CN218456748U

CN218456748U - Self-moving equipment

Info

Publication number: CN218456748U
Application number: CN202222013224.9U
Authority: CN
Inventors: 袁朋; 李晓菲; 吴永东
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2022-08-01
Filing date: 2022-08-01
Publication date: 2023-02-10
Anticipated expiration: 2032-08-01

Abstract

The utility model relates to a self-moving device, which comprises a machine body, a driving device and an image acquisition device, wherein the machine body comprises a base and a first shell which is fixed on the base and forms an installation cavity with the base, and the top of the first shell forms an operation surface; the top of the first shell is provided with an opening in front of the operation surface, and the driving device is used for driving the machine body to move on the working surface; the image acquisition device can acquire panoramic images around the machine body, is fixed in the installation cavity and extends out of the opening of the first shell to be higher than the operation surface of the first shell; the image acquisition device is positioned on one side of the front of the machine body, and the angle of view of the image acquisition device facing the front of the machine body deviates from the edge of the one side of the front of the machine body. The self-moving equipment disclosed by the invention can realize functions such as human shape recognition, security and the like by utilizing the image information obtained by the image acquisition device in the driving process, thereby expanding the application field of the self-moving equipment and improving the intellectualization of the self-moving equipment.

Description

Self-moving equipment

Technical Field

The present disclosure relates to the field of smart devices, and more particularly, to a self-moving device.

Background

The existing self-moving equipment, such as a cleaning robot, an automatic carrying equipment, etc., is generally provided with an image collecting device such as a camera, etc., for collecting image information on a traveling route or image information around the self-moving equipment, and a main control unit analyzes the image information to obtain information including but not limited to obstacle information, distance information, face recognition information, etc. However, due to the limited field angle of the image capturing device such as a camera, the images of the surrounding environment that can be captured are not comprehensive enough, which affects the working efficiency of the mobile device and reduces the functions of the mobile device.

SUMMERY OF THE UTILITY MODEL

The present disclosure provides a self-moving device for solving the problems existing in the prior art.

According to a first aspect of the present disclosure, there is provided a self-moving device comprising:

the engine body comprises a base and a first shell which is fixed on the base and forms an installation cavity with the base in an enclosing mode, and an operation surface is formed at the top of the first shell; the front is taken as the advancing direction of the machine body, and an opening is formed in the position, located in front of the operation surface, of the top of the first shell;

a drive device configured to drive the body to move on a work surface;

an image capturing device configured to capture a panoramic image around the body; the image acquisition device is fixed in the mounting cavity and extends out of the opening of the first shell to be higher than the operating surface of the first shell; the image acquisition device is positioned on one side of the front of the machine body and is configured to deviate from the edge of the one side of the front of the machine body in the angle of view facing the front of the machine body.

In one embodiment of the present disclosure, the image capturing device includes a fixing base, and a first lens connected to a top of the fixing base; the fixed seat and the first lens are arranged on the machine body in a module mode.

In one embodiment of the present disclosure, the first lens is vertically installed on the top of the fixed seat, and the central axis of the first lens is perpendicular to the top end surface of the fixed seat.

In one embodiment of the present disclosure, the first lens has a field angle of 40 ° to 100 °.

In one embodiment of the present disclosure, the first lens is located at a center position of the body in a direction perpendicular to an advancing direction of the body.

In one embodiment of the present disclosure, charging pole pieces are respectively disposed on the machine body at two opposite sides of the first lens; in the advancing direction of the machine body, the positions of the first lens and the charging pole piece are configured to enable the first lens to be perpendicular to the central axis of the top of the fixed seat and correspond to the charging pole piece.

In one embodiment of the present disclosure, the operating face of the first housing top is approximately planar.

In one embodiment of the present disclosure, a mounting seat is disposed at the top of the fixing seat; a sealing gasket is arranged between the end of the first lens and the mounting seat, and the first lens and the mounting seat are locked through screws.

In one embodiment of the present disclosure, the fixing base has an inner cavity, and the mounting base is provided with a through hole for the first lens to penetrate through; the lens driving device further comprises a circuit board located in the inner cavity, and the circuit board is in communication connection with the first lens through a lead.

In one embodiment of the present disclosure, the fixing base is approximately L-shaped, and includes a vertical section extending in a vertical direction with respect to the base, and a horizontal section located at a lower end of the vertical section and extending in a horizontal direction with respect to the base; the first lens is mounted on top of the vertical section and the horizontal section is configured to be mounted on the base.

In one embodiment of the present disclosure, the horizontal section further includes a connection seat covering the lower end opening of the horizontal section, and the circuit board is mounted on the connection seat; the connecting seat is configured to be positionally mounted on the base.

In one embodiment of the present disclosure, a heat dissipation fin is disposed on a lower end surface of the connection socket.

In one embodiment of the disclosure, the fixing seat is configured to be installed from the bottom of the body, and after the connecting seat is installed on the base, the first lens on the fixing seat is configured to penetrate through the opening on the top of the first shell.

In one embodiment of the present disclosure, the driving device includes a front wheel and a rear wheel disposed on the base, and the first lens is located above the front wheel; the first lens is perpendicular to the central axis of the top of the fixed seat, and the distance between the first lens and the rotating axis of the front wheel is less than 10cm.

In one embodiment of the present disclosure, the portable electronic device further includes a second housing connected to the base, the second housing being disposed around the first housing, the first housing protruding from a top of the second housing; the second shell inclines gradually to the outer side of the machine body from top to bottom.

In one embodiment of the present disclosure, the self-moving device is a self-moving lawnmower; the machine body is also provided with an antenna device protruding out of the top end face of the machine body; the image acquisition device is only lower than the antenna device on the top end face of the machine body.

The self-moving equipment disclosed by the invention can acquire image information in the 360-degree direction of the self-moving equipment by adopting the image acquisition device, so that the self-moving equipment can realize functions such as human shape recognition, security and the like by utilizing the image information acquired by the image acquisition device, and the application field of the self-moving equipment can be expanded. In addition, the image acquisition device is positioned in front of the machine body and in front of the top operation surface, the field angle of the image acquisition device deviates from the edge of one side in front of the machine body, so that the edge of the machine body cannot block the field angle of the image acquisition device, more comprehensive panoramic images of the surrounding environment can be acquired in the working process of the self-moving equipment, and the panoramic images can provide more comprehensive information for the control unit, so that the intelligence of the self-moving equipment is improved.

Other features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.

FIG. 1 is a schematic block diagram of a self-moving device of the present disclosure;

FIG. 2 is a schematic structural diagram of a self-moving device dock of the present disclosure;

FIG. 3 is a schematic block diagram of a self-mobile device detection assembly of the present disclosure;

FIG. 4 is a schematic cross-sectional view of the detection assembly of FIG. 3;

FIG. 5 is a block diagram illustrating another aspect of the present disclosure from a detection component in a mobile device;

FIG. 6 is an enlarged view of a portion of the detection assembly of FIG. 5;

FIG. 7 is a front view of the self-moving device detection assembly of the present disclosure;

FIG. 8 is a schematic cross-sectional view of another location of the detection assembly from the mobile device of the present disclosure;

FIG. 9 is an enlarged view of a portion of the detection assembly of FIG. 8;

FIG. 10 is a front view of the present disclosure from a mobile device;

FIG. 11 is a schematic diagram of a first lens field of view in the self-moving device of the present disclosure;

FIG. 12 is a cross-sectional schematic view of the self-moving apparatus of the present disclosure;

FIG. 13 is another cross-sectional schematic view of the self-moving apparatus of the present disclosure;

FIG. 14 is an enlarged view of a portion of the detection assembly of FIG. 13;

fig. 15 is another schematic structural diagram of the self-moving device of the present disclosure.

Reference numerals:

1. the camera module comprises a body, 11, a base, 12, a first shell, 121, a heat dissipation hole, 13, a second shell, 2, a driving device, 21, a front wheel, 22, a rear wheel, 3, an image acquisition device, 31, a fixed seat, 311, a mounting seat, 3111, a through hole, 312, a sealing gasket, 313, a screw, 314, an inner cavity, 315, a vertical section, 316, a horizontal section, 32, a first lens, 33, a connecting seat, 34, a heat dissipation fin, 35, a circuit board, 4, an environment detection device, 41, an opening, 42, a fisheye lens, 43, a TOF optical module, 431, a substrate, 432, an emission end, 433, a receiving end, 434, a first shading side wall, 4341, a first shading cavity, 435, a second shading side wall, 4351, a second shading cavity, 44, a positioning seat, 45, a light transmission mirror surface, 46, a radiating fin, 47 and a heat conduction part.

Detailed Description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of parts and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

The self-moving device disclosed by the present disclosure may be a sweeping robot, an automatic carrying robot, an automatic mower and other devices known by those skilled in the art that can automatically walk, and includes a body, a driving device and an image capturing device. The body is used for installing various components in the mobile equipment, such as a power supply, a driving device and other functional components. The driving device can drive the machine body to move on a working surface, perform cleaning work or other work and the like. The image acquisition device can acquire images of the surrounding environment of the body in the movement process. The collected images can be sent to a control unit of the machine body, and the control unit can process the panoramic images collected by the image collecting device and obtain corresponding information according to the panoramic images.

For example, in one embodiment of the present disclosure, the control unit may perform AI identification and the like on an environment around the self-moving device based on the panoramic image acquired by the image acquisition device, so that the self-moving device may have a security function, which expands an application field of the self-moving device. For example, in one particular application scenario of the present disclosure, the self-moving device of the present disclosure may be a self-moving lawnmower that may perform related tasks on an outdoor lawn. The image acquisition device can acquire panoramic images around the self-moving mower in real time or at a preset frequency, so that the self-moving mower can perform AI identification on the surrounding environment, and the capability of the self-moving mower working outdoors alone is improved.

The panoramic image acquisition device is arranged on the end surface of one side in front of the top end of the machine body, and the angle of view of the panoramic image acquisition device facing the front of the machine body deviates from the edge of one side in front of the machine body. When the driving device drives the machine body to move on the working surface, because the position of the panoramic image acquisition device is positioned in the front of the top end of the machine body, and the angle of view cannot be blocked by the edge in front of the machine body, the panoramic image acquisition device can acquire more comprehensive images when acquiring images of the surrounding environment.

The image acquisition device of this disclosure stretches out to organism top and is located the terminal surface of organism the place ahead one side, and this makes the position at organism rear can have certain sheltering from to image acquisition device's angle of vision. In the process of moving from the mobile device, the information in the moving direction is more important relative to the information at the rear, because the self-moving device may have accidents such as collision of people and objects in the moving process, the image acquisition device is extended to the top of the machine body and is positioned on the end surface of one side in front of the machine body, in addition, the angle of view facing the front of the machine body deviates from the edge of the front side of the machine body, so that the image acquisition device can acquire comprehensive images at one side in front of the machine body, and the control unit is favorable for processing the images in the area to obtain more accurate security information. Although the position behind the machine body can shield the image acquisition device to a certain extent, the safe operation of the mobile equipment is not influenced.

In order to facilitate the installation of the image acquisition device on the machine body, the machine body comprises a base and a first shell which is surrounded with the base to form an installation cavity for installing the image acquisition device, an operation surface is formed at the top of the first shell, a user can operate the mobile device through the operation surface, and certainly, the operation surface can also be provided with functions known by those skilled in the art, such as a display, a touch button and the like. The top of first casing is located the place ahead of operation face and still is provided with the trompil, and back in the installation cavity is installed to image acquisition device, can stretch out first casing through the trompil, and stretch out to the operation face that is higher than first casing, receives the interference of first casing and operation face when preventing that image acquisition device from carrying out image acquisition.

For the convenience of understanding, the specific structure and operation of the present disclosure will be described in detail with reference to fig. 1 to 15.

Referring to fig. 1 and 3, the self-moving device of the present disclosure includes a body 1, a driving apparatus 2, and a detection component, where the detection component may be used to collect parameter information related to the operation of the self-moving device. In one embodiment of the present disclosure, the detection assembly comprises an image acquisition device 3. The machine body 1 is used for bearing various parts in the self-moving equipment, for example, when the self-moving equipment is a sweeping robot, the machine body can be used for bearing a water tank, a dirt sucking assembly and the like in the sweeping robot. When the self-moving apparatus is a robotic lawnmower, it can be used to carry cutting devices, power devices, and the like. The present disclosure is not limited thereto, particularly in light of the structure and functionality of the mobile device.

In this embodiment, referring to fig. 1, fig. 2 and fig. 3, in order to facilitate the installation of the image capturing device 3 on the machine body 1, the machine body 1 further includes a base 11 and a first housing 12 enclosing an installation cavity with the base 11. Base 11 is located the bottom of organism 1 for bear each part in the organism 1, for example drive arrangement 2 can set up on base 11, and image acquisition device 3 also can set up on base 11, and when drive arrangement 2 drove base 11 and moved, image acquisition device 3 can be under the drive of base 11 and move in step. Of course, other components on the machine body 1, such as a power supply, a display screen, etc., may also be carried on the base 11, which may be determined according to the structure and function of the machine body 1 in practical applications, and the present disclosure is not limited thereto.

The first housing 12 is located on the base 11, and encloses a mounting cavity for placing the image capturing device 3 together with the base 11, and an operation surface may be formed on a top of the first housing 12, through which a user may operate the mobile device. An opening is further provided at the top of the first housing 12 in front of the operation surface, through which the first housing 12 can be extended when the image capturing device 3 is installed in the installation cavity.

When the image capturing device 3 is installed, the image capturing device 3 is firstly inserted into the installation cavity and fixed to the base 11, and the fixing connection may be performed by bolts or other fixing connection manners known to those skilled in the art, such as adhesion, and the disclosure is not limited thereto. In order to ensure the mounting accuracy between the image capturing device 3 and the base 11, a positioning structure may be disposed on the base 11, and the image capturing device 3 is pre-positioned by the positioning structure and then locked by means known to those skilled in the art. When the image capturing device 3 is connected to the base 11, the image capturing device 3 extends out of the operating surface at the top of the first housing 12 through the opening and extends out to a position higher than the operating surface on the first housing 12, so that the image capturing device is not interfered by the first housing 12 and the operating surface when the image capturing device 3 captures the panoramic image of the surrounding environment.

In one embodiment of this embodiment, referring to fig. 1 and 3, the top of the first housing 12 has an operating surface that is approximately planar. By means of the arrangement, after the installation is completed, the image acquisition device 3 protrudes to the operating surface higher than the top end of the first shell 12 through the opening, and the operating surface which is approximately planar does not block the angle of view of the image acquisition device 3, so that the image acquisition device 3 can acquire panoramic images of the surrounding environment more comprehensively.

The image acquisition device 3 extends out to the operation surface at the top of the first shell 12, and can acquire a panoramic image of the surrounding environment of the machine body 1 in the movement process. The image pickup device 3 may transmit the picked-up panoramic image to a control unit in the body 1 to process the panoramic image. For example, the control unit can perform AI identification, such as human shape identification and the like, based on the panoramic image, so that the security capability of the self-moving device can be improved, the self-moving device can independently perform work outdoors, and the anti-theft capability of the self-moving device is improved. Of course, it is obvious to those skilled in the art that the control unit may also obtain other information, such as a positioning signal, etc., based on the panoramic image, and will not be described in detail herein.

In order to enable the image acquisition device 3 to acquire a more complete and comprehensive image of the surrounding environment. The image capturing device 3 is attached to the end surface of the front end of the machine body 1, and the angle of view of the image capturing device 3 facing the front of the machine body 1 is deviated from the front edge of the machine body 1. This makes the angle of view of the image capturing device 3 facing the front of the body 1 not blocked by the edge of the body 1, and the edge of the body 1 refers to not only the edge of the first housing 12 but also the edge of the base 11, so that the image capturing capability of the image capturing device 3 on the forward direction of the self-moving device can be improved, and safety accidents such as people collision and the like during the traveling process of the self-moving device can be avoided.

The machine body 1 has a certain size, the image acquisition device 3 is installed in front of the machine body 1, and the rear position of the machine body 1 can partially shield the view angle of the image acquisition device 3. This is because, during the movement of the body 1, the panoramic image in front of the movement of the body 1 is more important, such as obstacle information, human shape information, and the like, so that the safety of the self-moving device and the safety of the human body can be ensured during the forward movement. The image behind the body 1 is of low importance. If the image capturing device 3 is installed behind the machine body 1, the angle of view of the image capturing device 3 toward the front of the machine body 1 is definitely blocked by the machine body 1 itself, which affects the capturing of the panoramic image in front of the machine body 1, and is not favorable for the control unit to process the panoramic image. In addition, the image acquisition device 3 is positioned at the top end of the machine body 1, so that a better acquisition visual angle can be provided for the image acquisition device 3, and the panoramic image of the surrounding environment acquired by the image acquisition device 3 is more complete and comprehensive.

In the embodiment of the present disclosure, the image capturing device 3 extends out to the top end surface of the machine body 1, so that the image capturing device 3 can be located at a high position of the mobile device, thereby increasing the capturing range of the image capturing device 3. In one embodiment of the present disclosure, an antenna device (not shown) is further disposed on the machine body 1 and extends out of the top end surface of the machine body 1, and the mobile device communicates with the outside through the antenna device. The height of the image acquisition device 3 on the top end face of the machine body 1 is only lower than that of the antenna device, so that the installation height of the image acquisition device 3 can be ensured, and the image acquisition device 3 is prevented from being shielded by other structures except the antenna device. In addition, since the antenna device is rod-shaped, even if the antenna device blocks the capturing range of the image capturing device 3, the blocking is limited in the whole panoramic image, and does not affect the control unit to process the panoramic image.

In one embodiment of the present disclosure, referring to fig. 3, the image capturing device 3 includes a fixed base 31 and a first lens 32 located on top of the fixed base 31. The first lens 32 is used for acquiring a panoramic image of the surrounding environment of the body 1 during driving. The first lens 32 may be a panoramic lens, which collects panoramic information of the surrounding environment through the panoramic lens, or may be formed by enclosing a plurality of fisheye lenses, and the images of the surrounding environment in different directions can be collected through the plurality of fisheye lenses, and finally, the environmental images collected by all the fisheye lenses are synthesized to obtain the panoramic information of the surrounding environment. Of course, the fisheye lens may be other lenses with wide angle, etc., and the disclosure is not limited thereto.

The first lens 32 is pre-installed on the fixing base 31, so that the fixing base 31 and the first lens 32 are installed on the machine body 1 in a module manner when being installed, which is beneficial to calibration and assembly of the first lens 32, and thus, the installation accuracy of the first lens 32 on the machine body 1 can be ensured. The first lens 32 has a high requirement on the mounting accuracy, and if the first lens 32 is mounted on the body 1, special equipment needs to be used for calibrating the first lens 32, so that the mounting difficulty is high, and the technical requirement is high. In the self-moving device of the present disclosure, the first lens 32 and the fixing seat 31 are mounted on the body 1 in a module manner, so long as the positioning between the fixing seat 31 and the body 1 is ensured, thereby reducing the difficulty of mounting.

In one embodiment of the present disclosure, referring to fig. 3 and 12, the first lens 32 is vertically installed on the top of the fixed base 31, and the central axis of the first lens 32 is perpendicular to the end surface of the top of the fixed base 31. With this structure, it can be ensured that the first lens 32 can be at the highest position of the fixing base 31, which is also beneficial to calibrating the first lens 32 on the fixing base 31.

In one embodiment of the present disclosure, referring to fig. 3, the fixing base 31 is approximately L-shaped, and includes a vertical section 315 extending in a vertical direction with respect to the base 11, and a horizontal section 316 located at a lower end of the vertical section 315 and extending in a horizontal direction with respect to the base 11. First camera lens 32 is installed on the vertical section 315 of fixing base 31, and the first camera lens 32 of being convenient for can stretch out first casing 12 through the trompil on first casing 12 after the installation is accomplished, carries out panorama image's collection. The fixing seat 31 is installed on the base 11 through the horizontal section 316, the horizontal section 316 can have a larger contact area relative to the vertical section 315 and the base 11, and a component fixedly connected with the base 11 is conveniently arranged on the horizontal section 316, for example, a bolt hole, a positioning structure and the like matched with the base 11, so that the fixing seat 31 can be more conveniently and stably connected on the base 11.

In an embodiment of the present disclosure, referring to fig. 3, 10 and 15, the first lens 32 extends from the operation surface on the top of the first housing 12, and the charging pole pieces 14 are respectively disposed on the machine body 1 at two opposite sides of the first lens 32, so that the self-moving device can be charged through the charging pole pieces 14. The two charging electrode plates 14 are distributed in a direction perpendicular to the advancing direction of the body 1 and are respectively located on the side walls of the two opposite sides of the first casing 12, and referring to the view direction of fig. 10, the charging electrode plates 14 are respectively arranged on the side walls of the left and right sides of the first casing 12. The control unit may control the self-mobile device to go to charge when the self-mobile device is about to run out of power. When charging is performed, the charging pole piece 14 can be in butt joint with a charging device. In this embodiment, in the advancing direction of the machine body 1, the positions of the first lens 32 and the charging pole piece 14 are configured such that the first lens 32 is perpendicular to the central axis of the top of the fixed seat 31 and is disposed corresponding to the charging pole piece 14. That is, in the forward direction or the backward direction of the body 1, the central axis of the first lens 32 is located at a position corresponding to the charging pole piece 14, which does not go over the ends of the charging pole piece 14 at the front and rear ends, referring to fig. 10. With such a structural arrangement, the overall structure of the self-moving device can be made compact, and more structures can be integrated at the position of the first housing 12 with limited space.

In an embodiment of the present disclosure, referring to fig. 1 and 2, the machine body 1 further includes a second housing 13 connected to the base 11, the second housing 13 is disposed around the first housing 12, and the second housing 13 is gradually inclined from top to bottom toward an outer side of the machine body 1, that is, a front side wall of the second housing 13 is gradually inclined from top to bottom toward a front of the machine body 1. This prevents the second housing 13 from being positioned to block the angle of view of the first lens 32, so that the first lens 32 can capture more comprehensive panoramic information. Moreover, the second housing 13 is designed to be inclined, so that a sufficient installation space can be ensured below the second housing 13 for installing other components of the mobile device, for example, a striking plate assembly can be installed at the front end of the second housing 13, and when the mobile device strikes an obstacle, the striking plate assembly can be ensured to be limited to contact with the obstacle, so that the striking plate assembly can send out a control electric signal.

In the embodiment of the present disclosure, the housing of the machine body 1 is composed of the first housing 12 and the second housing 13. The bottom of the second housing 13 extends from the base 11 obliquely toward the inside of the body 1 until it fits with the peripheral side wall of the first housing 12. It can also be understood that the first casing 12 protrudes from the top of the second casing 13 to expose the operation surface and the peripheral side wall of the top of the first casing 12. The charging pole pieces 14 are located on the side walls of the first housing 12 on opposite sides thereof and are thus able to interface with corresponding electrodes provided in the base station for charging the self-moving device. Referring to fig. 1 and 2, the driving device 2 of the present disclosure includes front wheels 21 and rear wheels 22 provided on a base 11. The front wheels 21 are provided in two at opposite sides of the front of the base 11, respectively, and the rear wheels 22 are provided in two at opposite sides of the rear of the base 11, respectively. The rear wheels 22 can be driving wheels, and the self-moving equipment can be driven to walk on the working surface through the rear wheels 22; of course, it is obvious to those skilled in the art that the front wheels 21 may also be driving wheels, and the self-moving device may be driven to walk on the working surface by the front wheels 21, and the disclosure is not limited in detail herein. In addition, the number of the front wheels 21 and the rear wheels 22 can also be selected according to actual needs, and the disclosure is not limited herein.

In one embodiment of the present disclosure, the first lens 32 is disposed at a position above the front wheel 21, and referring to fig. 12, the first lens 32 is perpendicular to the central axis of the top of the fixed seat 31, and the distance M from the rotation axis of the front wheel 21 is less than 10cm. By doing so, the first lens 32 can be disposed at a position as far forward as possible, so that the view angle of the first lens 32 can be prevented from being blocked by the edge of the body, and the overall structure of the self-moving apparatus can be made more compact. In addition, the first lens 32 is disposed at a position closer to the front wheel 21 so that the first lens 32 can undulate as much as possible as the front wheel 21 travels to capture an important panoramic image in a complicated working environment.

In an embodiment of the present disclosure, referring to fig. 3 and 4, a mounting seat 311 is further disposed at a top end of the fixing seat 31, that is, a top of the vertical section 315, the mounting seat 311 and the vertical section 315 may be integrally formed, when injection molding is performed, a structure of the mounting seat 311 is formed on a top end surface of the vertical section 315, and the structure of the mounting seat 311 is adapted to a head structure of the first lens 32, so that the first lens 32 may be positioned in the mounting seat 311 and fixed.

In one embodiment of the present disclosure, referring to fig. 4, in order to achieve the sealing between the first lens 32 and the fixed seat 31, a sealing pad 312 is further disposed between the end of the first lens 32 and the mounting seat 311, and when mounting is performed, the sealing pad 312 is first placed on the end surface of the mounting seat 311, and then the first lens 32 is placed on the sealing pad 312 for mounting. The sealing gasket 312 is arranged to enable the connection between the first lens 32 and the mounting seat 311 to be tighter, so that the effect of sealing the mounting seat 311 and the first lens 32 can be achieved, and external impurities such as dust and water vapor are prevented from entering the image acquisition device 3 through the connection gap between the first lens 32 and the mounting seat 311, thereby causing the damage of an internal circuit.

The first lens 32 is fixedly connected to the mounting base 311, and the first lens 32 and the mounting base 311 may be fixedly connected by means known to those skilled in the art, such as adhesion, clamping, and the like, which is not limited in this disclosure. In a specific embodiment of the present disclosure, the sealing pad 312 may be a sealing adhesive, and after the first lens 32 is adhered to the mounting seat 311 by the sealing adhesive, the first lens 32 and the mounting seat 311 are locked by a screw 313, referring to fig. 3 and 11, so as to ensure stability and sealing performance of connection between the first lens 32 and the mounting seat 311.

In one embodiment of the present disclosure, in order to enable the angle of view of the first lens 32 and its position on the body 1 to satisfy the edge deviating from the front side of the body 1, and in addition, in order to ensure that the first lens 32 can capture a panoramic image suitable around the mobile device, referring to fig. 11 and 12, the dotted line in the figures represents the angle of view of the first lens 32, and the angle of view of the first lens 32 in the 360 ° range is 40 ° to 100 °. The larger field angle enables the first lens 32 to have a larger field of view, which enables the captured image to be more comprehensive when capturing a panoramic image of the surrounding environment. Such an arrangement position of the first lens 32 can shift the angle of view from the edge of the body 1, and prevent the edge of the body 1 from blocking the angle of view of the first lens 32. In one embodiment of the present disclosure, the first lens 32 is located at a central position of the body 1 in a direction perpendicular to the direction in which the body 1 advances. Referring to the view direction of fig. 10, the direction perpendicular to the advancing direction of the body 1 is referred to as the left-right direction in fig. 1, and the first lens 32 is disposed at the center position of the left-right direction of the body 1, so that the panoramic image collected by the first lens 32 is centered on the two opposite sides of the body 1, which is beneficial for the subsequent control unit to position and process the panoramic image.

In an embodiment of the present disclosure, referring to fig. 4 and 11, the fixing base 31 has an inner cavity 314, the inner cavity 314 may be used to place various components in the image capturing device 3, a circuit board 35 communicatively connected to the first lens 32 may be disposed in the inner cavity 314, and the circuit board 35 may be located at an end of the inner cavity 314 away from the first lens 32, or at an end of the inner cavity 314 close to the first lens 32. In order to facilitate the communication connection between the first lens 32 and the circuit board 35 in the inner cavity 314, a through hole 3111 is further disposed on the mounting seat 311, and when the first lens 32 is fixed on the mounting seat 311, the end of the corresponding portion of the first lens 32 penetrates into the through hole 3111, which is beneficial to positioning the first lens 32, and in addition, the circuit board 35 is also beneficial to the communication connection with the first lens 32 through a lead.

In an embodiment of the present disclosure, referring to fig. 2, 3 and 4, a lower end of the horizontal section 316 of the fixing base 31 is open, a connecting base 33 for covering the opening is disposed at the open portion of the horizontal section 316, and the connecting base 33 is a flat plate having an area larger than that of the open end of the horizontal section 316, so as to completely cover the open end of the horizontal section 316. Can adopt the bolt to be connected between horizontal segment 316 and the connecting seat 33 to with fixing base 31 fixed connection on positioning seat 33, connecting seat 33 can also seal the inner chamber 314 of fixing base 31, prevents that external impurity from entering into in the inner chamber 314. In the embodiment of the present disclosure, the horizontal section 316 can be positioned and installed on the base 11 through the connection seat 33, which is not specifically described herein.

In one embodiment of the present disclosure, referring to fig. 2, 3 and 12, the fixing base 31 is configured to be loaded from the bottom of the machine body 1. When the fixing seat 31 is installed, the fixing seat 31 is first inserted into the installation cavity from the bottom of the base 11, the first lens 32 on the fixing seat 31 is made to penetrate through the opening of the top end face of the first housing 12, and then the fixing seat 31 is fixedly connected to the base 11, the fixing connection mode may be a bolt connection mode, or a connection mode known by those skilled in the art such as clamping, bonding, and the like, and the disclosure does not limit the installation mode. By adopting the above installation method, when the parts on the fixing seat 31 or the first lens 32 are damaged, the fixing seat 31 can be directly detached from the lower part of the base 11, so as to replace or maintain the parts, and avoid detaching the first shell 12.

In practical applications, the circuit board 35 will dissipate a large amount of heat during use, and if the heat is not dissipated in time, the circuit board 35 will be damaged due to overheating. In order to solve the above problem, in an embodiment of the present disclosure, referring to fig. 3 and 4, a plurality of heat dissipation fins 34 are disposed on the lower end surface of the connection seat 33, and the heat dissipation fins 34 may be uniformly arranged on the lower end surface of the connection seat 33, and the specific number and arrangement of the heat dissipation fins 34 may be determined according to actual conditions, which is not limited by the present disclosure. The heat sink fins 34 may be made of metal, which has good thermal conductivity and is convenient for heat dissipation, such as copper, aluminum, etc. The circuit board 35 is arranged on the upper end face of the connecting seat 33, and the heat dissipation fins 34 are located on the lower end face of the connecting seat 33, so that heat generated by the circuit board 35 mounted on the connecting seat 33 can be dissipated in time, and the circuit board 35 is prevented from being overheated in the using process to cause damage to the circuit board 35.

The first lens 32 described in the above embodiments is used to capture a panoramic image around the mobile device, and in another embodiment of the present disclosure, referring to fig. 1, in the self-moving device of the present disclosure, the detection assembly further includes an environment detection device 4 for detecting environment information in front of the body 1.

In an embodiment of the present disclosure, referring to fig. 1 and 3, in order to facilitate mounting the environment detection apparatus 4 on the machine body 1, a mounting cavity enclosed by the base 11 and the first housing 12 is also used for mounting the environment detection apparatus 4.

The direction in which the machine body 1 advances is taken as the front, one side opposite to the front is taken as the rear, the environment detection device 4 is exposed out of the side wall in front of the first shell 12, and the environment detection device 4 can collect the environment information in front of the machine body 1 in the moving process of the mobile equipment. The environment detection device 4 may transmit the collected environment information to a control unit in the machine body 1 to process the environment information. For example, the control unit can perform AI identification based on the environmental information, such as human shape identification, object identification and the like, and can detect the distance between the control unit and a front obstacle based on the environmental information, so that the security protection capability and the obstacle avoidance capability of the self-moving equipment can be improved, the self-moving equipment can independently perform operation outdoors, and the intelligence of the self-moving equipment is improved. Of course, it is obvious to those skilled in the art that the control unit may also obtain other information, such as a positioning signal, etc., based on the environment information, and will not be described in detail herein.

The environment detection device 4 of the present disclosure is inclined from top to bottom toward the rear of the machine body 1 in the height direction perpendicular to the working surface. Referring to the view direction of fig. 5, the position of the upper end of the environment detection device 4 in front with respect to the lower end thereof allows the end surface of the environment detection device 4 to be inclined toward the working surface, i.e., the end surface of the environment detection device 4 faces the working surface, so that the angle of view of the environment detection device 4 can cover the working surface adjacent to the front of the body 1. The environment detection device 4 is obliquely arranged, so that the detection range of the environment detection device 4 can include important areas as much as possible, such as a working surface in front of the machine body 1, and the closer the detected working surface is to the machine body 1, the better the detection range is, thus the detection blind area of the environment detection device 4 near the self-moving equipment is reduced, the minimum interference of the self-moving equipment machine body 1 and other parts on the field angle is ensured, and the AI identification and obstacle avoidance functions of the environment detection device 4 are realized to the greatest extent under the condition that the whole machine structure allows; in addition, the main detection range of the environment detection device 4 can be prevented from projecting to an irrelevant area, such as the detection sky, a distant building, and the like, so that the performance loss of the environment detection device 4 is avoided.

In one embodiment of the present disclosure, referring to fig. 1 and 13, the environment detection device 4 is configured to be inclined at an angle N of 10 ° to 20 ° with respect to the normal of the working surface. The angle of view of the environment detection device 4 can thereby be utilized to a greater extent, making it possible to cover a work surface adjacent to the front of the machine body 1. The environmental information in front of the machine body 1 can be more comprehensively collected in the movement process of the machine body 1.

In one embodiment of the present disclosure, referring to fig. 1 and 3, the environment detection device 4 includes a second lens and a distance measurement unit, the second lens is connected to the front side of the fixing base 31, and the second lens may be a wide-angle lens and the like, and is used for collecting image information in front of the body 1. The distance measuring unit may be a laser distance measuring device or the like for collecting distance information. When the machine body 1 runs on a working surface, image information in front of the machine body 1 can be collected through the second lens; the distance information of the obstacle in front of the machine body 1 can be collected through the distance measuring unit. The control unit can control the self-moving device to avoid the obstacle based on the image information and the distance information, and the self-moving device is prevented from colliding with the obstacle. Of course, the control unit may perform AI recognition, such as human shape recognition, obstacle recognition, etc., based on the image information, which will not be described in detail herein. In the present disclosure, the control unit may also perform comprehensive processing according to the image captured by the second lens and the panoramic image captured by the first lens 32, so as to obtain corresponding environmental information, including but not limited to AI identification information, obstacle avoidance information, and the like.

In one embodiment of the present disclosure, referring to fig. 3, the second lens, the distance measuring unit and the fixing base 31 are mounted on the body 1 in a module manner, the second lens and the distance measuring unit are mounted on the fixing base 31 in advance, and a detection module is formed. The three are arranged on the machine body 1 in a module mode, which is favorable for calibration and assembly of the distance measuring unit and the second lens, so that the installation accuracy of the distance measuring unit and the second lens on the machine body 1 can be ensured. The installation accuracy of the distance measuring unit and the second lens is usually higher, if the distance measuring unit and the second lens are directly installed on the machine body 1, the distance measuring unit and the second lens need to be calibrated by using special equipment, the installation difficulty is high, and the technical requirement is high. And this self-moving equipment of disclosure, second camera lens, range unit and fixing base 31 install on organism 1 with the mode of module, as long as guarantee the location between fixing base 31 and the organism 1 can, reduced the degree of difficulty of installation.

In an embodiment of the present disclosure, referring to fig. 3, the environment detecting device 4 further includes a positioning seat 44 obliquely disposed on the fixing seat 31, and the positioning seat 44 is gradually inclined from top to bottom toward the rear of the machine body 1 in a height direction perpendicular to the working surface. The positioning seat 44 is fixedly connected to the fixing seat 31, and the fixing connection may be through a bolt, or may also be through clamping, bonding, integral molding, or other fixing connection manners known to those skilled in the art, which is not limited in this disclosure. The positioning seat 44 can be used for installing a second lens and a distance measuring unit, and after the installation is completed, the central axis of the second lens and the distance measuring unit is perpendicular to the end face of the positioning seat 44. This arrangement enables the angles of view of the two to be aligned with the working surface adjacent to the advancing direction of the machine body 1.

In one embodiment of the present disclosure, referring to fig. 3, to avoid the second lens and the distance measuring unit directly contacting with the external environment when the self-moving device operates. A light-transmitting mirror 45 is also provided on the positioning seat 44. The transparent mirror 45 and the positioning seat 44 are fixedly connected together in a manner known to those skilled in the art, such as clamping, bonding, etc., which is not limited in the present disclosure. The transparent mirror 45 is disposed on one side of the positioning seat 44 facing the front of the housing 1, and when the mounting is performed, the second lens and the distance measuring unit are mounted in the positioning seat 44, and then the transparent mirror 45 is mounted on the positioning seat 44. After the installation of printing opacity mirror surface 45 is accomplished, can enclose into a cavity with between the positioning seat 44, seal second camera lens and range finding unit wherein, can avoid both and external environment direct contact, can also prevent that impurity such as dust, steam in the external environment from entering into second camera lens and range finding unit, cause wherein internal circuit's damage.

In an embodiment of the present disclosure, referring to fig. 1, fig. 2 and fig. 10, the first housing 12 is located on the base 11, and encloses a mounting cavity for placing the environment detecting device 4 together with the base 11, and an opening 41 is further provided on a side wall surface of the first housing 12 facing the front of the machine body 1, so that the environment detecting device 4 can be exposed from the first housing 12 after the installation is completed. For sealing, a sealing glue or gasket may also be provided between the opening 41 and the environment detection device 4, which is not described in detail here.

In one embodiment of the present disclosure, referring to fig. 1 and 3, in order to avoid the first housing 12 from blocking the view angle of the environment detection apparatus 4, the front side wall of the first housing 12 has an inclined surface adapted to the positioning seat 44 at a position corresponding to the positioning seat 44. That is, the front side wall of the first housing 12 is inclined at an angle and in a direction similar to the angle and the direction of the positioning seat 44, for example, the front side wall may be approximately flush with the exposed end surface of the positioning seat 44.

When the environment detection device 4 is installed, the fixing seat 31 is first inserted into the installation cavity and fixed to the base 11, and the fixing connection may be through a bolt, or through clamping, bonding, or other fixing connection manners known by those skilled in the art. In order to ensure the installation accuracy between the fixing seat 31 and the base 11, a positioning structure may be disposed on the base 11, and the fixing seat 31 is pre-positioned by the positioning structure, and then the fixing of the fixing seat and the base is locked by means known to those skilled in the art. When the fixing base 31 is connected to the base 11, the end face of the positioning seat 44 is exposed from the opening 41 formed on the end face of the front side wall of the first housing 12, so that the environment detection device 4 can collect the environment information in front of the machine body 1, and cannot be interfered by the first housing 12 in the collection process.

In one embodiment of the present disclosure, the fixing base 31 is configured to be loaded from the bottom of the machine body 1. When the fixing seat 31 is installed, the fixing seat 31 is firstly inserted into the installation cavity from the bottom of the base 11, the first lens 32 on the fixing seat 31 penetrates out of the opening of the top end face of the first housing 12, the end face of the positioning seat 44 is exposed from the opening 41 formed in the end face of the side wall in front of the first housing 12, and then the fixing seat 31 is fixedly connected to the base 11. By adopting the installation mode, when the parts on the fixed seat 31 are damaged, the fixed seat 31 can be directly detached from the lower part of the base 11, so that the parts can be replaced or maintained, and the first shell 12 is prevented from being detached.

In one embodiment of the present disclosure, referring to fig. 10 and 13, in order to prevent the second housing 13 from blocking the angle of view of the environment detection device 4, the inclination direction of the second housing 13 is selected to be opposite to the first housing 12. Referring to fig. 13 and 14, the second housing 13 is inclined from top to bottom toward the front of the body 1. The first housing 12 is located at the middle position of the second housing 13 and protrudes from the top end surface of the second housing 13, so that the upper end of the second housing 13 is disposed adjacent to the first housing 12, for example, can contact with the side wall of the first housing 12, and the lower end of the second housing 13 gradually extends downward and outward. By adopting the structure, the angle of view of the environment detection device 4 deviates from the edge of the front side of the second shell 13, the second shell 13 does not block the angle of view of the environment detection device 4, and the environment detection device 4 can conveniently acquire more comprehensive environment information in front of the machine body 1.

In an embodiment of the present disclosure, referring to fig. 3, the second lens is a fisheye lens 42, and the fisheye lens 42 can collect image information in front of the body 1, and since the field angle of the fisheye lens 42 is large, more comprehensive image information can be collected. The distance measuring unit is TOF optical module 43, can measure the distance between organism 1 and the place ahead obstacle through TOF optical module 43, because TOF optical module 43 has stronger interference immunity and can directly output the advantage of distance information, can make the measurement of distance more accurate.

In an embodiment of the present disclosure, the light-transmitting mirror 45 needs to meet the information acquisition requirements of the fisheye lens 42 and the TOF optical module 43, the light-transmitting mirror 45 includes light-transmitting glass, an AR anti-reflection coating is disposed on the inner side surface of the light-transmitting glass, and the light transmittance of the whole light-transmitting mirror 45 can be improved by disposing the AR anti-reflection coating, so as to meet the use requirements of the fisheye lens 42 and the TOF optical module 43. In an embodiment of the present disclosure, the light-transmitting mirror 45 can at least allow light with a wavelength of 420-1100nm to pass through, and the light transmittance of the light-transmitting mirror 45 is at least 93%, so as to ensure that the light of the fisheye lens 42 and the TOF optical module 43 can pass through the light-transmitting mirror 45 to perform information acquisition externally, and the performance of the fisheye lens 42 and the TOF optical module 43 is not affected. AR antireflective coatings may be formed on light transmitting glass using materials and processes well known to those skilled in the art and will not be described in detail in this disclosure. Of course, the AR antireflection coating may be disposed only on the inner side surface of the light-transmitting glass, or may be disposed on the outer side surface of the light-transmitting glass at the same time, which is not limited in this disclosure.

In one embodiment of the present disclosure, a hardening coating is disposed on the outer surface of the transparent glass, and the hardness of the transparent mirror 45 can be increased by disposing the hardening coating, and the hardening coating can be formed on the transparent glass by using materials and processes known to those skilled in the art, and the present disclosure will not be described in detail herein. The hardness of the outer surface of the light-transmitting mirror surface 45 is improved, the light-transmitting mirror surface 45 is protected, and weeds, branches or other foreign matters in the operating environment are prevented from damaging the light-transmitting mirror surface 45. In addition, when the transparent mirror surface 45 is cleaned, the transparent mirror surface 45 with higher hardness can be used for preventing the bristles from scratching the outer surface of the transparent mirror surface 45.

In one embodiment of the present disclosure, referring to fig. 3 and 13, the angle of view of the tof optical module 43 in the horizontal direction of the end surface of the positioning socket 44 is 90 ° to 100 °, and the angle of view in the normal direction of the end surface of the positioning socket 44 is 70 ° to 80 °. The angle of view of the fisheye lens 42 in the horizontal direction of the end surface of the positioning seat 44 is 150 ° to 180 °, and the angle of view in the normal direction of the end surface of the positioning seat 44 is 70 ° to 100 °. The large field angle can make the fisheye lens 42 and the TOF optical module 43 have a large field of view, so that the acquired information is more comprehensive. In addition, the arrangement positions of the fisheye lens 42 and the TOF optical module 43 can enable the field angles of the two to cover the working surface adjacent to the front of the machine body 1, so as to reduce detection blind areas, and in addition, the second shell 13 can be prevented from blocking the field angles.

In one embodiment of the present disclosure, referring to fig. 5 and 7, the tof optical module 43 includes a substrate 431, a transmitting end 432 and a receiving end 433. The substrate 431 is used to mount the transmitting terminal 432 and the receiving terminal 433, and may also be used to mount the fisheye lens 42. The emitting end 432 can emit laser outwards, and the receiving end 433 can receive the laser reflected by the front obstacle, so as to calculate the distance between the body 1 and the front obstacle. Moreover, the transmitting end 432, the receiving end 433 and the fisheye lens 42 are all mounted on the substrate 431, and all of the transmitting end 432, the receiving end 433 and the fisheye lens 42 can be mounted on the positioning seat 44 in a module mode during mounting, so that the substrate 431, the transmitting end 432, the receiving end 433 and the fisheye lens 42 are not required to be calibrated on the positioning seat 44 during mounting, and mounting difficulty is reduced.

In practical applications, the light emitted from the emitting end 432 may be received by the receiving end 433 directly, or reflected by the transparent mirror 45 and then received by the receiving end 433, so that the TOF optics module 43 obtains wrong information. In order to solve the above-mentioned light crosstalk problem, in an embodiment of the present disclosure, referring to fig. 5, fig. 6, and fig. 7, a first light-shielding cavity 4341 surrounded by a first light-shielding sidewall 434 and a second light-shielding cavity 4351 surrounded by a second light-shielding sidewall 435 are further disposed on the substrate 431. The first light-shielding sidewall 434 has a rectangular shape as a whole, and the emission end 432 is located in the first light-shielding cavity 4341 enclosed by the first light-shielding sidewall. When the emitting end 432 emits laser, the divergent light can be shielded, and the divergent light is prevented from entering the receiving end 433. The second light-shielding sidewall 435 is also generally rectangular, and the receiving end 433 may be disposed within a second light-shielding chamber 4351 defined thereby. When the crosstalk is emitted to the receiving terminal 433, the crosstalk can be blocked outside the receiving terminal 433, so that the control unit is prevented from making an erroneous judgment due to the fact that the receiving terminal 433 receives the crosstalk. Further, in order to avoid the interference of the external interference light to the emitting terminal 432, the receiving terminal 433, and the fisheye lens 42, the light-shielding layer may be coated on the transparent mirror 45, and only the transparent openings corresponding to the emitting terminal 432, the receiving terminal 433, and the fisheye lens 42 are left.

In practical applications, the fisheye lens 42 and the TOF optical module 43 both dissipate a large amount of heat in the use process, and if the heat is not dissipated in time, the fisheye lens and the TOF optical module will be damaged due to overheating. In order to solve the above problem, in an embodiment of the present disclosure, referring to fig. 3, 8 and 9, the positioning seat 44 is provided with openings penetrating through opposite sides thereof, the substrate 431 is mounted in front of the positioning seat 44, and the heat sink 46 is further provided behind the positioning seat 44. The number of the heat dissipation fins 46 may be plural, and the heat dissipation fins 46 are uniformly arranged behind the positioning seat 44, and the specific number and arrangement of the heat dissipation fins 46 may be determined according to the actual situation, which is not limited in this disclosure. The heat sink 46 may be made of metal, which has good thermal conductivity and facilitates heat dissipation, such as copper, aluminum, etc.

In the present embodiment, the heat sink 46 passes through the opening and contacts the substrate 431. When the fisheye lens 42 and the TOF optical module 43 are in a working state and emit a large amount of heat, the heat is firstly transferred to the substrate 431, the substrate 431 transfers the heat to the heat dissipation fins 46 in contact with the substrate 431, and the generated heat can be timely emitted through the heat dissipation fins 46, so that the fisheye lens 42 and the TOF optical module 43 are prevented from being overheated and damaged in the using process. Of course, the heat sink 46 may also contact the substrate 431 through the heat conducting portion 47, the heat conducting portion 47 may be made of a material such as a heat conducting glue, and the heat sink 46 and the substrate 331 may be connected more tightly through the heat conducting portion 47, so that the heat dissipation effect is better.

In one embodiment of the present disclosure, referring to fig. 10, in order to facilitate the dissipation of heat dissipated from the heat dissipation fins 46 in the first housing 12 to the external environment, a heat dissipation hole 121 is disposed on a front side wall of the first housing 12. In this embodiment, the heat dissipation hole 121 penetrates through the front sidewall of the first housing 12 and communicates with the mounting cavity. In this embodiment, the heat dissipation holes 121 are distributed on the left and right sides of the environment detection device 4, and the inside of the first casing 12 can be communicated with the external environment through the heat dissipation holes 121, so that the heat dissipated by the heat dissipation fins 46 in the first casing 12 can be dissipated to the external environment through the heat dissipation holes 121. In addition, the heat dissipation hole 121 is disposed on the front side wall of the first housing 12, so that when the mobile device travels forward, the airflow can enter the installation cavity of the first housing 12 through the heat dissipation hole 121, and the heat can be dissipated quickly.

Application scenario 1

Taking a mobile device as an example of a lawn mower, the image capturing device 3 extends to a front end surface of the top of the lawn mower body 1, and the top end surface of the lawn mower body 1 may be an operation surface, and the image capturing device 3, such as a display screen, a touch screen, and a touch button, is disposed in a front position of the operation surface.

The mower is driven by the driving device 2 on the mower body 1 to run and operate on the lawn, the panoramic image of the surrounding environment is collected through the first lens 32 in the image acquisition device 3, and the collected panoramic image is transmitted to the control unit for processing. After receiving the image sent by the image acquisition device 3, the control unit analyzes information in the image, for example, AI identification is performed, so as to obtain security information around the mower.

The angle of view of the image pickup device 3 is deviated from the edge of the front side of the body 1, which causes the edge of the front side of the body not to block the angle of view of the image pickup device 3, whereby the image pickup device 3 can obtain a more comprehensive panoramic image. Under the condition that the field angle of the image acquisition device 3 is limited, more comprehensive panoramic image information can be obtained as far as possible, for example, all image information in the advancing direction of the mower can be obtained, and after human shape recognition is carried out, potential safety hazards caused by impacting a user on the mower can be avoided.

Application scenario 2

Taking a self-moving device as an example of a lawn mower, the environment detection device 4 is obliquely installed on the machine body 1 and exposed from a side wall in front of the machine body 1, and is inclined in a direction gradually from top to bottom toward the rear of the machine body 1.

The mower is driven by the driving device 2 on the mower body 1 to run and work on the lawn, collects image information in front of the mower body 1 and distance information between the mower body 1 and an obstacle in front through the fisheye lens 42 and the TOF optical module 43 in the environment detection device 4, and transmits the collected image information and distance information to the control unit for processing. After receiving the image information and the distance information transmitted from the environment detection device 4, the control unit may analyze the information, for example, may perform human shape recognition, obstacle recognition, and the like to obtain obstacle information in front of the mower body, and then control the mower to change the traveling direction according to the obstacle information to avoid a front obstacle.

The fisheye lens 42, the TOF optical module 43 and the fixing seat 31 are installed on the machine body 1 in a module mode, so that the fisheye lens 42 and the TOF optical module 43 can be prevented from being calibrated on the machine body 1, and the installation difficulty is low. After the module is installed on the machine body 1, the positioning seat 44 of the fisheye lens 42 and the TOF optical module 43 exposes out of the front side wall of the first housing 12 and is arranged obliquely, so that the fisheye lens 42 and the TOF optical module 43 can be inclined downwards to cover the working surface of the position close to the machine body 1, thereby reducing the detection blind area of the fisheye lens 42 and the TOF optical module 43 near the self-moving device, ensuring the minimum interference of the first housing 12 and other parts of the self-moving device on the viewing angle, realizing the AI identification and obstacle avoidance functions of the fisheye lens 42 and the TOF optical module 43 to the greatest extent under the permission of the whole machine structure, and avoiding the performance loss caused by the fact that most of the viewing angles of the fisheye lens 42 and the TOF optical module 43 are projected to buildings and sky.

Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

1. An autonomous mobile device, comprising:

the engine body (1) comprises a base (11) and a first shell (12) which is fixed on the base (11) and forms an installation cavity with the base (11), and an operation surface is formed at the top of the first shell (12); the front is taken as the advancing direction of the machine body (1), and an opening is formed in the position, located in front of the operation surface, of the top of the first shell (12);

a drive device (2), the drive device (2) being configured to drive the machine body (1) in motion on a work surface;

an image capturing device (3), the image capturing device (3) being configured to capture a panoramic image around the body (1); the image acquisition device (3) is fixed in the installation cavity and extends out of the opening of the first shell (12) to be higher than the operation surface of the first shell (12); the image acquisition device (3) is positioned on one side of the front of the machine body (1) and is configured to deviate the angle of view of the image acquisition device facing the front of the machine body (1) from the edge of the one side of the front of the machine body (1).

2. The self-moving device according to claim 1, wherein the image acquisition apparatus (3) comprises a fixed seat (31), and a first lens (32) connected to the top of the fixed seat (31); the fixed seat (31) and the first lens (32) are arranged on the machine body (1) in a module mode.

3. The self-moving device of claim 2, wherein the first lens (32) is vertically installed on the top of the fixed seat (31), and the central axis of the first lens (32) is perpendicular to the top end face of the fixed seat (31).

4. The self-moving apparatus according to claim 2, wherein the field angle of the first lens (32) is 40 ° to 100 °.

5. The self-moving device according to claim 2, characterized in that the first lens (32) is located in a central position of the body (1) in a direction perpendicular to the advancing direction of the body (1).

6. The self-moving device according to claim 2, characterized in that the body (1) is provided with charging pole pieces (14) on opposite sides of the first lens (32); in the advancing direction of the machine body (1), the positions of the first lens (32) and the charging pole piece (14) are configured to enable the first lens (32) to be perpendicular to the central axis of the top of the fixed seat (31) and correspond to the charging pole piece (14).

7. The self-propelled device according to claim 2, characterized in that said operating face of the top of said first casing (12) is approximately plane.

8. The self-moving device according to claim 2, characterized in that the top of the fixed base (31) is provided with a mounting base (311); a sealing gasket (312) is arranged between the end head of the first lens (32) and the mounting seat (311), and the first lens (32) and the mounting seat (311) are locked through a screw (313).

9. The self-moving device of claim 8, wherein the fixed seat (31) has an inner cavity (314), and a through hole (3111) for a first lens (32) to penetrate is formed in the mounting seat (311); the lens module further comprises a circuit board (35) located in the inner cavity (314), wherein the circuit board (35) is connected with the first lens (32) in a communication mode through a lead.

10. A self-moving apparatus according to claim 9, wherein the holder (31) is approximately L-shaped and comprises a vertical section (315) extending in a vertical direction with respect to the base (11), and a horizontal section (316) located at a lower end of the vertical section (315) and extending in a horizontal direction with respect to the base (11); the first lens (32) is mounted on top of the vertical section (315), and the horizontal section (316) is configured to be mounted on the base (11).

11. The self-moving apparatus according to claim 10, wherein the horizontal section (316) is open at a lower end thereof, further comprising a connection base (33) covering the opening at the lower end of the horizontal section (316), the circuit board (35) being mounted on the connection base (33); the connecting seat (33) is configured to be positionally mounted on the base (11).

12. The self-moving apparatus according to claim 11, wherein a heat radiating fin (34) is provided on a lower end surface of the connection holder (33).

13. The self-moving device according to claim 11, wherein the fixed base (31) is configured to be loaded from the bottom of the body (1), the connecting base (33) is mounted on the base (11), and the first lens (32) on the fixed base (31) is configured to pass through an opening on the top of the first shell (12).

14. The self-moving apparatus according to claim 2, wherein the driving device (2) comprises a front wheel (21) and a rear wheel (22) provided on the base (11), the first lens (32) being located at a position above the front wheel (21); the first lens (32) is perpendicular to the central axis of the top of the fixed seat (31), and the distance between the first lens and the rotating axis of the front wheel (21) is less than 10cm.

15. The self-moving apparatus according to claim 14, further comprising a second housing (13) connected to the base (11), the second housing (13) being disposed around the first housing (12), the first housing (12) protruding from a top of the second housing (13); the second shell (13) gradually inclines to the outer side of the machine body (1) from top to bottom.

16. The self-propelled device of any of claims 1 to 15, wherein the self-propelled device is a self-propelled lawnmower; the machine body (1) is also provided with an antenna device protruding out of the top end face of the machine body (1); the image acquisition device (3) is only lower than the antenna device on the top end face of the machine body (1).