Self-moving operation apparatus

Abstract

Provided in the present application is a self-moving operation apparatus, comprising an apparatus main body, a working unit, a moving assembly and a vision assembly, wherein a first accommodating cavity is provided inside the apparatus main body; the working unit is arranged at the bottom of the apparatus main body and is configured to execute a preset working task; the moving assembly is arranged on the apparatus main body and is configured to drive the apparatus main body to move; and the vision assembly is arranged at the top of the apparatus main body, and comprises a housing, an image acquisition unit and a vision main board, a second accommodating cavity being provided inside the housing, the image acquisition unit being arranged on the housing and at least partially located in the second accommodating cavity, the vision main board being arranged in the first accommodating cavity and electrically connected to the image acquisition unit, and the vision main board being configured to perform data processing on an image acquired by the image acquisition unit. The self-moving operation apparatus provided in the present application does not easily accumulate heat, and has a high level of operation reliability.

Description

Self-moving working device

[0001] The present application claims priority to the Chinese patent application No. 202421749722.2, filed on July 22, 2024, and entitled "Self-moving working device", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of mobile working devices, in particular to a self-moving working device. BACKGROUND

[0003] The self-moving working device is provided with a visual component, which can realize position determination in a working area and perceive environmental information in the working area. However, the visual component generates a large amount of heat during operation, and if the heat is not dissipated in time, it will affect the operation of the visual component and cause the self-moving working device to malfunction. SUMMARY

[0004] The present application provides a self-moving working device which is less likely to accumulate heat and has high working reliability.

[0005] Specifically, the present application provides a self-moving working device, which comprises:

[0006] a device body, the inside of the device body having a first accommodating cavity;

[0007] a working unit arranged at the bottom of the device body and used for performing a preset working task;

[0008] a moving component arranged on the device body and used for driving the device body to move; and

[0009] a visual component arranged at the top of the device body, the visual component comprising a shell, an image acquisition unit and a visual mainboard, the inside of the shell having a second accommodating cavity, the image acquisition unit being arranged on the shell and at least partially located in the second accommodating cavity, the visual mainboard being arranged in the first accommodating cavity and electrically connected with the image acquisition unit, the visual mainboard being used for data processing of images acquired by the image acquisition unit.

[0010] In a possible embodiment, the visual component further comprises an adapter plate arranged in the second accommodating cavity, the adapter plate being electrically connected with the image acquisition unit and the visual mainboard, respectively.

[0011] In a possible implementation, the visual assembly further comprises a connecting flat cable, one end of the connecting flat cable is electrically connected with the adapter plate, and the other end of the connecting flat cable is sequentially penetrated through the shell and the device body and then electrically connected with the visual mainboard.

[0012] In a possible implementation, a first sealing member is arranged between the shell and the device body, and / or a second sealing member is arranged between the shell and the connecting flat cable.

[0013] In a possible implementation, a first positioning member is arranged on the adapter plate, the first positioning member is located at one end of the connecting flat cable connected with the adapter plate, and is used for fixing the one end of the connecting flat cable to the adapter plate, and / or

[0014] A second positioning member is arranged on the adapter plate, the second positioning member is located at the other end of the connecting flat cable connected with the visual mainboard, and is used for fixing the other end of the connecting flat cable to the visual mainboard.

[0015] In a possible implementation, the first positioning member is pressed on a side of the one end of the connecting flat cable away from the adapter plate and is clamped with the adapter plate, and the second positioning member is pressed on a side of the other end of the connecting flat cable away from the visual mainboard and is clamped with the visual mainboard.

[0016] In a possible implementation, the self-moving working device further comprises a heat sink, the heat sink is arranged in the first accommodating cavity, and the heat sink is in contact with the visual mainboard to dissipate heat generated by the visual mainboard.

[0017] In a possible implementation, the device body comprises a chassis and a top shell, the top shell is provided with an accommodating groove for accommodating the shell, a bottom wall of the accommodating groove is provided with a first through hole communicating with the second accommodating cavity, the shell is provided with a second through hole communicating with the first through hole, and the connecting flat cable penetrates through the second through hole and the first through hole.

[0018] In a possible implementation, a bottom of the shell is provided with a first protrusion, a second protrusion and a third protrusion, the first protrusion is annular and is supported on the bottom wall of the accommodating groove, the second protrusion is annular and is located in the first protrusion, the second protrusion is used for limiting the second sealing member, and the third protrusion is used for clamping a side wall of the accommodating groove between the first protrusion and the third protrusion.

[0019] In a possible implementation, a limiting wall is arranged on the top shell, the limiting wall is connected with the bottom wall of the accommodating groove, and one end of the visual mainboard is supported on a side of the limiting wall facing the first through hole.

[0020] The self-moving working device provided in the application can drive the device main body to move through the moving unit, the working unit can perform the preset working task, the mobile working can be realized, the visual assembly can realize the positioning and environment identification of the device main body in the working process through the image information of the working area, the first accommodating cavity is arranged in the device main body, the second accommodating cavity is arranged in the shell of the visual assembly, the image acquisition unit of the visual assembly is arranged on the shell and at least partially located in the second accommodating cavity, the visual main board of the visual assembly is arranged in the first accommodating cavity and electrically connected with the image acquisition unit, therefore, the heat generated by the operation of the image acquisition unit can be dissipated in the interior of the shell, dissipated to the outside of the self-moving working device through the shell, the heat generated by the operation of the visual main board can be dissipated in the interior of the device main body, dissipated to the outside of the self-moving working device through the device main body, thus, the shell of the visual assembly can be miniaturized, the heat generated by the visual main board will not be gathered in the shell with small inner cavity space, the formation of high temperature is avoided, the normal operation of the visual assembly can be ensured, and the working reliability of the self-moving working device is improved. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the application, the drawings needed to be used in the embodiments will be briefly introduced.

[0022] Fig. 1 is a structural schematic diagram of the self-moving working device provided in the first embodiment of the application;

[0023] Fig. 2 is a sectional structural schematic diagram of the self-moving working device provided in the second embodiment of the application;

[0024] Fig. 3 is another sectional structural schematic diagram of the self-moving working device provided in the second embodiment of the application;

[0025] Fig. 4 is a partial structural schematic diagram of the visual assembly in the self-moving working device shown in Fig. 2;

[0026] Fig. 5 is a local enlarged schematic diagram of the A area in the self-moving working device shown in Fig. 2;

[0027] Fig. 6 is a local enlarged schematic diagram of the B area in the self-moving working device shown in Fig. 3;

[0028] Fig. 7 is a structural schematic diagram of the shell, the connecting wire and the second sealing member in the self-moving working device shown in Fig. 2;

[0029] Fig. 8 is a structural schematic diagram of the first positioning member in the self-moving working device shown in Fig. 4;

[0030] Fig. 9 is a structural schematic diagram of the second positioning member in the self-moving working device shown in Fig. 4;

[0031] Fig. 10 is a partially exploded structural schematic view of a self-moving working device according to a second embodiment of the present application;

[0032] Fig. 11 is a structural schematic view of a top shell of the self-moving working device shown in Fig. 10;

[0033] Fig. 12 is a partially enlarged schematic view of a C area of the self-moving working device shown in Fig. 2;

[0034] Fig. 13 is a structural schematic view of a visual mainboard inside the top shell shown in Fig. 11.

[0035] The reference signs in the specification are as follows: 100, self-moving working device; 10, device main body; 20, working unit; 30, moving assembly; 40, visual assembly; 101, first accommodating cavity; 401, second accommodating cavity; 402, shell; 403, image acquisition unit; 404, visual mainboard; 405, adapter plate; 406, connecting flat cable; 501, first sealing member; 502, second sealing member; 520, opening; 407, first positioning member; 470, first positioning column; 471, first clamping portion; 408, second positioning member; 480, second positioning column; 481, second clamping portion; 60, heat sink; 102, bottom plate; 103, top shell; 130, accommodating groove; 420, second through hole; 421, first protrusion; 422, second protrusion; 423, third protrusion; 131, limiting wall. DETAILED DESCRIPTION

[0036] The technical solutions provided by the present application will be described clearly and completely below with reference to the drawings. Obviously, the embodiments described in the present application are only part of the embodiments, rather than all the embodiments. Based on the embodiments described in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0037] In the present application, the phrase “embodiment” means that the specific features, structures or characteristics described in combination with the embodiment can be contained in at least one embodiment of the present application. The appearance of this phrase at various places in the specification does not necessarily mean the same embodiment, nor is it an independent or alternative embodiment to other embodiments. Those skilled in the art can explicitly and implicitly understand that the embodiments described in the present application can be combined with other embodiments.

[0038] The terms "first", "second", and the like in the description and claims of the application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. Furthermore, the terms "comprises", "comprising", "includes", "including", "has", "having" and the like are intended to cover a non-exclusive inclusion such that a component or item that is comprised in or included in a list of components or items does not exclude any other component or item from being added to the list of components or items. For example, a component or item that is included in a list of components or items is not necessarily an only component or item in the list of components or items.

[0039] Please refer to FIG. 1 to FIG. 3, FIG. 1 is a schematic structural diagram of a self-moving working device 100 provided by an embodiment of the present application, FIG. 2 is a schematic cross-sectional structural diagram of the self-moving working device 100 shown in FIG. 1, and FIG. 3 is another schematic cross-sectional structural diagram of the self-moving working device 100 shown in FIG. 1. The self-moving working device 100 can be a mower, a sweeper or the like. The embodiment of the present application takes the mower as an example. The self-moving working device 100 can automatically move and realize corresponding work. Specifically, the self-moving working device 100 comprises a device main body 10, a working unit 20, a moving assembly 30 and a visual assembly 40.

[0040] The device main body 10 is used to carry the working unit 20, the moving assembly 30 and the visual assembly 40. In the linear moving direction of the self-moving working device 100, the device main body 10 has a device front part, a device middle part and a device rear part. The linear moving direction of the self-moving working device 100 can be shown in the X-axis direction in FIG. 2. The device front part can be used to carry the visual assembly 40, so as to facilitate the information acquisition of the working area. The device middle part can be used to carry at least part of the working unit 20, so as to facilitate the corresponding work. The device rear part can be used to carry at least part of the moving assembly 30, so as to facilitate the movement of the device main body 10 without affecting the arrangement of the working unit 20 and the visual assembly 40. The inside of the device main body 10 has a first accommodating cavity 101. In other words, the inner surface of the device main body 10 is surrounded to form the first accommodating cavity 101. In a possible embodiment, the first accommodating cavity 101 can comprise a first sub-accommodating cavity, a second sub-accommodating cavity and a third sub-accommodating cavity which are sequentially connected in the moving direction of the self-moving working device 100. The first sub-accommodating cavity is formed by the device front part, the second sub-accommodating cavity is formed by the device middle part, and the third sub-accommodating cavity is formed by the device rear part. The second sub-accommodating cavity can be used to accommodate the electronic devices corresponding to the working unit 20, such as motors, circuit boards and the like. The third sub-accommodating cavity can be used to accommodate the electronic devices corresponding to the moving assembly 30, such as motors, circuit boards and the like. Of course, in other possible embodiments, the second sub-accommodating cavity can also be used to accommodate the electronic devices corresponding to the moving assembly 30, and the third sub-accommodating cavity can also be used to accommodate the electronic devices of the working unit 20.

[0041] The working unit 20 is arranged at the bottom of the device body 10, and is configured to perform a preset working task. In the embodiment, the working unit 20 can include a cutter disc, a blade, or the like, and is configured to perform a mowing task. Of course, in other possible embodiments, the working unit 20 can include a roller brush, or the like, and is configured to perform a sweeping task. In the embodiment, the working unit 20 is arranged at the bottom of the middle part of the device. The bottom and the top described in the following embodiments refer to two ends in the height direction of the self-moving working device 100, and the height direction of the self-moving working device 100 is perpendicular to the straight moving direction of the self-moving working device 100. The height direction of the self-moving working device 100 can be shown in the Z-axis direction in FIG. 2.

[0042] The moving assembly 30 is arranged on the device body 10, and is configured to drive the device body 10 to move. In a possible embodiment, the moving assembly 30 can include a plurality of moving wheels. The number of the moving wheels is not limited in the application. For example, the number of the moving wheels can be four. Alternatively, the moving assembly 30 can include two front moving wheels and two rear moving wheels. The two front moving wheels are arranged at the two sides of the front end of the device in the width direction of the self-moving working, and the two rear moving wheels are arranged at the two sides of the rear end of the device in the width direction of the self-moving working. The width direction of the self-moving working is perpendicular to the straight moving direction of the self-moving working device 100. The width direction of the self-moving working device 100 can be shown in the Y-axis direction in FIG. 2. The moving assembly 30 can be configured to drive the device body 10 to move straightly, or to move curvilinearly. The left side and the right side described in the following embodiments refer to the two sides in the width direction of the self-moving working device 100.

[0043] The vision assembly 40 is configured to acquire and process images of a working area. In a possible embodiment, the vision assembly 40 can be configured to acquire image information of the front side of the position of the self-moving working device 100. Of course, in other possible embodiments, the vision assembly 40 can be configured to acquire image information of the left side, or the right side, or the rear side of the position of the self-moving working device 100. The vision assembly 40 is arranged at the top of the device body 10. It can be understood that, in the height direction of the self-moving working device 100, the vision assembly 40 and the working unit 20 are arranged at the two sides of the device body 10. In other words, in the height direction of the self-moving working device 100, the vision assembly 40 is arranged at the side of the device body 10 away from the working unit 20.

[0044] Referring to FIG. 4 to FIG. 6, FIG. 4 is a schematic diagram of a partial structure of the vision assembly 40 in the self-moving working device 100 shown in FIG. 3, FIG. 5 is a partial enlarged schematic diagram of the area A in the self-moving working device 100 shown in FIG. 2, and FIG. 6 is a partial enlarged schematic diagram of the area B in the self-moving working device 100 shown in FIG. 3. The vision assembly 40 comprises a housing 402, an image acquisition unit 403, and a vision mainboard 404. The image acquisition unit 403 is configured to acquire images. The vision mainboard 404 is configured to process images. Optionally, the image acquisition unit 403 comprises at least one lens and at least one image sensor. The lens can be a standard lens, or a zoom lens, or a wide-angle lens, or a long-focus lens, etc. The image sensor can be a CCD sensor, or a CMOS sensor, etc. The image sensor is configured to realize photoelectric conversion. Of course, the image acquisition unit 403 can further comprise at least one light source. The light source emits light, which can be used to realize illumination or light compensation of the lens shooting area. The vision mainboard 404 comprises an image processor. The image processor is configured to process image data. The housing 402 has a second accommodating cavity 401 inside. In other words, the inner surface of the housing 402 surrounds to form the second accommodating cavity 401. The space volume of the second accommodating cavity 401 is smaller than the space volume of the first accommodating cavity 101. The image acquisition unit 403 is arranged on the housing 402 and at least partially located in the second accommodating cavity 401. In a possible embodiment, the image acquisition unit 403 can be entirely located in the second accommodating cavity 401. In another possible embodiment, the lens of the image acquisition unit 403 can partially extend out of the housing 402, and the image sensor of the image acquisition unit 403 can be entirely located in the second accommodating cavity 401. The vision mainboard 404 is arranged in the first accommodating cavity 101 and electrically connected with the image acquisition unit 403. In the embodiment of the present application, the vision mainboard 404 can be arranged in the first sub-accommodating cavity in the first accommodating cavity 101. The vision mainboard 404 and the image acquisition unit 403 can be indirectly electrically connected through an electrical connector. The vision mainboard 404 is configured to process the images acquired by the image acquisition unit 403.

[0045] The self-moving working device 100 provided in the application can drive the device main body 10 to move through the moving assembly 30, the working unit 20 can perform the preset working task, the mobile working can be realized, the positioning of the device main body 10 in the working process, the environment recognition and the like can be realized through the image information of the working area obtained by the vision assembly 40, since the device main body 10 has the first accommodating cavity 101 inside, the shell 402 of the vision assembly 40 has the second accommodating cavity 401 inside, the image acquisition unit 403 of the vision assembly 40 is arranged on the shell 402 and at least partially located in the second accommodating cavity 401, the vision main board 404 of the vision assembly 40 is arranged in the first accommodating cavity 101 and electrically connected with the image acquisition unit 403, therefore, in the case of realizing the image acquisition and the image processing, the heat generated by the operation of the image acquisition unit 403 can be dissipated in the inside of the shell 402, dissipated to the outside of the self-moving working device 100 through the shell 402, the heat generated by the operation of the vision main board 404 can be dissipated in the inside of the device main body 10, dissipated to the outside of the self-moving working device 100 through the device main body 10, thus, it is beneficial to miniaturize the shell 402 of the vision assembly 40, and the heat generated by the vision main board 404 will not be gathered in the shell 402 with small inner cavity space, the formation of high temperature is avoided, the normal operation of the vision assembly 40 can be ensured, and the working reliability of the self-moving working device 100 is improved.

[0046] It can be understood that, by splitting the vision assembly 40 and arranging it in the first accommodating cavity 101 of the device main body 10 and the second accommodating cavity 401 of the shell 402, the heat generated by the vision assembly 40 can be avoided from gathering, especially the large heat generated by the vision main board 404 can be avoided from gathering in the second accommodating cavity 401 with small space, the operation reliability of the vision assembly 40 is improved, and the further miniaturization of the shell 402 is beneficial.

[0047] Further, please refer to FIG. 4 to FIG. 6, the vision assembly 40 further includes a adapter board 405. The adapter board 405 is arranged in the second accommodating cavity 401. The adapter board 405 is electrically connected with the image acquisition unit 403 and the vision main board 404 respectively.

[0048] The adapter board 405 can include a circuit board and a connector arranged on the circuit board, or other electronic elements. The circuit board can be a printed circuit board (PCB). The adapter board 405 can be arranged close to the image acquisition unit 403 in the second accommodating cavity 401. In a possible embodiment, the adapter board 405 can also be used to carry an image sensor in the image acquisition unit 403. At this time, the lens, the image sensor of the image acquisition unit 403 and the adapter board 405 can be arranged in sequence along the optical axis direction of the vision assembly 40. In the embodiment of the application, the optical axis direction of the vision assembly 40 is parallel to the X-axis direction.

[0049] The adapter board 405 can be configured to transmit and convert signals between the image acquisition unit 403 and the visual main board 404. In addition, the adapter board 405 can be configured to connect electronic components of different types and different sizes, and expand the number of interfaces. Therefore, the adapter board 405 can reduce the limitation on the types and sizes of electronic components in the image acquisition unit 403 and the visual main board 404, and expand the application scenarios of the visual assembly 40.

[0050] Further, referring to FIGS. 4-6, the visual assembly 40 further includes a connection cable 406. One end of the connection cable 406 is electrically connected to the adapter board 405. The other end of the connection cable 406 is sequentially penetrated through the housing 402 and the device body 10 and then electrically connected to the visual main board 404.

[0051] The connection cable 406 can include a plurality of connection lines arranged at intervals. The connection lines can be made of metal, alloy, or the like. The plurality of connection lines can be made of the same material or different materials. One end of the connection cable 406 can be directly welded to the adapter board 405. The other end of the connection cable 406 can be directly welded to the visual main board 404 after being sequentially penetrated through the housing 402 and the device body 10. In one possible embodiment, the connection cable 406 can be a flexible circuit board cable. The connection cable 406 includes a first cable portion, a second cable portion, and a third cable portion connected in sequence. The first cable portion is located in the second accommodating cavity 401 and is configured to electrically connect the adapter board 405. The second cable portion is penetrated through the bottom of the housing 402 and the top of the device body 10. The third cable portion is located in the first accommodating cavity 101 and is configured to electrically connect the visual main board 404.

[0052] The connection cable 406 can facilitate the electrical connection between the adapter board 405 located in the second accommodating cavity 401 and the visual main board 404 located in the first accommodating cavity 101, and facilitate the miniaturization of the adapter board 405. In addition, the connection cable 406 can facilitate the reduction of the gap between the housing 402 and the device body 10, and improve the sealing and waterproof performance between the housing 402 and the device body 10.

[0053] Further, referring to FIGS. 5-7, FIG. 7 is a structural schematic view of the housing 402 and the connection cable 406 provided with a second sealing member 502. The housing 402 and the device body 10 are provided with a first sealing member 501; and / or, the housing 402 and the connection cable 406 are provided with a second sealing member 502.

[0054] In a possible embodiment, the first seal 501 is arranged between the shell 402 and the device body 10. The first seal 501 can be an annular sealing ring. The first seal 501 can be made of rubber, silica gel or the like. The first seal 501 is arranged between the bottom of the shell 402 and the top of the device body 10. The first seal 501 can be clamped between the bottom of the shell 402 and the top of the device body 10, or the first seal 501 can be embedded on one of the top of the shell 402 and the top of the device body 10, and sealingly connected to the other one of the bottom of the shell 402 and the top of the device body 10. Optionally, the first seal 501 includes a first sealing portion, a second sealing portion and a third sealing portion which are sequentially and flexibly connected, and a sealing groove is formed between the first sealing portion, the second sealing portion and the third sealing portion. The bottom of the shell 402 can be inserted into the sealing groove, so that the first seal 501 is embedded on the shell 402, or the top of the device body 10 can be inserted into the sealing groove, so that the first seal 501 is embedded on the device body 10.

[0055] Since the inside of the shell 402 and the inside of the device body 10 need to accommodate the image acquisition unit 403 and the vision mainboard 404 respectively, the shell 402 and the device body 10 are not convenient to be integrally formed or connected. Therefore, when the shell 402 is arranged on the top of the device body 10, the first sealing ring is further arranged between the shell 402 and the device body 10, which is beneficial to improve the sealing performance of the self-moving operation device 100, and avoid dust, water stains and the like from entering, thereby affecting the performance of the adapter plate 405, the connection wire 406 and the vision mainboard 404.

[0056] In another possible embodiment, the second seal 502 is arranged between the shell 402 and the connection wire 406. The second seal 502 can be an annular sealing ring. The second seal 502 can be made of rubber, silica gel or the like. The material of the second seal 502 can be the same as or different from that of the first seal 501. Optionally, the elasticity of the second seal 502 can be better than that of the first seal 501. The second seal 502 is arranged between the bottom of the shell 402 and the second wire portion of the connection wire 406. The second seal 502 can be inserted into the bottom of the shell 402, and the second wire portion can be inserted into the second seal ring. Optionally, as shown in FIG. 7, the second seal 502 can have an opening 520. By arranging the opening 520, the connection wire 406 can be conveniently inserted through the second seal 502 while the shell 402 and the connection wire 406 are sealed.

[0057] The second seal 502 is arranged to further improve the sealing performance between the housing 402 and the connection cable 406, so as to avoid the connection cable 406 from being affected by external dust and water. In addition, the arrangement of the second seal 502 can limit and fix the connection cable 406, so as to reduce the possibility of the connection cable 406 being bent or raised at the position penetrating through the housing 402, and also to prevent the connection cable 406 from being cut or scratched during the assembly of the self-moving working device 100, thereby improving the reliability of the visual assembly 40.

[0058] Further, please refer to FIG. 4 and FIG. 8, which is a schematic structural diagram of a first positioning member 407 in the self-moving working device 100 shown in FIG. 4. The adapter plate 405 is provided with the first positioning member 407, which is located at one end of the connection cable 406 connected to the adapter plate 405, and is used to fix one end of the connection cable 406 to the adapter plate 405; and / or, please refer to FIG. 4 and FIG. 9, which is a schematic structural diagram of a second positioning member 408 in the self-moving working device 100 shown in FIG. 4. The adapter plate 405 is provided with the second positioning member 408, which is located at the other end of the connection cable 406 connected to the visual mainboard 404, and is used to fix the other end of the connection cable 406 to the visual mainboard 404.

[0059] In a possible embodiment, the adapter plate 405 is provided with a first positioning member 407. The first positioning member 407 is pressed against one end of the connection cable 406 away from the side of the adapter plate 405, and is clamped with the adapter plate 405. Optionally, the first positioning member 407 includes at least one first positioning column 470 and at least one first clamping portion 471. The adapter plate 405 includes at least one first positioning slot and at least one first clamping slot. The first positioning column 470 is matched with the first positioning slot, i.e., the first positioning column 470 is at least partially located in the first positioning slot. The first clamping portion 471 is matched with the first clamping slot, i.e., the first clamping portion 471 is clamped in the first clamping slot. Wherein, the first positioning column 470 can be a cylindrical column, or a square column, etc. The number of the first positioning column 470 is not specifically limited in the present application. For example, the number of the first positioning column 470 can be four. In the Y-axis direction, the two sides of the first positioning member 407 can be respectively provided with two positioning columns. The shape and number of the first positioning slot are matched with the first positioning column 470. The first clamping portion 471 includes a first sub-clamping portion and a second sub-clamping portion connected by bending. The bending angle between the first sub-clamping portion and the second sub-clamping portion can be equal to or close to 90°. In other words, the first clamping portion 471 can be substantially L-shaped. The number of the first clamping portion 471 is not specifically limited in the present application. For example, the number of the first clamping portion 471 can be two. In the Y-axis direction, the two sides of the first clamping portion 471 can be respectively provided with one first clamping portion 471. The first clamping portion 471 on each side can be arranged between the two first positioning columns 470.

[0060] In another possible implementation, the adapter board 405 is provided with a second positioning member 408. The second positioning member 408 is pressed against the side of the connection cable 406 away from the visual main board 404 and is clamped with the visual main board 404. Optionally, the second positioning member 408 includes at least one second positioning column 480 and at least one second clamping portion 481. The visual main board 404 includes at least one second positioning slot and at least one second clamping slot. The second positioning column 480 cooperates with the second positioning slot, i.e., the second positioning column 480 is at least partially located in the second positioning slot. The second clamping portion 481 cooperates with the second clamping slot, i.e., the second clamping portion 481 is clamped in the second clamping slot. The second positioning column 480 can be a cylindrical column or a square column, etc. The number of the second positioning column 480 is not limited in the application. For example, the number of the second positioning column 480 can be four. In the Y-axis direction, the two sides of the second positioning member 408 can be respectively provided with two positioning columns. The shape and number of the second positioning slot are matched with the second positioning column 480. The second clamping portion 481 includes a third sub-clamping portion and a fourth sub-clamping portion connected by bending. The bending angle between the third sub-clamping portion and the fourth sub-clamping portion can be equal to or close to 90°. In other words, the second clamping portion 481 can be substantially L-shaped. The number of the second clamping portion 481 is not limited in the application. For example, the number of the second clamping portion 481 can be two. In the Y-axis direction, the two sides of the second clamping portion 481 can be respectively provided with one second clamping portion 481. The second clamping portion 481 on each side can be arranged between the two second positioning columns 480.

[0061] In the embodiment, the first positioning member 407 is arranged to fix the connection cable 406 and the adapter board 405, thereby improving the electrical connection reliability between the connection cable 406 and the adapter board 405. The second positioning member 408 is arranged to fix the connection cable 406 and the visual main board 404, thereby improving the electrical connection reliability between the connection cable 406 and the visual main board 404. In addition, the first positioning member 407 is pressed against the side of the connection cable 406 away from the adapter board 405 and is clamped with the adapter board 405, so that the first positioning member 407 is easy to assemble without the aid of assembly tools. The second positioning member 408 is pressed against the side of the connection cable 406 away from the visual main board 404 and is clamped with the visual main board 404, so that the second positioning member 408 is easy to assemble without the aid of assembly tools.

[0062] By making the first positioning member 407 include at least one first positioning portion and at least one first clamping portion 471, while achieving the clamping of the first positioning member 407 and the adapter plate 405, the first positioning column 470 can assist in positioning during the assembly process, thereby further improving the assembly efficiency of the first positioning member 407. By making the second positioning member 408 include at least one second positioning portion and at least one second clamping portion 481, while achieving the clamping of the second positioning member 408 and the visual mainboard 404, the second positioning column 480 can assist in positioning during the assembly process, thereby further improving the assembly efficiency of the second positioning member 408.

[0063] Further, please refer to FIGS. 4-6, the self-moving working device 100 further includes a heat sink 60. The heat sink 60 is arranged in the first accommodating cavity 101. The heat sink 60 is in contact with the visual mainboard 404 to dissipate the heat generated by the visual mainboard 404.

[0064] The heat sink 60 can be a wind-cooled heat sink, or a water-cooled heat sink, or a heat pipe heat sink, or a fin heat sink. In one possible embodiment, the heat sink 60 can be arranged in the first accommodating cavity 101 and located on the side of the visual mainboard 404 away from the shell 402. It can be understood that, in the direction of the Z axis, the heat sink 60 is located below the visual mainboard 404.

[0065] Optionally, the heat sink 60 is a fin heat sink. The heat sink 60 includes a plurality of fin arranged at intervals. The material of the fin can be metal, such as copper, aluminum, etc. The shape of the fin includes but is not limited to V-shaped, columnar, rectangular, wing-shaped. The self-moving working device 100 further includes one or more heat dissipation fans arranged in the first accommodating cavity 101. The heat dissipation fan is used to accelerate the air circulation in the first accommodating cavity 101, thereby being able to accelerate the heat dissipation of the visual mainboard 404 and prevent the temperature of the visual mainboard 404 from being too high.

[0066] By arranging the heat sink 60 to dissipate heat for the visual mainboard 404, the temperature of the visual mainboard 404 can be further reduced, heat accumulation can be avoided, and the reliability of the visual assembly 40 can be improved. In addition, by arranging the heat sink 60 on the side of the visual mainboard 404 away from the shell 402, the connection of the connecting cable 406 and the second positioning member 408 can be facilitated, and interference between the heat sink 60 and the installation of the connecting cable 406 and the second positioning member 408 can be avoided.

[0067] Please refer to FIG. 10 to FIG. 12, FIG. 10 is an exploded structural schematic view of the self-moving working device 100 shown in FIG. 1, FIG. 11 is a structural schematic view of the top shell 103 in the self-moving working device 100 shown in FIG. 10, and FIG. 12 is a partial enlarged schematic view of the C area in the self-moving working device 100 shown in FIG. 2. The device main body 10 comprises a chassis 102 and a top shell 103, and the top shell 103 is provided with a containing groove 130 for containing the shell 402. The bottom wall of the containing groove 130 is provided with a first through hole communicating with the second containing cavity 401. The shell 402 is configured with a second through hole 420 communicating with the first through hole. The connection wire 406 passes through the second through hole 420 and the first through hole.

[0068] In the embodiment, the shell 402, the top shell 103 and the chassis 102 are arranged along the Z-axis direction in sequence. The working unit 20 is arranged at the bottom of the chassis 102. The containing groove 130 comprises a bottom wall and a peripheral side wall which are connected by bending. The shell 402 is carried on the bottom wall and accommodated between the bottom wall and the peripheral side wall. The first through hole is formed on the bottom wall. The shape of the first through hole, the size of the first through hole, the shape of the second through hole 420 and the size of the second through hole 420 are not specifically limited in the present application. For example, the first through hole can be a rectangular hole or a circular hole. The second through hole 420 can be a rectangular hole or a circular hole. The diameter of the first through hole can be greater than the diameter of the second through hole 420.

[0069] In the embodiment, the top shell 103 is provided with the containing groove 130 for containing the shell 402, so that the embedded design of the top shell 103 and the shell 402 can be realized, i.e. the bottom of the shell 402 is embedded in the top shell 103. This is conducive to reducing the height of the self-moving working device 100, improving the sealing performance between the shell 402 and the top shell 103, and improving the structural compactness of the self-moving working device 100.

[0070] Please refer to FIG. 7 and FIG. 12. The bottom of the shell 402 is configured with a first protrusion 421, a second protrusion 422 and a third protrusion 423. The first protrusion 421 is annular and supported on the bottom wall of the containing groove 130. The second protrusion 422 is annular and located in the first protrusion 421. The second protrusion 422 is used for limiting the second sealing member 502. The third protrusion 423 is used for clamping the side wall of the containing groove 130 between the first protrusion 421 and the third protrusion 423.

[0071] The protruding height of the second protrusion 422 can be less than or equal to the protruding height of the first protrusion 421. The protruding height of the third protrusion 423 can be less than or equal to the protruding height of the first protrusion 421. The first protrusion 421 can be in a circular ring shape, or a rectangular ring shape, etc. The second protrusion 422 can be in a circular ring shape, or a rectangular ring shape, etc. The third protrusion 423 can be arranged at at least one side of the first protrusion 421.

[0072] The first protrusion 421 is arranged at the bottom of the shell 402, extends into the accommodating groove 130, and is supported on the bottom wall of the accommodating groove 130, so that the embedded connection of the shell 402 and the top shell 103 can be realized. The second sealing member 502 is arranged in the second protrusion 422, so that the fixation of the second sealing member 502 can be realized. The first protrusion 421 and the third protrusion 423 can be arranged to clamp the top shell 103, so that the connection reliability of the shell 402 and the top shell 103 can be further improved.

[0073] Further, referring to FIGS. 11-13, FIG. 13 is a structural schematic view of the visual mainboard 404 accommodated in the top shell 103. A limiting wall 131 is arranged on the top shell 103, the limiting wall 131 is connected to the bottom wall of the accommodating groove 130, and one end of the visual mainboard 404 is supported on the side of the limiting wall 131 facing the first through hole.

[0074] The limiting wall 131 includes a first sub-limiting wall and a second sub-limiting wall connected by bending. The end of the first sub-limiting wall away from the second sub-limiting wall is connected to the bottom wall of the accommodating groove 130. The end of the second sub-limiting wall away from the first sub-limiting wall extends in a direction away from the circumferential wall of the accommodating groove 130. The bending angle between the first sub-limiting wall and the second sub-limiting wall can be equal to or close to 90°.

[0075] The limiting wall 131 is arranged on the top shell 103, and one end of the visual mainboard 404 is supported on the side of the limiting wall 131 facing the first through hole, so as to support and limit the visual mainboard 404.

[0076] The features mentioned in the description, claims, and drawings of the present application can be combined with each other in any manner within the scope of the present application. Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those skilled in the art can make changes, modifications, replacements, and variations to the above embodiments within the scope of the present application, and these improvements and refinements are also considered as the protection scope of the present application.

Claims

1. A self-moving work apparatus characterized by comprising: The self-moving working device comprises: a device body, an inner portion of the device body having a first accommodating cavity; a working unit arranged at a bottom portion of the device body and configured to perform a preset working task; a moving assembly arranged on the device body and configured to drive the device body to move; and a vision assembly arranged at a top portion of the device body, the vision assembly comprising a shell, an image acquisition unit and a vision mainboard, an inner portion of the shell having a second accommodating cavity, the image acquisition unit being arranged on the shell and at least partially located in the second accommodating cavity, the vision mainboard being arranged in the first accommodating cavity and electrically connected with the image acquisition unit, the vision mainboard being configured to perform data processing on images acquired by the image acquisition unit.

2. The self-moving working device according to claim 1, wherein the vision assembly further comprises a conversion board arranged in the second accommodating cavity, the conversion board being electrically connected with the image acquisition unit and the vision mainboard respectively.

3. The self-moving working device according to claim 2, wherein the vision assembly further comprises a connection flat cable, one end of the connection flat cable being electrically connected with the conversion board, the other end of the connection flat cable sequentially penetrating the shell and the device body and being electrically connected with the vision mainboard.

4. The self-moving working device according to claim 3, wherein a first sealing member is arranged between the shell and the device body; and / or a second sealing member is arranged between the shell and the connection flat cable.

5. The self-moving working device according to claim 3, wherein a first positioning member is arranged on the conversion board, the first positioning member being located at the end of the connection flat cable connected with the conversion board and configured to fix the end of the connection flat cable on the conversion board; and / or a second positioning member is arranged on the conversion board, the second positioning member being located at the end of the connection flat cable connected with the vision mainboard and configured to fix the other end of the connection flat cable on the vision mainboard.

6. The self-moving working device according to claim 5, wherein the first positioning member is press-fitted on a side of the end of the connection flat cable away from the conversion board and is clamped with the conversion board; and the second positioning member is press-fitted on a side of the other end of the connection flat cable away from the vision mainboard and is clamped with the vision mainboard.

7. The self-moving working device according to claim 1, further comprising a heat sink arranged in the first accommodating cavity, the heat sink being in contact with the vision mainboard to dissipate heat generated by the vision mainboard.

8. The self-moving working device according to claim 4, wherein the device body comprises a bottom plate and a top shell, the top shell being provided with an accommodating groove for accommodating the shell, a bottom wall of the accommodating groove being provided with a first through hole in communication with the second accommodating cavity, the shell being provided with a second through hole in communication with the first through hole, the connection flat cable penetrating the second through hole and the first through hole. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 9. The self-moving work apparatus according to claim 8, characterized by, The bottom of the shell is configured with a first protrusion, a second protrusion and a third protrusion, the first protrusion is annular and is supported on the bottom wall of the accommodating groove, the second protrusion is annular and is located in the first protrusion, the second protrusion is used for limiting the second sealing member, and the third protrusion is used for clamping the side wall of the accommodating groove between the first protrusion.

10. The self-moving work apparatus according to claim 8, characterized by, The top shell is configured with a limiting wall connected to the bottom wall of the accommodating groove, and one end of the visual mainboard is supported on one side of the limiting wall facing the first through hole.

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