allows the threaded sleeve to have a large lifting stroke.

[0021] In one possible implementation, the threaded structure has a first abutment surface, and the axis of the rotating rod is coplanar with the first abutment surface. The abutment structure has a second abutment surface, and the axis of the threaded sleeve is coplanar with the second abutment surface. The first abutment surface and the second abutment surface face opposite directions.

[0022] When the drive device drives the rotating rod to rotate in the forward direction, causing the threaded sleeve to move upward relative to the upper limit, the threaded sleeve and the rotating rod move synchronously through the contact between the first contact surface and the second contact surface.

[0023] In this way, after the threaded sleeve rises to its upper limit, the engagement between the threaded tooth structure and the abutment structure is relatively stable. This allows the rotating rod to drive the threaded sleeve to rotate stably and synchronously through the engagement between the threaded tooth structure and the abutment structure, preventing the threaded sleeve from rising further. The relatively stable engagement between the threaded tooth structure and the abutment structure also facilitates the rotating rod to drive the threaded sleeve to rotate more efficiently, thereby driving the sensing component to rotate more efficiently.

[0024] In one possible implementation, a threaded sleeve is fitted onto the outside of the rotating rod.

[0025] This facilitates the engagement with other components via the outer circumferential wall of the threaded sleeve, enabling the threaded sleeve to drive the lifting and lowering of other components. Furthermore, the damping structure makes it convenient to apply damping force to the threaded sleeve, and its design is relatively simple.

[0026] In one possible implementation, a second base and a protective cover are also included. The second base is slidably connected to the first base and can slide up and down relative to the first base. The protective cover is fixedly connected to the second base, and a device mounting space is formed between the protective cover and the second base, within which the sensing component is disposed. The second base has a connecting hole, through which a threaded sleeve passes, and the threaded sleeve is rotatably connected to the second base.

[0027] When the drive device drives the rotating rod to rotate in the forward direction, causing the threaded sleeve to move upward relative to the first base, the threaded sleeve causes the second base and the sensing component to rise synchronously relative to the first base.

[0028] When the drive device drives the rotating rod to rotate in the opposite direction, causing the threaded sleeve to move downwards, the threaded sleeve causes the second base and the sensing component to descend synchronously relative to the first base.

[0029] In this way, the threaded sleeve, which moves between the upper and lower limits, can drive the second base and protective cover, which need to rise and fall with the sensing component but do not need to rotate, to rise and fall. Furthermore, the rotation of the threaded sleeve will not cause the second base and protective cover, which need to rise and fall with the sensing component but do not need to rotate, to rotate. The movement of the second base and protective cover is relatively simple and stable. The protective cover can rise and fall synchronously with the sensing component to facilitate the protection of the sensing component.

[0030] In one possible implementation, a bearing is provided between the threaded sleeve and the second base, and the threaded sleeve is connected to the second base through the bearing.

[0031] This facilitates the rotational connection between the threaded sleeve and the second base, as well as the synchronous lifting and lowering of the second base driven by the threaded sleeve.

[0032] In one possible implementation, the bearing is a one-way bearing. The bearing is used to rotate the threaded sleeve relative to the second base when the rotating rod rotates in the forward direction, and to lock the threaded sleeve to the second base when the rotating rod rotates in the reverse direction.

[0033] In this way, when the rotating rod rotates in the forward direction, it can drive the threaded sleeve to rotate in the forward direction, thereby driving the sensing component to rotate in the forward direction. When the rotating rod rotates in the reverse direction, the threaded sleeve cannot rotate in the reverse direction due to the locking of the bearing. At this time, there is a large speed difference between the threaded sleeve and the rotating rod, which is conducive to the rapid descent of the threaded sleeve.

[0034] In one possible implementation, a damping structure is disposed between the second base and the threaded sleeve, the damping structure being used to provide damping force when the threaded sleeve rotates relative to the second base.

[0035] In this way, the damping structure is easier to set up, making it easier to apply damping force to the threaded sleeve, and thus making it easier to raise and lower the threaded sleeve.

[0036] In one possible implementation, the damping structure is located on the second base and contacts the threaded sleeve.

[0037] In this way, the design of the damping structure is more flexible and convenient.

[0038] In one possible implementation, a guide structure is provided on the first base, and the second base is slidably connected to the first base through the guide structure. The guide structure is used to guide the second base to slide up and down relative to the first base and to limit the rotation of the second base relative to the first base.

[0039] In this way, the guide structure allows the second base to slide more stably relative to the first base. Furthermore, the guide structure also prevents the second base from rotating with the threaded sleeve.

[0040] In one possible implementation, a wireless power supply module is also included, which is fixedly connected to the second base and is used to wirelessly power the sensing components.

[0041] This wireless power supply method facilitates powering the rotating sensing components. Furthermore, the wireless power supply module can move with the second base to ensure stable power supply to the sensing components at various positions. Additionally, the small distance between the wireless power supply module and the sensing components allows for efficient power supply.

[0042] In one possible implementation, the first base is equipped with a position detection device for detecting the lifting position of the threaded sleeve.

[0043] This makes it easier to know the lifting and lowering position of the threaded sleeve, so as to achieve corresponding control based on the lifting and lowering position of the threaded sleeve.

[0044] In one possible implementation, the position detection device includes a first detection unit and a second detection unit. The first detection unit is used to detect whether the threaded sleeve is at its upper limit position. The second detection unit is used to detect whether the threaded sleeve is at its lower limit position.

[0045] This facilitates the detection of whether the threaded sleeve is at the upper or lower limit, and allows for corresponding control based on these limits, reducing the amount of data acquisition and processing.

[0046] A second aspect of this application provides a self-moving device, which includes a device body and a sensing module as described in any of the above embodiments. A first base of the sensing module is fixedly connected to the device body. When the threaded sleeve of the sensing module is in its upper limit position, the sensing component of the sensing module can detect the environment surrounding the self-moving device. When the threaded sleeve is in its lower limit position, at least a portion of the sensing component is located within the device body. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1A schematic diagram of a sensing module provided in an embodiment of this application;

[0049] Figure 2 for Figure 1 A cross-sectional schematic diagram of the sensing module provided in the document;

[0050] Figure 3 A schematic diagram of a rotating rod provided in an embodiment of this application;

[0051] Figure 4 A schematic diagram of a threaded sleeve provided in an embodiment of this application;

[0052] Figure 5 for Figure 4 A schematic diagram of the cross-section of the threaded sleeve provided in the document;

[0053] Figure 6 for Figure 3 A schematic diagram of the cross-section of the rotating rod provided in the document;

[0054] Figure 7 This is a schematic diagram of an abutment structure provided in an embodiment of this application.

[0055] Explanation of reference numerals in the attached figures:

[0056] 100. First base; 110. Lower base; 120. Upper base; 130. Guide structure; 140. Limiting ring;

[0057] 200. Drive unit;

[0058] 300. Rotating rod; 310. Threaded tooth structure; 311. First contact surface;

[0059] 400, threaded sleeve; 410, thread; 420, abutment structure; 421, second abutment surface;

[0060] 500. Damping structure;

[0061] 610. Sensing component; 620. Second base; 621. Guide seat; 622. Lifting seat; 6221. First structural part; 6222. Second structural part; 630. Protective cover; 640. Bearing; 650. Circuit board; 660. Button; 670. Wireless power supply module;

[0062] 700. Position detection device; 710. First detection unit; 720. Second detection unit;

[0063] 800. Transmission mechanism;

[0064] H1, connecting hole; H2, lifting port;

[0065] L1, the toothed section; L2, the threaded section. Detailed Implementation

[0066] The terminology used in the implementation section of this application is only for explaining specific embodiments of this application and is not intended to limit this application. The implementation of the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0067] This application provides a self-moving device, which may include, but is not limited to, a robotic vacuum cleaner, a floor scrubbing robot, or other automatically moving devices.

[0068] In this embodiment, the self-moving device includes a device body and a sensing module. The sensing module is located on the device body. The device body is used to realize functions such as self-movement, and the sensing module is used to realize functions such as environmental detection. The device body can perform corresponding tasks based on the information detected by the sensing module.

[0069] For example, the sensing module may include, but is not limited to, a laser distance sensor (LDS) module, an infrared sensor module, an ultrasonic sensor module, an image sensor module, etc. The sensing module can be used to detect the distance information between various objects in the working environment and the self-moving device.

[0070] For example, the sensing module can be located at the top of the device body.

[0071] Figure 1 This is a schematic diagram of a sensing module provided in an embodiment of this application. Figure 2 for Figure 1 A cross-sectional schematic diagram of the sensing module provided in the image. Figure 1 , Figure 2 In the middle, the threaded sleeve 400 is at the lower limit position.

[0072] like Figure 1 , Figure 2 As shown, the sensing module includes a first base 100 and a sensing component 610. The first base 100 is fixedly connected to the main body of the device, and the sensing component 610 is vertically and flexibly mounted on the first base 100. After being raised, the sensing component 610 can rotate relative to the first base 100 to detect the environment.

[0073] Specifically, when it is necessary to detect the environment around the self-moving device, the sensing component 610 can rise above the main body of the device and rotate relative to the first base 100 after rising to detect the environment. When it is not necessary to detect the environment around the self-moving device, or for obstacle avoidance purposes, at least a portion of the sensing component 610 can descend into the main body of the device to prevent the sensing component 610 from being hit by a collision.

[0074] To achieve the lifting and lowering of the sensing component, and its rotation after being raised, related technologies include a lifting motor and a rotating motor in the sensing module. The lifting motor drives the sensing component to move up and down, while the rotating motor drives the sensing component to rotate after being raised. In these technologies, two motors are required to drive the lifting and lowering of the sensing component, and to drive its rotation after being raised. Two motors occupy a large space and are costly, resulting in a large and expensive sensing module. Furthermore, because two motors need to be arranged in a limited space, both the lifting and rotating motors often need to be small brushless motors, leading to limited motor selection and higher costs.

[0075] like Figure 2 As shown, based on this, in this embodiment of the application, the sensing module further includes a driving device 200, a lifting assembly, and a damping structure 500. The driving device 200 is disposed on the first base 100.

[0076] The lifting assembly includes a rotating rod 300 and a threaded sleeve 400, with a threaded structure between them. The rotating rod 300 is rotatably connected to the first base 100. A damping structure 500 is provided at the threaded sleeve 400 to generate relative rotation between the threaded sleeve 400 and the rotating rod 300. The output end of the drive device 200 is connected to the rotating rod 300 to drive the threaded sleeve 400 to move. Specifically, the rotating rod 300 is drively connected to the output end of the drive device 200, which drives the rotating rod 300 to rotate, causing the threaded sleeve 400 to move between an upper limit and a lower limit.

[0077] The sensing component 610 is connected to the threaded sleeve 400.

[0078] When the drive device 200 drives the rotating rod 300 to rotate forward, causing the threaded sleeve 400 to move upward relative to the upper limit position, the threaded sleeve 400 and the rotating rod 300 move synchronously to drive the sensing component 610 to rotate to detect the environment. That is, the forward-rotating rotating rod 300 is used to drive the threaded sleeve 400, which is located below the upper limit position, to rise, and after the threaded sleeve 400 rises to the upper limit position, it drives the threaded sleeve 400 to move synchronously to drive the sensing component 610 to rotate to detect the environment.

[0079] When the drive device 200 drives the rotating rod 300 to rotate in the opposite direction, it causes the threaded sleeve 400 to move downwards. In other words, the rotating rod 300, which rotates in the opposite direction, is used to drive the threaded sleeve 400, which is located above the lower limit, to descend.

[0080] The upper and lower limits refer to the relative positions of the threaded sleeve 400 and the first base 100. As the threaded sleeve 400 moves from the lower limit to the upper limit, it rises, causing the sensing component 610 to rise as well. As the threaded sleeve 400 moves from the upper limit to the lower limit, it descends, causing the sensing component 610 to descend as well. When the threaded sleeve 400 is at the upper limit, the sensing component 610 can detect the environment surrounding the self-moving device. When the threaded sleeve 400 is at the lower limit, at least a portion of the sensing component 610 is located within the device body.

[0081] In this way, the damping structure 500 applies a damping force to the threaded sleeve 400, so that the threaded sleeve 400 and the rotating rod 300 generate a speed difference that causes the rotating rod 300 to drive the threaded sleeve 400 to move up and down relative to each other. This facilitates the lifting and lowering of the sensing component 610, and also allows the threaded sleeve 400 to rotate after it rises to its upper limit, thus enabling the sensing component 610 to rotate. The lifting and lowering of the sensing component 610, as well as its rotation after being raised, can be driven by the same drive device 200. That is, only one drive device 200 is needed to achieve the lifting and lowering of the sensing component 610, as well as its rotation after being raised. The number of drive devices 200 required for the sensing module is small, which helps to reduce the size and cost of the sensing module. In addition, since the number of drive devices 200 required for the sensing module is small, a relatively large single drive device 200 can be used, which makes the selection of drive devices 200 more flexible and helps to reduce the cost of the sensing module.

[0082] When the threaded sleeve 400 is below the upper limit position, the drive device 200 can drive the rotating rod 300 to rotate in the forward direction. The rotating rod 300 can drive the threaded sleeve 400 to rotate in the forward direction. Since the damping structure 500 applies a damping force to the threaded sleeve 400, the rotation speed of the threaded sleeve 400 in the forward direction will be lower than the rotation speed of the rotating rod 300 in the forward direction. There is a speed difference between the threaded sleeve 400 in the forward direction and the rotating rod 300 in the forward direction, so that the rotating rod 300 and the threaded sleeve 400 will rotate relative to each other. This causes the threaded sleeve 400 to rotate in the forward direction and rise relative to the first base 100, thereby driving the sensing component 610 to rotate in the forward direction and rise simultaneously.

[0083] When the threaded sleeve 400 is above the lower limit, the drive device 200 can drive the rotating rod 300 to rotate in the opposite direction. Under the action of the damping force applied by the damping structure 500, there is a speed difference between the threaded sleeve 400 and the rotating rod 300 rotating in the opposite direction, so that the rotating rod 300 and the threaded sleeve 400 rotate relative to each other. This allows the threaded sleeve 400 to be driven to descend by the rotating rod 300 rotating in the opposite direction, thereby realizing the descent of the sensing component 610.

[0084] For example, the sensing component 610 is fixedly connected to the threaded sleeve 400.

[0085] For example, the drive unit 200 can be a brushless motor or a brushed motor. The drive unit 200 can be fixedly connected to the first base 100 by fasteners.

[0086] In some examples, the output end of the drive device 200 can be connected to the rotating rod 300 through a surface fit, spline fit, or interference fit, and the drive device 200 can drive the rotating rod 300 to rotate through direct drive.

[0087] In other examples, the output of the drive device 200 can be connected to the rotating rod 300 via a transmission mechanism 800, and the drive device 200 is used to drive the rotating rod 300 to rotate via the transmission mechanism 800.

[0088] For example, the transmission mechanism 800 may include, but is not limited to, a gear transmission mechanism, a belt transmission mechanism, a chain transmission mechanism, etc.

[0089] For example, the threaded sleeve 400 is fitted onto the rotating rod 300.

[0090] For example, the sensing component 610 can be fixedly connected to the upper end of the threaded sleeve 400.

[0091] In some possible implementations, the sensing component 610 can be a laser distance sensor component, which can also be called a lidar. In this case, the sensing module is a laser distance sensor module.

[0092] In this way, the sensing component 610 can have high ranging accuracy, good environmental adaptability, and good reliability.

[0093] In some examples, the threaded sleeve 400 is used to abut against the rotating rod 300 when it rises to the upper limit position. The forward-rotating rotating rod 300 is used to drive the threaded sleeve 400 to rotate synchronously by abutting against the threaded sleeve 400 after it has risen to the upper limit position.

[0094] In this way, when the threaded sleeve 400 rises to the upper limit, the synchronous movement of the threaded sleeve 400 and the rotating rod 300 is achieved by the contact between the rotating rod 300 and the structure of the threaded sleeve 400 itself, which can simplify the structure of the sensing module.

[0095] When the forward-rotating rotating rod 300 drives the threaded sleeve 400 to rise to its upper limit, the threaded sleeve 400 is abutted by the forward-rotating rotating rod 300. The forward-rotating rotating rod 300 and the forward-rotating threaded sleeve 400 rotate synchronously in the forward direction, and there is no longer any relative rotation between them, so the threaded sleeve 400 stops rising. After the threaded sleeve 400 rises to its upper limit, the threaded sleeve 400, which rotates synchronously with the rotating rod 300, can drive the raised sensing component 610 to rotate in the forward direction, so as to realize environmental detection.

[0096] Figure 3 This is a schematic diagram of a rotating rod provided in an embodiment of this application.

[0097] like Figure 3 As shown, in some possible embodiments, the rotating rod 300 has a threaded structure 310. The threaded structure 310 forms a threaded structure with the threaded sleeve 400.

[0098] When the drive device 200 drives the rotating rod 300 to rotate forward, causing the threaded sleeve 400 to move upward relative to the upper limit position, the threaded sleeve 400 and the rotating rod 300 move synchronously through the contact between the threaded tooth structure 310 and the threaded sleeve 400. In other words, the threaded sleeve 400 is used to contact the threaded tooth structure 310 when it rises to the upper limit position, and the forward-rotating rotating rod 300 is used to drive the threaded sleeve 400 to rotate synchronously through the contact between the threaded tooth structure 310 and the threaded sleeve 400 after the threaded sleeve 400 has risen to the upper limit position.

[0099] In this way, by utilizing the threaded tooth structure 310 of the rotating rod 300 to abut against the threaded sleeve 400 that has risen to its upper limit, the structure of the rotating rod 300 is relatively simple, making it easier to achieve the threaded connection between the rotating rod 300 and the threaded sleeve 400, and to achieve abutment between the threaded sleeve 400 and the rotating rod 300 after it has risen to its upper limit. Furthermore, it also facilitates releasing the abutment between the rotating rod 300 and the threaded sleeve 400 when they rotate in opposite directions, thereby driving the threaded sleeve 400 to descend.

[0100] When the rotating rod 300 drives the threaded sleeve 400 to rise to the upper limit position, the threaded sleeve 400 moves relative to the rotating rod 300 to a position where it abuts against the threaded tooth structure 310. Due to the abutment of the threaded tooth structure 310, the threaded sleeve 400 can rotate synchronously with the rotating rod 300 in the forward direction.

[0101] When the rotating rod 300 and the threaded sleeve 400 at the upper limit rotate in opposite directions, the threaded sleeve 400 moves away from the position that abuts against the threaded tooth structure 310 relative to the rotating rod 300, and the threaded sleeve 400 releases its contact with the threaded tooth structure 310.

[0102] In other examples, engagement with the threaded sleeve 400 raised to its upper limit can also be achieved by setting other structures on the rotating rod 300.

[0103] The following explanation will be based on the example of the threaded sleeve 400 reaching its upper limit and abutting against the threaded tooth structure 310.

[0104] Figure 4 This is a schematic diagram of a threaded sleeve provided in an embodiment of this application. Figure 5 for Figure 4 The diagram shows a cross-sectional view of the threaded sleeve provided.

[0105] like Figure 4 , Figure 5 As shown, the threaded sleeve 400 has a thread 410 and an abutment structure 420, with the abutment structure 420 located at the lower end of the thread 410. A threaded structure is formed between the thread 410 and the threaded tooth structure 310. When the driving device 200 drives the rotating rod 300 to rotate forward, causing the threaded sleeve 400 to move upward relative to the upper limit position, the abutment between the threaded tooth structure 310 and the abutment structure 420 causes the threaded sleeve 400 and the rotating rod 300 to move synchronously. In other words, the abutment structure 420 abuts against the threaded tooth structure 310 when the threaded sleeve 400 rises to the upper limit position, and the forward-rotating rotating rod 300 drives the threaded sleeve 400 to rotate synchronously after it has risen to the upper limit position, through the abutment between the threaded tooth structure 310 and the abutment structure 420.

[0106] In this way, the threaded connection between the threaded thread 410 and the threaded tooth structure 310 enables the threaded sleeve 400 to rise and fall. Furthermore, the abutment structure 420 located at the lower end of the threaded thread 410 abuts against the threaded tooth structure 310 when the threaded sleeve 400 rises to its upper limit position. This makes it easier to achieve the rising and falling of the threaded sleeve 400, and for the threaded sleeve 400 to rotate synchronously with the rotating rod 300 after reaching its upper limit position, while also simplifying the structure of the threaded sleeve 400. Additionally, the abutment structure 420, located at the lower end of the threaded thread 410, is less likely to affect the rising and falling of the threaded sleeve 400 between its upper and lower limits.

[0107] When the threaded sleeve 400 is below the upper limit position, the forward-rotating rotating rod 300, under the action of the threaded tooth structure 310 and the thread 410, can drive the threaded sleeve 400 to rise. When the forward-rotating rotating rod 300 drives the threaded sleeve 400 to rise to the upper limit position, the threaded sleeve 400 moves relative to the rotating rod 300 to the position where the threaded tooth structure 310 abuts against the abutting structure 420. Due to the abutment of the threaded tooth structure 310 and the abutting structure 420, the forward-rotating rotating rod 300 and the forward-rotating threaded sleeve 400 rotate synchronously in the forward direction.

[0108] When the threaded sleeve 400 is above the lower limit, the rotating rod 300 can be driven to rotate in the opposite direction by the driving device 200. When the rotating rod 300 rotates in the opposite direction, the abutment structure 420 moves away from the threaded tooth structure 310. At this time, under the action of the threaded tooth structure 310 and the thread 410, the rotating rod 300 rotating in the opposite direction can drive the threaded sleeve 400 to descend.

[0109] Figure 6 for Figure 3 The diagram shows the cross-sectional view of the rotating rod provided.

[0110] In some possible implementations, such as Figure 6 As shown, the rotating rod 300 includes a threaded section L1, and the threaded structure 310 is located in the threaded section L1. Figure 5 As shown, the threaded sleeve 400 includes a threaded section L2, and the thread 410 is located in the threaded section L2. The length of the threaded section L2 is greater than the length of the threaded section L1.

[0111] In this way, the threaded structure 310 can pass through a relatively long threaded section L2 before abutting with the abutting structure 420. This allows for the raising and lowering of the threaded sleeve 400, and also enables the threaded structure 310 to abut with the abutting structure 420 at the upper limit. Simultaneously, it allows for a shorter length of the rotating rod 300 and the threaded sleeve 400, which helps reduce the size of the sensing module. The shorter length of the rotating rod 300 and the threaded sleeve 400 also allows for a larger lifting stroke of the threaded sleeve 400.

[0112] like Figure 6 As shown, in some possible embodiments, the threaded section L1 is located at the upper end of the rotating rod 300, so that the abutting structure 420 will only abut against the threaded structure 310 after it moves to the upper end of the rotating rod 300, which can give the threaded sleeve 400 a larger lifting stroke.

[0113] For example, the rotating rod 300 also includes a transmission connection section located at the lower end of the rotating rod 300, and the transmission connection section is connected to the output end of the driving device 200.

[0114] For example, the rotating rod 300 also includes a connecting section located between the transmission connecting section and the threaded section L1, the threaded section L1 being connected to the transmission connecting section through the connecting section.

[0115] For example, the outer diameter of the transmission connection section is smaller than the outer diameter of the connection section.

[0116] Figure 7 This is a schematic diagram of an abutment structure provided in an embodiment of this application.

[0117] In some possible implementations, such as Figure 3As shown, the threaded structure 310 has a first abutment surface 311, and the axis of the rotating rod 300 is coplanar with the first abutment surface 311. Figure 7 As shown, the abutment structure 420 has a second abutment surface 421. The axis of the threaded sleeve 400 is coplanar with the second abutment surface 421, and the first abutment surface 311 faces opposite directions to the second abutment surface 421. When the driving device 200 drives the rotating rod 300 to rotate forward, causing the threaded sleeve 400 to move upward relative to the upper limit position, the abutment between the first abutment surface 311 and the second abutment surface 421 causes the threaded sleeve 400 and the rotating rod 300 to move synchronously. In other words, the abutment structure 420 is used to make the second abutment surface 421 abut against the first abutment surface 311 when the threaded sleeve 400 rises to the upper limit position.

[0118] In this way, after the threaded sleeve 400 rises to its upper limit, the threaded tooth structure 310 and the abutment structure 420 make relatively stable contact, which facilitates the rotating rod 300 to drive the threaded sleeve 400 to rotate stably and synchronously through the contact between the threaded tooth structure 310 and the abutment structure 420, preventing the threaded sleeve 400 from continuing to rise. The relatively stable contact between the threaded tooth structure 310 and the abutment structure 420 also facilitates the rotating rod 300 to drive the threaded sleeve 400 to rotate more efficiently, thereby driving the sensing component 610 to rotate more efficiently.

[0119] For example, the threaded structure 310 includes a plurality of threaded teeth spaced apart circumferentially along the rotating rod 300, and the threaded teeth have a first abutment surface 311. The abutment structure 420 includes a plurality of upwardly protruding teeth corresponding one-to-one with the threaded teeth, the plurality of protruding teeth being arranged circumferentially along the threaded sleeve 400, and the protruding teeth having a second abutment surface 421.

[0120] like Figure 2 As shown, in some possible embodiments, the threaded sleeve 400 may be fitted onto the outside of the rotating rod 300. For example... Figure 3 As shown, at this time, the screw tooth structure 310 can be located on the outer peripheral wall of the rotating rod 300. For example... Figure 5 As shown, the thread 410 and the abutment structure 420 can be located on the inner circumferential wall of the threaded sleeve 400.

[0121] This facilitates the engagement of the threaded sleeve 400 with other components requiring lifting or lowering via the outer peripheral wall, allowing the threaded sleeve 400 to drive the lifting or lowering of these components. Furthermore, the damping structure 500 readily applies damping force to the threaded sleeve 400, and its design is relatively straightforward.

[0122] For example, the outer diameter of the connecting section is smaller than the inner diameter of the threaded sleeve 400.

[0123] For example, when the threaded sleeve 400 is in the lower limit position, the rotating rod 300 is accommodated inside the threaded sleeve 400, which makes the size of the sensing module smaller.

[0124] In some other possible embodiments, the threaded sleeve 400 may be fitted inside the rotating rod 300, and the threaded structure 310 may be located on the inner circumferential wall of the rotating rod 300. For example... Figure 5 As shown, the thread 410 and the abutment structure 420 can be located on the outer peripheral wall of the threaded sleeve 400.

[0125] like Figure 2 As shown, in some possible embodiments, the sensing module further includes a second base 620 and a protective cover 630. The second base 620 is slidably connected to the first base 100 and can slide up and down relative to the first base 100. The protective cover 630 is fixedly connected to the second base 620, and a device mounting space is formed between the protective cover 630 and the second base 620, within which the sensing component 610 is disposed. The second base 620 has a connecting hole H1, through which a threaded sleeve 400 passes. The threaded sleeve 400 is rotatably connected to the second base 620 and can drive the second base 620 and the sensing component 610 to move up and down synchronously.

[0126] Specifically, when the drive device 200 drives the rotating rod 300 to rotate in the forward direction, causing the threaded sleeve 400 to move upward relative to the first base 100, the threaded sleeve 400 causes the second base 620 and the sensing component 610 to rise synchronously relative to the first base 100. When the drive device 200 drives the rotating rod 300 to rotate in the reverse direction, causing the threaded sleeve 400 to move downward relative to the first base 100, the threaded sleeve 400 causes the second base 620 and the sensing component 610 to fall synchronously relative to the first base 100.

[0127] In this way, the threaded sleeve 400, which moves between the upper and lower limits, can drive the second base 620 and the protective cover 630, which need to rise and fall with the sensing component 610 but do not need to rotate, to rise and fall. Furthermore, the rotation of the threaded sleeve 400 will not cause the second base 620 and the protective cover 630, which need to rise and fall with the sensing component 610 but do not need to rotate, to rotate. The movement of the second base 620 and the protective cover 630 is relatively simple and stable. The protective cover 630 can rise and fall synchronously with the sensing component 610 to facilitate the protection of the sensing component 610.

[0128] For example, the peripheral wall of the protective cover 630 is made of a transparent material so that the sensing component 610 in the device mounting cavity can sense the surrounding environment through the peripheral wall of the protective cover 630.

[0129] In some possible implementations, the first base 100 is provided with a guide structure 130, and the second base 620 is slidably connected to the first base 100 through the guide structure 130. The guide structure 130 is used to guide the second base 620 to slide up and down relative to the first base 100, and to limit the rotation of the second base 620 relative to the first base 100.

[0130] In this way, the guide structure 130 allows the second base 620 to slide more stably relative to the first base 100. In addition, the guide structure 130 can also prevent the second base 620 from rotating with the rotation of the threaded sleeve 400.

[0131] like Figure 1 , Figure 2 As shown, exemplarily, the first base 100 includes a lower base 110 and an upper base 120, with the upper base 120 fixedly connected to the upper end of the lower base 110. A guide structure 130 is disposed within the space formed by the upper base 120 and the lower base 110, and the upper base 120 has a lifting port H2. The second base 620 includes a guide seat 621 and a lifting seat 622. The guide seat 621 is disposed within the space formed by the upper base 120 and the lower base 110, and is slidably connected to the first base 100 via the guide structure 130. The guide structure 130 is used to guide the guide seat 621 to slide up and down between the upper base 120 and the lower base 110, and to restrict the rotation of the guide seat 621 relative to the first base 100. The lifting seat 622 is fixedly connected to the upper end of the guide seat 621. The lifting seat 622 passes through the lifting port H2. The protective cover 630 is fixedly connected to the upper end of the lifting seat 622. The protective cover 630 and the lifting seat 622 form a device installation space. The lifting seat 622 can be raised and lowered under the drive of the guide seat 621, so as to drive the protective cover 630 to rise and fall. The connecting hole H1 passes through the guide seat 621 and the lifting seat 622.

[0132] For example, the upper body 120 can be fixedly connected to the upper body 120 by means of fastener connection, snap-fit, etc.

[0133] For example, the lifting seat 622 can be fixedly connected to the guide seat 621 by means of snap-fit, fastener connection or other methods.

[0134] For example, the threaded sleeve 400 can drive the lifting seat 622 to rise and fall, and through the lifting seat 622, drive the guide seat 621 to rise and fall, so that the lifting seat 622 and the guide seat 621 rise and fall synchronously with the threaded sleeve 400.

[0135] For example, the drive device 200 is fixedly connected to the lower seat 110. For instance, the drive device 200 can be fixedly connected to the lower seat 110 by fasteners. The drive device 200 is disposed within the space formed between the lower seat 110 and the upper seat 120.

[0136] In some examples, the guide structure 130 may include multiple parallel guide posts, the upper end of which is fixedly connected to the upper seat 120 and the lower end of which is fixedly connected to the lower seat 110. The guide seat 621 has guide holes corresponding to the guide posts, and the guide posts pass through the corresponding guide holes and are slidably connected to the hole walls.

[0137] In some examples, the guide structure 130 may include a groove, and the guide seat 621 may include a slider portion disposed in the groove and slidingly engaged with the groove wall.

[0138] For example, the lifting seat 622 includes a first structural part 6221 and a second structural part 6222. The first structural part 6221 is inserted into the lifting port H2. The lower end of the first structural part 6221 is fixedly connected to the upper end of the guide seat 621. The second structural part 6222 is disposed at the upper end of the first structural part 6221 and is located above the upper seat body 120.

[0139] For example, the first structural part 6221 and the second structural part 6222 can be an integral structure.

[0140] For example, the first base 100 also includes a limiting ring 140, which is fixedly connected to the upper end of the upper base 120. The limiting ring 140 is sleeved on the outside of the second structural part 6222, and the second structural part 6222 and the limiting ring 140 are slidably engaged. The limiting ring 140 is used to guide the second structural part 6222 to slide up and down, so as to facilitate the stable lifting and lowering of the second base 620.

[0141] For example, the limiting ring 140 can be fixedly connected to the upper body 120 by means of snap-fit, fastener connection or other methods.

[0142] like Figure 2 As shown, in some possible embodiments, a bearing 640 is provided between the threaded sleeve 400 and the second base 620, and the threaded sleeve 400 is connected to the second base 620 through the bearing 640. The threaded sleeve 400 can drive the second base 620 to rise and fall through the bearing 640.

[0143] This facilitates the rotational connection between the threaded sleeve 400 and the second base 620, as well as the lifting and lowering of the second base 620 by the threaded sleeve 400.

[0144] For example, the bearing 640 can be disposed between the lifting seat 622 and the threaded sleeve 400. The threaded sleeve 400 is connected to the lifting seat 622 through the bearing 640, and the threaded sleeve 400 can drive the lifting seat 622 to move up and down synchronously through the bearing 640. Specifically, the bearing 640 can be disposed between the first structural part 6221 and the threaded sleeve 400.

[0145] In some possible implementations, bearing 640 is a one-way bearing. Bearing 640 is used to rotate threaded sleeve 400 relative to second base 620 when rotating rod 300 rotates in the forward direction, and to lock threaded sleeve 400 to second base 620 when rotating rod 300 rotates in the reverse direction.

[0146] Thus, when the rotating rod 300 rotates in the forward direction, it can drive the threaded sleeve 400 to rotate in the forward direction, thereby driving the sensing component 610 to rotate in the forward direction. When the rotating rod 300 rotates in the reverse direction, the threaded sleeve 400 cannot rotate in the reverse direction due to the locking of the bearing 640. At this time, there is a large speed difference between the threaded sleeve 400 and the rotating rod 300, which is conducive to the rapid descent of the threaded sleeve 400.

[0147] like Figure 2 As shown, in some possible embodiments, a damping structure 500 is disposed between the second base 620 and the threaded sleeve 400, and the damping structure 500 is used to provide damping force when the threaded sleeve 400 rotates relative to the second base 620.

[0148] In this way, the damping structure 500 is easier to set up, making it easier to apply damping force to the threaded sleeve 400, thereby facilitating the lifting and lowering of the threaded sleeve 400.

[0149] For example, the damping structure 500 is disposed between the lifting seat 622 and the threaded sleeve 400, and the damping structure 500 may be disposed above the bearing 640.

[0150] In some possible implementations, the damping structure 500 is located on the second base 620 and contacts the threaded sleeve 400.

[0151] In this way, the setting of the damping structure 500 is more flexible and convenient.

[0152] For example, the damping structure 500 may be provided on the wall of the connecting hole H1.

[0153] In some other possible implementations, the damping structure 500 may also be provided on the threaded sleeve 400 and in contact with the second base 620.

[0154] like Figure 1 As shown, in some possible embodiments, the first base 100 is provided with a position detection device 700, which is used to detect the lifting position of the threaded sleeve 400.

[0155] This facilitates the monitoring of the threaded sleeve 400's lifting and lowering position, enabling corresponding control based on this position. For example, when the threaded sleeve 400 descends to its lower limit, the drive device 200 can be stopped to prevent malfunctions caused by excessive descent. When the threaded sleeve 400 rises to its upper limit, the system can begin acquiring valid information from the sensing component 610 to determine the optimal timing for acquiring this information, thereby reducing the workload of data processing.

[0156] For example, the position detection device 700 can be used to detect the lifting position of the threaded sleeve 400 by detecting the position of the second base 620.

[0157] For example, the self-moving device also includes a controller, with the position detection device 700 electrically connected to the controller, and the drive device 200 and the sensing component 610 both electrically connected to the controller.

[0158] In some possible implementations, the position detection device 700 includes a first detection unit 710 and a second detection unit 720. The first detection unit 710 is used to detect whether the threaded sleeve 400 is at its upper limit position. The second detection unit 720 is used to detect whether the threaded sleeve 400 is at its lower limit position.

[0159] This facilitates the detection of whether the threaded sleeve 400 is at the upper limit or the lower limit, and allows for corresponding control based on these parameters, thereby reducing the amount of data acquisition and processing.

[0160] For example, both the first detection unit 710 and the second detection unit 720 can be photoelectric sensors.

[0161] In some examples, the first detection unit 710 may be located on the upper body 120, and the second detection unit 720 may be located on the lower body 110.

[0162] In some examples, the self-moving device also includes a circuit board 650 and a button 660. The circuit board 650 is located at the upper end of the protective cover 630, and the button 660 is located above the circuit board 650. The button 660 can be electrically connected to the circuit board 650. Raising the button 660 and the circuit board 650 facilitates user operation of the button 660. Furthermore, positioning the button 660 and the circuit board 650 at the upper end of the protective cover 630 maximizes the utilization of space on the top surface of the self-moving device.

[0163] For example, the self-moving device can generate instructions for controlling the self-moving device to perform a set action based on the user's touch on button 660.

[0164] In some examples, the sensing module also includes a wireless power supply module 670, which wirelessly powers the sensing component 610 to enable power supply to the rotating sensing component 610.

[0165] In some examples, the wireless power supply module 670 is fixedly connected to the second base 620, allowing the wireless power supply module 670 to move with the second base 620 to provide stable power to the sensing components 610 raised and lowered to various positions. Furthermore, the small distance between the wireless power supply module 670 and the sensing components 610 facilitates efficient power supply to the sensing components 610.

[0166] For example, the wireless power supply module 670 can be fixedly connected to the lifting base 622, allowing for a smaller gap between the wireless power supply module 670 and the sensing component 610.

[0167] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, an indirect connection through an intermediate medium, or 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.

[0168] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0169] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of this application, and are not intended to limit them. Although the embodiments of this application have 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. Such 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.

Claims

1. A sensing module, characterized in that, include: First base (100); A drive unit (200) is disposed on the first base (100); The lifting assembly includes a rotating rod (300) and a threaded sleeve (400), with a threaded structure formed between the rotating rod (300) and the threaded sleeve (400). The rotating rod (300) is rotatably connected to the first base (100). The output end of the driving device (200) is connected to the rotating rod (300) to drive the threaded sleeve (400) to move by driving the rotating rod (300). Sensing component (610) is connected to the threaded sleeve (400); A damping structure (500) is provided at the threaded sleeve (400) to generate relative rotation between the threaded sleeve (400) and the rotating rod (300); When the driving device (200) drives the rotating rod (300) to rotate in the forward direction, causing the threaded sleeve (400) to move upward relative to the upper limit, the threaded sleeve (400) and the rotating rod (300) move synchronously to drive the sensing component (610) to rotate to detect the environment; When the driving device (200) drives the rotating rod (300) to rotate in the opposite direction, it causes the threaded sleeve (400) to move downwards.

2. The sensing module according to claim 1, characterized in that, The rotating rod (300) has a helical tooth structure (310); A threaded structure is formed between the threaded structure (310) and the threaded sleeve (400); When the driving device (200) drives the rotating rod (300) to rotate in the forward direction, causing the threaded sleeve (400) to move upward relative to the upper limit, the threaded sleeve (400) and the rotating rod (300) move synchronously through the contact between the threaded tooth structure (310) and the threaded sleeve (400).

3. The sensing module according to claim 2, characterized in that, The threaded sleeve (400) has a thread (410) and an abutment structure (420). The abutment structure (420) is provided at the lower end of the thread (410), and a thread structure is formed between the thread (410) and the thread tooth structure (310); When the driving device (200) drives the rotating rod (300) to rotate in the forward direction, causing the threaded sleeve (400) to move upward relative to the upper limit, the threaded sleeve (400) and the rotating rod (300) move synchronously through the contact between the threaded tooth structure (310) and the abutment structure (420).

4. The sensing module according to claim 3, characterized in that, The rotating rod (300) includes a helical tooth section (L1), and the helical tooth structure (310) is located in the helical tooth section (L1). The threaded sleeve (400) includes a threaded section (L2), and the thread (410) is located in the threaded section (L2). The length of the threaded section (L2) is greater than the length of the toothed section (L1).

5. The sensing module according to claim 4, characterized in that, The helical section (L1) is located at the upper end of the rotating rod (300).

6. The sensing module according to claim 3, characterized in that, The threaded structure (310) has a first contact surface (311), and the axis of the rotating rod (300) is coplanar with the first contact surface (311); The abutting structure (420) has a second abutting surface (421), the axis of the threaded sleeve (400) is coplanar with the second abutting surface (421), and the first abutting surface (311) and the second abutting surface (421) are oriented oppositely; When the driving device (200) drives the rotating rod (300) to rotate in the forward direction, causing the threaded sleeve (400) to move upward relative to the upper limit, the threaded sleeve (400) and the rotating rod (300) move synchronously through the contact between the first contact surface (311) and the second contact surface (421).

7. The sensing module according to claim 1, characterized in that, The threaded sleeve (400) is fitted onto the outside of the rotating rod (300).

8. The sensing module according to any one of claims 1-7, characterized in that, It also includes a second base (620) and a protective cover (630); The second base (620) is slidably connected to the first base (100), and the second base (620) can slide up and down relative to the first base (100); The protective cover (630) is fixedly connected to the second base (620), and a device mounting space is formed between the protective cover (630) and the second base (620). The sensing component (610) is disposed in the device mounting space. The second base (620) has a connecting hole (H1), and the threaded sleeve (400) passes through the connecting hole (H1). The threaded sleeve (400) is rotatably connected to the second base (620). When the driving device (200) drives the rotating rod (300) to rotate in the forward direction, causing the threaded sleeve (400) to move upward relative to the first base (100), the threaded sleeve (400) causes the second base (620) and the sensing component (610) to rise synchronously relative to the first base (100); When the driving device (200) drives the rotating rod (300) to rotate in the opposite direction, causing the threaded sleeve (400) to move downwards, the threaded sleeve (400) causes the second base (620) and the sensing component (610) to descend synchronously relative to the first base (100).

9. The sensing module according to claim 8, characterized in that, A bearing (640) is provided between the threaded sleeve (400) and the second base (620), and the threaded sleeve (400) is connected to the second base (620) through the bearing (640).

10. The sensing module according to claim 9, characterized in that, The bearing (640) is a one-way bearing; The bearing (640) is used to rotate the threaded sleeve (400) relative to the second base (620) when the rotating rod (300) rotates in the forward direction, and to lock the threaded sleeve (400) to the second base (620) when the rotating rod (300) rotates in the reverse direction.

11. The sensing module according to claim 8, characterized in that, The damping structure (500) is disposed between the second base (620) and the threaded sleeve (400), and the damping structure (500) is used to provide damping force when the threaded sleeve (400) rotates relative to the second base (620).

12. The sensing module according to claim 11, characterized in that, The damping structure (500) is located on the second base (620) and contacts the threaded sleeve (400).

13. The sensing module according to claim 8, characterized in that, The first base (100) is provided with a guide structure (130), and the second base (620) is slidably connected to the first base (100) through the guide structure (130); The guide structure (130) is used to guide the second base (620) to slide up and down relative to the first base (100) and to restrict the second base (620) from rotating relative to the first base (100).

14. The sensing module according to claim 8, characterized in that, It also includes a wireless power supply module (670), which is fixedly connected to the second base (620) and is used to wirelessly power the sensing component (610).

15. The sensing module according to any one of claims 1-7, characterized in that, The first base (100) is provided with a position detection device (700), which is used to detect the lifting position of the threaded sleeve (400).

16. The sensing module according to claim 15, characterized in that, The position detection device (700) includes a first detection unit (710) and a second detection unit (720); The first detection unit (710) is used to detect whether the threaded sleeve (400) is at the upper limit position; The second detection unit (720) is used to detect whether the threaded sleeve (400) is at the lower limit position.

17. The sensing module according to any one of claims 1-7, characterized in that, The sensing component is a laser distance sensor component.

18. A self-moving device, characterized in that, Includes the main body of the device and the sensing module as described in any one of claims 1-17; The first base (100) of the sensing module is fixedly connected to the main body of the device; When the threaded sleeve (400) of the sensing module is in the upper limit position, the sensing component (610) of the sensing module can detect the environment around the self-moving device. When the threaded sleeve (400) is in the lower limit position, at least a portion of the sensing component (610) is located within the device body.

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