CN113207443A

CN113207443A - Self-moving equipment

Info

Publication number: CN113207443A
Application number: CN202110061857.4A
Authority: CN
Inventors: 保罗·安德罗; 查霞红; 程坤
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2020-01-21
Filing date: 2021-01-18
Publication date: 2021-08-06
Also published as: WO2021147792A1; CN215530083U

Abstract

The invention relates to self-moving equipment which comprises a vehicle body, a walking assembly, a connecting assembly, an adapting part and a control system, wherein the walking assembly is used for driving the vehicle body to move, the connecting assembly is used for connecting the walking assembly and the vehicle body, the adapting part is arranged on the vehicle body and is used for selectively installing at least one of working devices of at least two different types of work, the control system is arranged in the vehicle body and is used for controlling the walking assembly to automatically operate and controlling the working devices installed on the vehicle body to automatically operate, and the walking assembly can generate vertical displacement relative to the vehicle body under the action of external force. This from mobile device can be adjusted by oneself according to the unsmooth undulation on ground to the messenger traveles steadily, and, can adapt to different job scenarios, satisfies different demands, also helps reducing the wasting of resources and reduces the storage space.

Description

Self-moving equipment

Technical Field

The invention relates to a self-moving device.

Background

The current mobile devices can realize different functions by carrying different functional tools, such as a mower, and realize a cutting function by carrying a cutting device on a vehicle body. The existing mobile devices generally can only realize single functions, and when a customer needs to buy the mobile devices according to different scenes, the customer needs to buy a plurality of single mobile devices under normal conditions, so that the waste of resources is caused and the problem of product storage is brought.

Disclosure of Invention

The invention aims to provide a self-moving device which can realize various different functions and can be automatically adjusted according to the concave-convex fluctuation of the ground so as to enable the running to be stable.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a from mobile device, includes the automobile body, is used for driving walking subassembly that the automobile body removed, be used for connecting walking subassembly with coupling assembling, the setting of automobile body are in be used for on the automobile body selectively install at least one of them adaptation portion among the equipment of at least two kinds of different work types and set up be in be used for controlling in the automobile body walking subassembly automatic operation and control are installed the control system of equipment automatic working on the automobile body, walking subassembly can be relative under the exogenic action the ascending displacement in upper and lower direction is produced to the automobile body.

Furthermore, at least part of the connecting component can move relative to the vehicle body to drive the walking component to move in the vertical direction relative to the vehicle body.

Further, the connection assembly may be at least partially movable in rotation and/or up and down relative to the vehicle body.

Furthermore, the walking assembly comprises a plurality of wheels, and each wheel is a driving wheel.

Further, each wheel can generate displacement in the vertical direction relative to the vehicle body under the action of external force.

Furthermore, the working device is provided with an inserting part which is butted with the adapting part, and the adapting part comprises an electric connection structure which is electrically connected with the inserting part.

Furthermore, the self-moving device further comprises a power supply device which is arranged in the shell and used for supplying power to the working device.

Further, at least one adapting part can be butted with working devices of at least two different types; or, the number of the adapting parts is at least two, and each adapting part corresponds to one working device.

Further, the adapter part comprises a clamping mechanism for clamping the plug part.

Further, the automobile body includes relative top surface and the bottom surface that sets up and relative preceding terminal surface and the rear end face that sets up, be provided with on at least two in top surface, bottom surface, preceding terminal surface and the rear end face adaptation portion.

Furthermore, the working device comprises at least two of a mowing cutter head, a sweeping machine head, a camera assembly, a cart, a snow throwing machine head, a blower, a pickup device, a fertilizing device, a seeding device, an insect killing device and a lawn quality monitoring device.

Further, the walking assembly further comprises a hub motor arranged in each wheel.

Further, the running component comprises a plurality of wheels, the connecting component comprises connecting wheels and swing arms of the vehicle body, and the swing arms can wind the vehicle body to rotate so that the running component and the vehicle body can generate displacement in the vertical direction.

Further, the swing arm includes a first end rotatably connected to the vehicle body, a second end mounted on an axle of the wheel, and a connecting rod connecting the first end and the second end.

Furthermore, the first end comprises a circular body and a fixing shaft formed by outwards extending the circular body, a fixing hole for the fixing shaft to be inserted into is formed in the vehicle body, a fixing plate is arranged on the inner side of the fixing hole, and a compression screw used for being tightly connected with the fixing shaft is installed on the fixing plate.

Further, a bearing is arranged between the shell and the fixed shaft, and the bearing is accommodated in the fixed hole.

Furthermore, the connecting assembly further comprises a pushing member mounted on the vehicle body, and the pushing member drives the wheel to move towards the ground.

Further, the pushing piece is an elastic piece.

Furthermore, the pushing piece is a spring assembly, one end of the spring assembly is hinged to the vehicle body, the other end of the spring assembly is hinged to a sliding block, and the sliding block is connected with the connecting rod in a sliding mode.

Further, the control system controls the walking assembly to move in an outdoor working area and controls the working device to execute corresponding tasks.

The invention has the beneficial effects that: the self-moving equipment of the invention connects the walking component with the vehicle body through the connecting component, so that the walking component can be automatically adjusted according to the concave-convex fluctuation of the ground, thus the running is stable, and the self-moving equipment can be selectively provided with the adapting part of at least one of the working devices of at least two different types, therefore, the self-moving equipment can adapt to different working scenes, meet different requirements, and is also beneficial to reducing resource waste and storage space.

The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.

Drawings

FIG. 1 is a schematic structural view of a self-propelled apparatus having a mower deck mounted thereon in accordance with one embodiment of the present invention;

FIG. 2 is a sectional view taken along line A-A of FIG. 1;

FIG. 3 is a side view of the self-moving device shown in FIG. 1;

FIG. 4 is a top view of the self-moving apparatus shown in FIG. 1;

FIG. 5 is a schematic view of the connecting assembly of FIG. 1;

FIG. 6 is a schematic structural view of the self-moving apparatus of FIG. 1 after installation of a snow thrower head;

FIG. 7 is a schematic view of the self-propelled device of FIG. 1 after the cart has been installed;

FIG. 8 is a schematic structural diagram of the self-moving apparatus shown in FIG. 1 after a camera assembly is mounted thereon;

fig. 9 is a schematic structural view of the self-moving apparatus shown in fig. 1 after the sweeper head is installed;

fig. 10 is a state in which the self-moving apparatus shown in fig. 1 is encountered in an obstacle, and no working device is installed;

fig. 11 is a state in which a self-moving device of the related art encounters an obstacle.

Detailed Description

The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the mechanism or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

Referring to fig. 1, the self-moving apparatus according to an embodiment of the present invention includes a vehicle body 10, a traveling assembly 20 for driving the vehicle body 10 to move, a connecting assembly 30 for connecting the traveling assembly 20 and the vehicle body 10, an adapting unit (not shown) disposed on the vehicle body 10 for selectively installing at least one of working devices of at least two different types, and a control system disposed in the vehicle body 10 for controlling the traveling assembly 20 to automatically operate and controlling the working devices mounted on the vehicle body 10 to automatically operate. The vehicle body 10 includes a top surface 11 and a bottom surface 12 disposed oppositely, a front end surface 13 and a rear end surface 14 disposed oppositely, and both side end surfaces 15 disposed oppositely left and right. It should be noted that the front end face 13 and the rear end face 14 are distinguished from each other by the traveling direction of the self-moving device, and the face facing the traveling direction in the traveling direction is the front end face 13, but of course, when the traveling direction of the self-moving device is not constant (both forward and backward traveling), one face may be directly defined as the front end face 13, and in the present embodiment, the arrow a direction in fig. 1 is defined as the traveling direction, and the face facing the traveling direction is defined as the front end face 13.

It should be noted that at least one adapting part can be used for butting at least two working devices of different types, and when one adapting part can be used for butting the working devices of different types, the number of the adapting parts can be set to be one; or, each adapting portion corresponds to one working device, that is, each adapting portion can only be connected with a working device of one type of work, at this time, the number of adapting portions is usually set to be at least two, and of course, the number of adapting portions can also be a plurality, and each adapting portion can be butted with working devices of at least two different types of work. In actual work, at least two working devices of different types can be simultaneously carried on the vehicle body 10, and when at least two working devices of different types are carried, one of the working devices or at least two working devices can be selected to work simultaneously; of course, in addition to this, only one work implement may be mounted on the vehicle body 10.

The working device may include two or more of a mower deck 41, a sweeper head (not shown), a camera assembly (not shown), a cart (not shown), a snow thrower head (not shown), a blower (not shown), a pickup device (not shown), a fertilizer applicator (not shown), a seed planter (not shown), an insect killer (not shown), and a lawn quality monitoring device (not shown). Specifically, the working device attached to the vehicle body 10 is a cutter disc 41 which is located on the bottom surface 12 of the vehicle body 10, and the cutter disc 41 is attached to realize a mowing function. Referring to fig. 6 to 9, the self-moving device is provided with other working devices besides a mowing disc 41, for example, in fig. 6, the working devices comprise a mowing disc 41 arranged on the bottom surface 12 of the vehicle body 10 and a snow thrower 42 arranged on the front end surface 13 of the vehicle body 10, and the self-moving device can realize mowing function and snow sweeping function by arranging the mowing disc 4 and the snow thrower 42; in fig. 7, the working device comprises a mowing disc 41 arranged on the bottom surface 12 of the vehicle body 10 and a trolley 43 arranged on the front end surface 13 of the vehicle body 10, and the self-moving device can realize mowing function and transportation function by arranging the mowing disc 41 and the trolley 43; in fig. 8, the working device comprises a mowing cutter disc 41 arranged on the bottom surface 12 of the vehicle body 10 and a camera assembly 44 arranged on the top surface 11 of the vehicle body 10, and the self-moving equipment can realize mowing function and security inspection function by arranging the mowing cutter disc 41 and the camera assembly 44; in fig. 9, the working device comprises a mowing disc 41 mounted on the bottom surface 12 of the vehicle body 10 and a sweeping head 45 mounted on the front end surface 13 of the vehicle body 10, and the self-moving device can realize mowing function and sweeping function by mounting the mowing disc 41 and the sweeping head 45. The working device mounted on the self-moving apparatus shown in fig. 1, 6 to 9 does not have a power supply device itself. Indeed, in other embodiments, the power supply device may also be provided on the working device. Referring to fig. 1 and 4, a power supply device 16 for supplying power to the walking assembly 20 and the working device is disposed in the vehicle body 10, in this embodiment, the power supply device 16 is a battery pack 16, and the power supply device 16 is used for supplying power, so that the moving range of the self-moving device is not limited by cables. In addition, by providing the power supply device 16 in the vehicle body 10, the weight of the working device can be reduced, the cost of the working device can be reduced, and the reduction in the size of the working device can be facilitated. Specifically, the top surface 11 of the housing is recessed to form a battery pack receiving cavity 17 for receiving a battery pack 16. The connection between the battery pack 16 and the vehicle body 10 can be performed by the prior art, and therefore, will not be described herein.

The control system controls the traveling assembly 20 to move in the outdoor work area and controls the working devices to perform corresponding tasks. The control system comprises a main control unit (not shown) arranged in the vehicle body 10, the main control unit can be used for identifying the inserted working devices so as to drive different working devices to work and provide reasonable moving paths and the like, the main control unit is powered by a battery pack 16, and intelligent control of the self-moving equipment is realized through the main control unit. The control modes (such as identifying the working device and planning the path) of the main control unit can all adopt the prior art, and thus detailed description is omitted here.

Because the working device can be of different types, but in order to enable the working device to be detachably connected with the vehicle body 10, the working device is required to be provided with an insertion part, and the insertion part and the adaptation part are electrically and mechanically connected or only mechanically connected. In the present embodiment, the mower deck 41 is taken as an example, and referring to fig. 2, the mower deck 41 includes a housing 411, a motor 412 disposed in the housing 411, a working head 413 connected to an output shaft of the motor 412 so as to be rotated by the output shaft to perform a cutting function, a plug-in portion (not shown) protruding outward from the housing 411 to the housing 411, and a control unit (not shown) disposed in the housing 411. The working head 413 is located below the housing 411, and the working head 413 is connected with an output shaft of the motor 412 through a transmission component to realize transmission of rotating force. The control unit is electrically connected with the motor 412 and the plug part. The working head 413 is a cutting blade, and in other embodiments, the working head may also be a mowing cord. In this embodiment, since the mower deck 41 needs to be driven by electric power to rotate, the adapter in this embodiment includes a holding mechanism for holding the plug and an electrical connection structure disposed in the holding mechanism to be electrically connected to the plug. The power supply device 16 and the mower disc 41 are electrically connected, and the main control unit and the mower disc 41 are electrically connected through the electrical connection structure. Of course, no electrical connection structure may be provided in the adapter, and the adapter is only a holding mechanism for holding the plug. In the present embodiment, in order to reduce the overall volume, the bottom surface 12 of the vehicle body 10 is concavely formed with an arrangement cavity (not numbered) in which the fitting portion is formed.

Referring to fig. 1, the traveling unit 20 is capable of moving in a vertical direction (the vertical direction is a height direction of the vehicle body 10 and is generally a direction perpendicular to the ground) relative to the vehicle body 10 under an external force. In this embodiment, the traveling assembly 20 includes four wheels 21 and an in-wheel motor (not shown) disposed in each wheel 21, and the in-wheel motor directly drives the wheels 21 to rotate, so that the four wheels 21 are driving wheels, and each wheel 21 provides traction force, and thus the overall driving structure is simpler. Each wheel 21 is moved by an external force, and the moving connecting assembly 30 urges the wheel 21 to move in the up-down direction with respect to the vehicle body 10. It should be noted that, two of the four wheels 21 are in one set, and two sets are oppositely disposed on the outer sides of the left and right end surfaces 15 of the vehicle body 10. Here, it should be noted that the walking assembly 20 can move relative to the vehicle body 10 under the action of external force, the external force is the relative force generated by the obstacle (such as stone or projection on the ground) to the walking assembly 20 when the walking assembly 20 moves by itself, and when the walking assembly 20 passes over the obstacle or the walking assembly 20 encounters the pit, the walking assembly 20 moves relative to the vehicle body 10 due to gravity or a pushing member 32 (the pushing member 32 will be described in detail later), and the gravity and the force applied by the pushing member 32 to the walking assembly 20 can also be referred to as external force.

Specifically, referring to fig. 1, 2 and 5, the connecting assembly 30 includes a swing arm 31 connecting each wheel 21 and the vehicle body 10. The swing arm 31 is rotatable about the vehicle body 10 so that the running unit 20 and the vehicle body 10 can be displaced in the up-down direction. Specifically, the number of the swing arms 31 is four, and the four swing arms 31 are grouped in pairs and located outside the left and right end surfaces 15 of the vehicle body 10. By adopting the swing arm 31 structure, the whole structure is simpler, the rigidity of the whole machine is ensured by the swing arm 31, and the purpose of good lateral stability of the whole machine is further realized. The swing arm 31 in the present embodiment is a single trailing arm, and includes a first end 311 rotatably connected to the vehicle body 10, a second end 312 attached to an axle (not shown) of the wheel 21, and a connecting rod 313 connecting the first end 311 and the second end 312. In detail, the first end 311 includes a circular body 3111 and a fixing shaft 3112 extending outward from the circular body 3111, a fixing hole 18 for inserting the fixing shaft 3112 is formed on the vehicle body 10, a fixing plate 181 is disposed inside the fixing hole 18, and a pressing screw 182 for fastening the fixing shaft 3112 is mounted on the fixing plate 181.

Of course, in other embodiments, the connecting assembly may also have other mechanical structures, for example, the connecting assembly may be implemented by using a sliding groove and a sliding block, specifically, the sliding groove is provided on one of the vehicle body and the wheel, and the sliding block is provided on the other; still alternatively, the moving device may be an electronic control structure, for example, when it is known that the wheel 21 is pressed, the moving device drives the wheel 21 to move upward by a corresponding distance. In this embodiment, a bearing 19 is disposed between the housing 411 and the fixed shaft 3112, and the bearing 19 is accommodated in the fixed hole 18.

The linkage assembly 30 further includes a push member 32 mounted on the vehicle body 10, the push member 32 driving the wheels 21 to move toward the ground so that each wheel 21 is always in contact with the ground to avoid skidding. The pushing member 32 may be an elastic member, specifically, the pushing member 32 is a spring assembly 32, one end of the spring assembly 32 is hinged on the vehicle body 10, the other end is hinged on a sliding block 33, and the sliding block 33 is connected with the connecting rod 313 in a sliding manner. It should be noted that the weight of the intelligent mobile platform is preferably 15-40KG, and in order to achieve a small overall size and a certain obstacle crossing capability, the wheels 21 are preferably 200-250 mm. The spring assembly 32 is preferably 20-50 mm. By incorporating the travel of the spring assembly 32, a maximum obstacle crossing height within 100mm is ultimately achieved. In particular, the spring assembly 32 is embodied as a spring damper. Of course, the wheel 21 may be moved toward the ground (not shown) with respect to the vehicle body 10 by the self weight of the wheel 21 without providing a pusher, or in another embodiment, the moving means may be provided directly as a spring that connects the vehicle body 21 and the wheel 10. And when the moving device can be realized by adopting the sliding groove and the sliding block, the spring is arranged in the sliding groove.

It should be noted that in the present embodiment, a pushing member 32 is provided between each wheel 21 and the vehicle body 10, and in other embodiments, a pushing member 32 may be provided between one of the wheels 21 and the vehicle body 10, or pushing members 32 may be provided between some of the wheels 21 and the vehicle body 10.

The working principle of the connecting assembly 30 and the walking assembly 20 in this embodiment is as follows: when the road surface is uneven, the wheel 21 is acted by external force under the action of the bottom surface protrusion, and the wheel 21 is connected with the vehicle body 10 through the swing arm 31, so that the wheel 21 swings relative to the vehicle body 10 under the action of the external force, and the spring assembly 32 is compressed; when the wheels move to the gentle surface, the wheels swing up and down under the combined action of the gravity spring assembly 32 of the swing arm 31, so that each wheel is in contact with the ground when running, and slipping is avoided.

It should be noted that the self-moving apparatus of the present embodiment implements four-wheel drive through the connection assembly 30, that is, four wheels 21 all travel in real time in a close-to-close manner, as shown in fig. 10, when one wheel 21 encounters an obstacle 200, the wheel 21 moves upward (in a direction away from the ground 300) relative to the vehicle body 10 under the action of an external force, so that the wheel 21 subjected to the external force travels in a close-to-close manner against the obstacle 200, and the other wheels 21 still travel in a close-to-close manner against the ground 300, so that when the wheel 21 subjected to the external force is lifted, the other wheels 21 not subjected to the external force are not affected, that is, the other wheels 21 not subjected to the external force are not lifted in a suspended manner, and the wheel 21 is not subjected to a movement in a height direction (a direction perpendicular to the ground 300) relative to the ground 300 after being subjected to the force. However, as shown in fig. 11, in the conventional self-moving apparatus, four wheels 21 ' are all fixed on the vehicle body 10 ', and there is no connecting component between the wheels 21 ' and the vehicle body 10 ', when one of the wheels 21 ' encounters an obstacle 200, the wheel 21 ' is lifted by an external force, and at this time, the force is transmitted to the vehicle body 10 ' along with the wheel 21 ', so that the vehicle body 10 ' is inclined with respect to the ground 300, and thus the wheels 21 ' which do not receive the external force are lifted in the air, and the suspended wheel 21 ' cannot provide a driving force, so that four-wheel drive cannot be realized.

In the above embodiment, the external force is transmitted to the connecting assembly 30 through the wheel 21 under the driving of the external force, so that the connecting assembly 30 is deformed as a whole, and the connecting assembly 30 moves as a whole compared with the vehicle body 10 to drive the traveling assembly 20 to displace in the up-down direction relative to the vehicle body 10; still alternatively, the linkage assembly may be at least partially movable in rotation and/or up and down relative to the vehicle body.

The self-moving equipment is connected with the walking component 20 and the vehicle body 10 through the connecting component 30, so that the walking component 20 can be automatically adjusted according to the concave-convex fluctuation of the ground, the running is stable, and the self-moving equipment can be selectively provided with at least one adaptation part of at least one of the working devices of at least two different types of work, so that the self-moving equipment can adapt to different working scenes, different requirements are met, and the self-moving equipment is also beneficial to reducing resource waste and reducing the storage space.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. The utility model provides a from mobile device, its characterized in that includes the automobile body, is used for driving the running gear that the automobile body removed, be used for connecting the running gear with coupling assembling, the setting of automobile body are in be used for on the automobile body selectively install at least one of them adaptation portion among the equipment of at least two kinds of different work types and set up and be in be used for controlling in the automobile body the running gear automatic operation and the control are installed the operating means automatic work's on the automobile body control system, the running gear can be relative under the exogenic action the ascending displacement in upper and lower direction is produced to the automobile body.

2. The self-moving apparatus as claimed in claim 1, wherein the connecting member is at least partially movable relative to the vehicle body to move the walking member up and down relative to the vehicle body.

3. The self-propelled apparatus of claim 2, wherein the linkage assembly is at least partially movable in rotation and/or up and down relative to the vehicle body.

4. The self-propelled device of claim 1, wherein the walking assembly includes a plurality of wheels, each of the wheels is a drive wheel, and each of the wheels is capable of moving up and down relative to the vehicle body under an external force.

5. The self-moving device as claimed in any one of claims 1 to 4, wherein a plug part which is butted against the adapting part is arranged on the working device, and the adapting part comprises an electric connection structure which is electrically connected with the plug part.

6. The self-moving apparatus according to claim 5, further comprising a power supply device provided in the housing and configured to supply power to the working device.

7. The self-moving apparatus according to claim 5, wherein at least one of said adapting portions can interface at least two different kinds of working devices; or, the number of the adapting parts is at least two, and each adapting part corresponds to one working device.

8. The self-moving apparatus as claimed in claim 5, wherein the vehicle body includes a top surface and a bottom surface disposed oppositely and a front end surface and a rear end surface disposed oppositely, the fitting portion being provided on at least two of the top surface, the bottom surface, the front end surface and the rear end surface.

9. The self-propelled device of claim 1, wherein the working device comprises at least two of a mower deck, a sweeper head, a camera assembly, a cart, a snow thrower head, a blower, a pickup device, a fertilizer applicator, a seed applicator, an insect killer, and a lawn quality monitoring device.

10. The self-propelled device according to any of claims 1 to 4, wherein the walking assembly comprises a plurality of wheels, and the connecting assembly comprises a swing arm connecting the wheels and the vehicle body, the swing arm being rotatable about the vehicle body to allow the walking assembly and the vehicle body to be displaced in an up-down direction.

11. The self-propelled device of claim 10, wherein the swing arm includes a first end pivotally coupled to the vehicle body, a second end mounted on an axle of the wheel, and a connecting rod connecting the first end and the second end.

12. The self-propelled apparatus of claim 10, wherein the linkage assembly further comprises a pusher mounted on the vehicle body, the pusher driving the wheel toward the ground.

13. The self-moving apparatus of claim 12, wherein the urging member is an elastic member.

14. The self-propelled apparatus of claim 12 wherein the pusher is a spring assembly having one end hinged to the body and the other end hinged to a slider, the slider being slidably connected to the connecting rod.

15. The autonomous mobile apparatus of claim 1 wherein the control system controls the travel assembly to move within an outdoor work area and controls the work device to perform a corresponding task.