WO2021139809A1

WO2021139809A1 - Self-moving apparatus

Info

Publication number: WO2021139809A1
Application number: PCT/CN2021/071072
Authority: WO
Inventors: 朱松; 陈亚扣; 何明明
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2020-01-09
Filing date: 2021-01-11
Publication date: 2021-07-15
Also published as: CN113099820A; WO2021139402A1; CN113099820B

Abstract

A self-moving apparatus, comprising a housing (120), a walking module (150), a working module (17), a control module (160), an electrical assembly (22), a protective shell (23) covering the electrical assembly (22) to prevent water from entering the electrical assembly (22), and a heat dissipation assembly (3) for conducting heat generated by the electrical assembly (22) to the outside of the protective shell (23). The heat dissipation assembly (3) comprises a front-end heat dissipation assembly (31) arranged inside the protective shell (23) and a rear-end heat dissipation assembly (32) at least partially exposed to the outside of the protective shell (23). The front-end heat dissipation assembly (31) is connected to the electrical assembly (22) and the rear-end heat dissipation assembly (32) so as to conduct the heat from the electrical assembly (22) to the rear-end heat dissipation assembly (32). One end of the rear-end heat dissipation assembly (32) contacts the front-end heat dissipation assembly (31), and the other end contacts a flowing medium so as to conduct the heat from the rear-end heat dissipation assembly (32) to the outside of the protective shell (23), thereby avoiding the performance degradation or burning-out of the electrical assembly (22).

Description

Self-mobile

This application claims the priority of the Chinese patent application whose application date is January 9, 2020, application number is 202010021464.6 and application date is April 24, 2020, application number is 202010331446.8, the entire content of which is incorporated into this application by reference in.

Technical field

The invention relates to a self-moving device.

Background technique

The maintenance of lawns requires a lot of human labor, including constant watering, fertilizing and mowing the lawn to maintain a healthy grass cover. Although it is sometimes possible to handle watering and fertilization with a minimum of labor through sprinklers or watering systems, the mowing process is a process that requires a lot of physical labor from the gardener.

Designers and manufacturers of lawn mowers have tried for some time to make autonomous lawn mowers to replace traditional push-pull lawn mowers. However, the immature technologies such as work area recognition, map construction, and walking path planning have left the operating performance of smart lawn mowers to be improved.

Therefore, it is necessary to design a new technical solution to solve the above technical problems.

Summary of the invention

The purpose of the present invention is to provide an outdoor self-moving device with heat dissipation function.

In order to achieve the above objective, the present invention discloses a self-moving device, which moves and works in a working area, which includes:

case;

A walking module for driving the self-moving device to move;

Work module, used to perform preset work tasks;

And, the control module is electrically connected to the walking module and the working module to control the self-moving device to automatically move and work in the working area;

The self-moving device includes an electrical component, a protective shell used to cover the electrical component to prevent water from entering the electrical component, and a heat dissipation device used to export the heat generated by the electrical component to the outside of the protective shell The heat dissipation assembly includes a front heat dissipation assembly arranged in the protective shell and a rear heat dissipation assembly at least partially exposed outside the protective shell, and the front heat dissipation assembly connects the electrical component and the rear heat dissipation Component to conduct the heat in the electrical component to the back-end heat-dissipating component, one end of the back-end heat-dissipating component is in contact with the front-end heat-dissipating component, and the other end is in contact with the flowing medium, so as to transfer the back-end heat-dissipating component The heat in the heat sink is discharged to the outside of the protective shell.

Further, the casing includes a bottom of the casing facing the ground, and the rear end heat dissipation assembly is at least partially exposed to the air below the bottom of the casing.

Further, the self-moving device is an intelligent lawn mower, the working module is a cutting module that performs cutting work, the cutting module is arranged at the bottom of the housing, and when the cutting module performs cutting work, it drives the The air flows under the bottom of the housing.

Further, the rear end heat dissipating assembly includes a heat dissipating part directly connected to the front heat dissipating assembly, and the heat dissipating part penetrates the inner and outer surfaces of the protective shell.

Further, the heat dissipation part is the protective shell or a part of the protective shell.

Further, the heat dissipation part is made of metal material.

Further, one end of the heat dissipation portion is in contact with the flowing medium.

Further, the rear-end heat dissipation assembly further includes a heat-conducting member arranged outside the protective shell, one end of the heat-conducting member is in contact with the heat dissipation portion, and the other end is in contact with the flowing medium.

Further, the front end heat dissipation component includes a heat conduction layer in contact with the surface of the electrical component.

Further, the front end heat dissipation assembly further includes a metal heat sink connected to the heat conducting layer, and the metal heat sink is connected to the heat dissipation portion.

Further, the thermally conductive layer includes a thermally conductive silicone gasket.

Further, the self-moving device includes a sensor assembly arranged on the housing, the sensor assembly includes a sensor for acquiring predetermined information and an arithmetic module for processing the information acquired by the sensor to obtain an arithmetic result, so The control module controls the self-moving device to automatically move and work in the work area according to the calculation result of the calculation module, the electrical component includes the calculation module arranged in the protective shell, and the heat dissipation component is used for The heat of the computing module is transferred to the outside of the protective shell.

Further, the protective shell includes a sensor shell at least wrapped around the computing module.

Further, the sensor housing is made of a metal material, the sensor housing is at least partially exposed to the air outside the housing, and the front end heat dissipation assembly is in contact with the sensor housing to transfer the heat derived from the front end heat dissipation assembly Onto the sensor housing.

Further, the sensor housing is made of metal material, the housing includes a sensor accommodating bin for accommodating the sensor housing, and the rear end heat dissipation assembly includes a heat dissipation portion provided on the sensor housing, and is at least partially exposed to the sensor housing. For the heat-conducting element in the sensor accommodating bin, one end of the heat-conducting body is in contact with the heat dissipation part, and the other end is exposed to the air outside the housing.

Further, the sensor housing is made of a metal material, the housing includes a sensor accommodating bin for accommodating the sensor housing, and the rear end heat dissipation assembly includes a heat dissipation portion provided on the sensor housing and a contact with the air outside the housing. A heat-conducting body connected to each other, the inner wall of the sensor accommodating bin is provided with a heat-dissipating channel communicating with the sensor accommodating bin, and the heat-dissipating channel is arranged between the heat dissipating part and the heat conducting body so that the heat dissipating part The heat on the surface is transferred to the heat conductor through the heat dissipation channel.

Further, the sensor component includes a vision sensor component, the sensor is an image acquisition device for collecting environmental images, and the arithmetic module is used to generate the environment of the self-mobile device according to the environmental image collected by the image acquisition device. Information, the control module controls the self-mobile device to automatically move and work according to the environmental information.

Further, the sensor assembly is at least partially exposed to the air above the housing.

In the above-mentioned embodiment of the present invention, the heat dissipation component is provided to dissipate the electrical components in the protective case, thereby avoiding damage to the electrical components or performance degradation.

The present invention also discloses a technical solution to provide an intelligent lawn mower that can move and work in a working area enclosed by a boundary, including: a housing; a walking module for driving the intelligent lawn mower to move; and a cutting module , Used to perform cutting work; an energy module, used to provide energy for the smart lawn mower; and, a control module, electrically connected to the walking module and the cutting module, to control the smart lawn mower to move and work in the working area; characterized by , The smart lawn mower further includes a sensor storage bin arranged on the housing, and a sensor assembly detachably installed in the sensor storage bin, the sensor assembly can sense a specific working condition in the work area and The intelligent lawn mower is controlled to perform corresponding actions through the control module; at least one of the sensor storage bin and the sensor assembly includes a heat dissipation assembly to perform heat dissipation processing on the sensor assembly. Further, the sensor storage compartment includes a sealing device to perform waterproof treatment on the sensor assembly.

Further, the heat dissipating assembly includes a first heat dissipating assembly disposed in the sensor receiving compartment, the first heat dissipating assembly includes a heat conduction unit, the heat conduction unit includes an air inlet and an air outlet, the air inlet and the outlet The tuyere communicates to form a passage for air to pass through.

Further, the sensor assembly includes a vision sensor assembly.

Further, the sensor component further includes a computing module and a second heat dissipation component, and the second heat dissipation component is at least partially connected to the computing module.

Further, the second heat dissipation component includes a heat conduction layer and a metal plate heat sink, and the heat conduction layer is disposed between the computing module and the metal plate heat sink.

Further, the sensor storage compartment is at least partially constructed by a metal shell.

Compared with the prior art, the beneficial effect of this solution of the present invention is that by setting the sensor storage bin on the smart lawn mower, the user can install the sensor assembly for the smart lawn mower as needed. By providing a heat dissipation component for at least one of the sensor storage bin and the sensor assembly, the sensor assembly installed in the smart lawn mower can be dissipated, and the temperature of the sensor assembly can be prevented from being too high and affecting the working effect of the sensor assembly.

Description of the drawings

The objectives, technical solutions, and beneficial effects of the present invention described above can be achieved through the following drawings:

Fig. 1 is a perspective view of an intelligent lawn mower according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of a sensor assembly according to an embodiment of the present invention.

Fig. 3 is a schematic diagram of a sensor storage bin according to an embodiment of the present invention.

Fig. 4 is a schematic diagram of a self-moving device in an embodiment of the present invention.

Detailed ways

The detailed description and technical content of the present invention are described below in conjunction with the accompanying drawings. However, the accompanying drawings are only provided for reference and description, and are not used to limit the present invention.

The invention discloses a self-moving device 1 that automatically moves and works in a work area, especially a self-moving device 1 that automatically moves and works outdoors. As shown in FIGS. 1 to 4, the self-moving device may be a smart lawn mower 100. In other embodiments, the self-moving device 1 may also be an automatic leaf sweeper, an automatic snow sweeper, a multifunctional machine, and so on. The self-moving device 1 includes a housing 120, a walking module 150 for driving the self-moving device to move, a working module for performing work tasks, and a working module electrically connected to the walking module and the working module 17, for controlling the self-moving device to work A control module 160 that automatically moves and works in the area. Taking a smart lawn mower as an example, its working module 17 is a cutting module 170 that performs cutting tasks.

As shown in FIG. 4, the self-mobile device 1 includes an electrical component 22, a protective shell 23 for covering the electrical component 22 to prevent water from entering the electrical component, and a protective shell 23 for dissipating the heat generated by the electrical component 22 to the outside of the protective shell 23 The heat dissipation component 3. Among them, the electrical component 22 is an energy-consuming component that needs to be energized. It can be a computing module 220 with a relatively large amount of computing on the mobile device 1, for example, computing chips, such as chips that perform vision computing, etc., because of these computing modules The amount of calculation is very large, especially the calculation modules with a large amount of calculation in orderly execution, these modules will continue to generate a lot of heat. The electrical component 22 can also be other high-energy-consuming energy-consuming components, such as an LED supplementary light module, etc., which also generate a lot of heat. The calculation modules mentioned above all need to consume electric energy during the working process. However, since the self-mobile device is moving and working outdoors, it often encounters bad weather such as rain. Because the calculation module is powered on, if rainwater enters, It will cause damage to the computing module. In order to prevent rainwater from entering the computing module, therefore, in this embodiment, a protective shell 23 covering the outside of the electrical component 22 to prevent water from entering the electrical component is provided, so as to prevent the electrical component from burning out. The protective shell 23 may be a part of the shell 120 or a separate part independent of the shell 120. In short, as long as it is a shell covering the electrical component 22 to prevent rainwater from entering the electrical component. In order to be waterproof, the protective shell 23 must be sealed, but the sealed protective shell 23 will cause the heat generated by the electrical components to be unable to dissipate outside the protective shell 23. Therefore, it is necessary to add a heat dissipation component 3 that can conduct the heat of the electrical component 22 to the outside of the protective shell 23.

The heat dissipation assembly 3 includes a front end heat dissipation assembly 31 disposed in the protective shell and a rear end heat dissipation assembly 32 at least partially exposed outside the protective shell. The front end heat dissipation assembly 31 connects the electrical assembly 22 and the rear end heat dissipation assembly 32 to connect the electrical assembly 22 in The heat of the rear end heat dissipation component 32 is led out to the rear end heat dissipation assembly 32, one end of the rear end heat dissipation assembly 32 is in contact with the front end heat dissipation assembly 31, and the other end is in contact with the flowing medium, so as to export the heat in the rear end heat dissipation assembly 32 to the outside of the protective shell 23. In this embodiment, the front end heat dissipating component 31 conducts heat from the electrical component 22 to the back end heat dissipating component 32, and then the back end protection component 32 conducts the heat from the inside of the protective shell 23 to the outside of the protective shell 23 to achieve protection The shell can be sealed, and heat can be discharged to prevent the heat from being unable to dissipate in the protective shell, causing the performance of the electrical components to decrease or burn out.

The housing 120 includes a housing bottom 125 facing the ground, and the rear end heat dissipation component 32 is at least partially exposed to the air below the housing bottom 125 to conduct heat of the electrical components 22 to the air below the housing 120. Because the self-mobile device 1 moves and works outdoors, the heat above it is usually high due to the light, and the temperature below it is usually low because it is blocked by the casing 120, and the heat is exported to the air below the casing. The cold air can take away the heat from the back-end cooling components.

Especially when the mobile device 1 is a smart lawn mower 100, its working module 17 is a cutting module 170 that performs cutting work. The cutting module 170 is arranged at the bottom of the housing. The cutting module 170 includes a high-speed rotating cutter head and a The blades on the cutter head, when the cutting module 170 performs cutting work, the cutter head rotates at a high speed to drive the air flow under the bottom of the housing, which can further accelerate the cold air under the housing to take away the heat from the rear end heat dissipation assembly.

The rear heat dissipation component 32 includes a heat dissipation portion 321 directly connected to the front heat dissipation component, and the heat dissipation portion 321 penetrates the inner and outer surfaces of the protective shell 23. The heat dissipation portion 321 may be the protective shell 23 or a part of the protective shell 23. The heat dissipation portion 321 is made of a metal material. One end of the heat dissipation portion 321 is exposed in the protective shell 23 and one end is in contact with the flowing medium. For example, the heat dissipation portion 321 is the protective shell itself, and the protective shell is made of metal material. Its inner surface is one end of the heat dissipation portion 321, and its outer surface is the other end of the heat dissipation portion, and its outer surface is in contact with the flowing medium. Specifically, the outer surface can be exposed to the air, that is, in contact with the air flowing outside.

The back-end heat dissipation component 32 may only consist of the heat dissipation part 321. At this time, one end of the heat dissipation part 321 is in contact with the electrical component, and the other end is directly exposed to contact with the flowing medium. The rear end heat dissipation assembly 32 may also include not only a heat dissipation portion, as shown in FIG. 4, but also a heat conduction member 322 provided outside the protective shell 23. One end of the heat conduction member 322 is in contact with the heat dissipation portion 321, and the other end is The flowing medium contacts. The heat-conducting element can be a single component or multiple components that can conduct heat transfer.

The front end heat dissipating component 31 includes a thermally conductive layer 311 in contact with the surface of the electrical component 22. The thermally conductive layer may be a thermally conductive silicone gasket or other thermally conductive medium. It may be a single component or multiple components that can transfer heat. The front-end heat dissipation assembly 31 may only include the heat-conducting layer 311, or may also include a metal heat sink 230 connected to the heat-conducting layer. For details, refer to FIG. 2 where the metal heat sink 230 is connected to or close to the heat dissipation portion to dissipate heat. Transfer to the heat dissipation part 321. In an embodiment, the mobile device 1 includes a sensor assembly 200 disposed on the housing 120, and the sensor assembly 200 includes a sensor 21 for acquiring predetermined information and an arithmetic module 220 for processing the information acquired by the sensor 21 to acquire a calculation result, The control module controls the self-mobile device to automatically move and work in the work area according to the calculation result of the calculation module 220. Among them, the computing module 220 is an energy-consuming module, which requires power supply. The mobile device 1 includes a protective shell 23 provided outside the computing module 220. The electrical component 22 is an arithmetic module 220 arranged in the protective case, and the heat dissipation component 3 is used to transfer the heat of the arithmetic module to the outside of the protective case 23. In this embodiment, the sensor assembly 200 further includes a sensor housing 230 covering the computing module. The computing module 220, the sensor 21, and the sensor housing 230 together form an independent sensor assembly 200, and the sensor housing 230 is a part of the sensor assembly. In other embodiments, the arithmetic module 220 is only electrically connected to the sensor 21, but the arithmetic module 220 is separately disposed in the casing at other places away from the sensor, for example, disposed on the main board in the casing 120, or disposed in the casing. Other circuit boards that are electrically connected to the main board, or are installed in other places. In this embodiment, the protective shell may be composed of a part of the shell, that is, the shell includes a protective shell covering the computing module; the protective shell 23 covering the computing module 220 may also be separately provided.

Taking the sensor assembly 200 including the sensor housing 230 as an example, the protective housing 23 includes the sensor housing 230 at least covering the computing module. As mentioned above, the rear-end heat dissipation assembly 32 may only include a protective shell or a part of the protective shell, or may further include a heat-conducting member in contact with the protective shell.

Take the back-end heat dissipation component 32 as an example of a protective shell 23, and the protective shell 23 is a sensor shell 230, the sensor shell 230 is made of metal, the sensor shell is at least partially exposed to the air outside the shell, the front-end heat dissipation component 31 and the sensor shell 230 Contact to transfer the heat derived from the front end heat dissipation component 31 to the sensor housing 230.

Taking the back-end heat-dissipating component 32 further including a heat-conducting element 322 as an example, the sensor housing 230 is made of metal material, the housing 120 includes a sensor accommodating bin 130 for accommodating the sensor housing, and the back-end heat-dissipating component 32 includes a heat dissipation portion 321 provided on the sensor housing 230. And at least partly exposed to the heat-conducting member 322 in the sensor receiving compartment, one end of the heat-conducting body 322 is in contact with the heat dissipation portion 321, and the other end is exposed to the air outside the housing 120.

In the above-mentioned embodiment, the heat-conducting element 322 is in direct contact with the heat dissipation portion 321 as an example. In other embodiments, the heat-conducting element 322 that is not in direct contact with the heat dissipation portion 321 may also be provided. In this embodiment, the sensor housing is made of metal material, the housing 120 includes a sensor storage compartment 130 for accommodating the sensor housing, and the rear end heat dissipation assembly 32 includes a heat dissipation portion 321 provided on the sensor housing and a heat conductor communicating with the air outside the housing 322. The inner wall of the sensor storage compartment 130 is provided with a heat dissipation channel communicating with the sensor storage compartment, and the heat dissipation channel is arranged between the heat dissipation portion and the heat conductor, so that the heat on the heat dissipation portion is transferred to the heat conductor through the heat dissipation channel.

The aforementioned sensor assembly 200 may be a vision sensor assembly, a high-precision positioning sensor assembly, and so on. Taking a vision sensor component as an example, in one embodiment, the sensor component 200 includes a vision sensor component, the sensor 21 is an image acquisition device 210 for collecting environmental images, and the arithmetic module 220 is used to generate self-generated images based on the environmental images collected by the image acquisition device 210. For the environmental information of the mobile device 1, the control module controls the mobile device to automatically move and work according to the environmental information. Specifically, the calculation module 220 may perform calculations on the environment image to identify whether the front object is an obstacle, etc., identify whether there is a working area boundary in front, etc., and the control module may control the movement and work of the mobile device according to the identification structure. Of course, the arithmetic module 220 may also only generate primary data for processing the environment image, and the control module generates the recognition result. In this embodiment, because the vision sensor is used to collect environmental images, the image pickup device in the sensor assembly is at least partially exposed to the air above the housing. Since the sensor assembly is at least partially exposed to the air above the housing, and the self-mobile device is working in an outdoor work area, the temperature of the sensor assembly rises faster due to the influence of sunlight, and it is less likely to dissipate heat. At this time, it is particularly important to provide a heat dissipation component, especially in the above-mentioned embodiment, the solution that the heat dissipation component conducts heat to the bottom of the housing is more effective.

In an embodiment, as shown in FIG. 1, a perspective view of a smart lawn mower 100 according to an embodiment of the present invention is shown. The intelligent lawn mower 100 can move and work in the working area enclosed by the boundary, and it includes: a housing 120; a walking module 150 to drive the intelligent lawn mower 100 to move; a cutting module 170 to perform the cutting of the intelligent lawn mower 100 Work; the energy module 140 provides energy for the smart lawn mower 100 for the smart lawn mower 100 to move and work. Specifically, the energy module 140 includes a battery pack. When the energy stored by the energy module 140 is low, the smart lawn mower 100 can return to the docking station to replenish energy, and leave the charging station after the charging is completed; and, the control module 160, which is electrically connected to the walking module 150 and the cutting module 170, can control the movement and work of the intelligent lawn mower 100, specifically, control The module 160 can control the smart lawn mower 100 to perform different movement and work strategies according to different scenarios; specifically, the working area of the smart lawn mower 100 is surrounded by boundaries. Common boundaries include the boundary line through which electric current generates a magnetic field, Including boundary tags with identifiable information, virtual boundaries formed by multiple boundary positioning data, etc., the smart lawn mower 100 includes various types of sensors corresponding to them to identify various boundary types in different scenarios, for example, magnetic sensors recognize magnetic fields. The area is used to determine the working area, and the visual sensor recognizes the boundary pattern to determine the working area, or obtains the current positioning information of the intelligent lawn mower and compares the boundary position information to determine that the intelligent lawn mower is inside the work area. When the smart lawn mower 100 is walking in the working area, it can plan the walking path according to the preset walking logic, and continuously detect different information in the working area during the walking process to determine whether the walking path needs to be adjusted in time, for example, when encountering obstacles Circumvention measures are taken during the physical environment. Therefore, the smart lawn mower 100 needs to be equipped with a variety of sensors to adapt to the complex working conditions of the work area. In this embodiment, the smart lawn mower 100 further includes: a sensor storage compartment 130 arranged on the housing 120, and a sensor assembly 200 detachably installed in the installation compartment 130, and the intelligent lawn mower 100 can be adapted A variety of different sensor components 200 implement different recognition functions to influence the movement and working strategies of the smart lawn mower 100. Specifically, the sensor assembly 200 may include a visual sensor, which visually recognizes the grass quality, shadow area, and obstacles in the working area; may include an ultrasonic sensor, which transmits ultrasonic signals and receives echo signals to determine whether the smart lawn mower 100 encounters To the obstacle and perform the avoidance function when it is judged to encounter the obstacle; and also include other similar sensors that recognize the working area. These sensors can recognize the specific working conditions in the working area, and according to the intelligent lawn mower 100 prediction Set the processing logic and execute the corresponding actions.

Generally speaking, the sensor assembly 200 can detect specific conditions in the work area, such as obstacles in front. For example, the sensor assembly 200 can detect the presence of objects in front of the visual sensor. The sensor assembly 200 also includes a computing module 220 to identify the sensor. The received information is processed to determine what kind of situation is currently encountered. The arithmetic module 220 usually has a relatively large amount of processing. For example, the visual sensor continuously extracts pictures in the working environment. The arithmetic module 220 needs to process these pictures to determine whether a specific situation has occurred, and when a specific situation occurs, the The information is transmitted to the control module 160 of the intelligent lawn mower 100 to control the intelligent lawn mower 100 to perform corresponding actions. Specifically, the arithmetic module 220 usually includes a processing chip. When the arithmetic module 220 is working, it will continuously generate heat. This heat needs to be processed to prevent the sensor assembly 200 from being unable to work normally due to excessive temperature, thereby affecting the smart lawn mower. 100 work stability and accuracy. Specifically, the smart lawn mower 100 includes a housing 120 and a sensor storage compartment 130 disposed on the housing 120. The sensor assembly 200 can be detachably disposed in the sensor storage compartment 130, and the sensor storage compartment 130 At least one of the sensor assembly 200 and the sensor assembly 200 includes a heat dissipation assembly to perform heat dissipation processing on the sensor assembly 200 to ensure its working stability.

In this embodiment, the sensor assembly 200 is disposed in the sensor storage compartment 130. The sensor assembly 200 usually includes more electronic components, and the smart lawn mower 100 is an outdoor work tool. If no protective measures are taken for the sensor assembly 200, It will affect the working life of the sensor assembly 200 and may cause a short circuit. Specifically, the sensor storage compartment 130 includes a sealing device to protect the sensor assembly 200 from moisture pollution. Specifically, the sensor storage compartment 130 includes a recess, the sensor assembly 200 can be installed in the recess, the sealing device includes an upper cover, the upper cover can cover the recess, specifically, the sealing device further includes a waterproof sealing strip arranged on the edge of the upper cover In order to prevent moisture from entering the sensor storage compartment 130 and affecting the stable operation of the sensor assembly 200.

In this embodiment, at least one of the sensor storage compartment 130 and the sensor assembly 200 includes a heat dissipation assembly. FIG. 3 is a schematic diagram of a sensor storage bin according to an embodiment of the present invention. Specifically, the heat dissipation assembly includes a first heat dissipation assembly disposed in the sensor receiving compartment 130, the first heat dissipation assembly includes a heat conduction unit, and the heat conduction unit includes an air inlet 131 and an air outlet 132 through which air can pass. 131 is connected to the air outlet 132 to form a channel. Specifically, the heat conduction unit includes at least one heat conduction channel. The heat conduction channel has an air inlet 131 and an air outlet 132. Air enters the heat conduction channel through the air inlet 131 and flows out of the channel through the air outlet 132. The sensor assembly 200 releases its heat to the sensor. In the storage compartment 130, the sensor storage compartment 130 releases heat through the heat conduction unit to ensure the stable operation of the sensor assembly 200.

2 is a schematic diagram of a sensor assembly according to an embodiment of the present invention. The sensor assembly 200 includes a sensor. The sensors can be of various types. Specifically, in this embodiment, the sensor is a vision sensor, and the sensor assembly 200 is a vision sensor assembly 200. Specifically, the vision sensor assembly 200 includes an image acquisition device 210 for acquiring image information of a working area, and extracting characteristic information by analyzing the image, judging and processing the characteristic information to determine the current working status, and determining whether it is necessary to perform pre-processing. Set up operation. For example, when the smart lawn mower 100 is working, it continuously collects the environment of the working area through the visual sensor, analyzes the image collected by the visual sensor, and when a preset image appears, it is judged as an obstacle, and the judgment is The information is transmitted to the control module 160 of the smart lawn mower 100, and the control module 160 controls the smart lawn mower 100 to perform preset actions. For example, the control module 160 controls the smart lawn mower 100 to turn to perform obstacle avoidance actions. After the smart lawn mower 100 performs the preset action, the sensor assembly 200 continues to detect the environment information of the working area, and when the preset situation is detected again, it controls the smart lawn mower 100 to perform the preset action again. Specifically, the sensor assembly 200 can work alone to determine whether a preset condition occurs. Preferably, the sensor assembly 200 can work together with other components of the smart lawn mower 100, for example, the sensor assembly 200 and the positioning module work together to determine the Preset the location where the work situation occurs.

The sensor assembly 200 includes a second heat dissipation assembly, and the second heat dissipation assembly is at least partially connected to the computing module 220. The arithmetic module 220 is used to process the identification information of the sensor assembly 200. Therefore, the arithmetic module 220 is a part where the sensor assembly 200 generates a lot of heat. The focus of the heat dissipation of the sensor assembly 200 is the heat dissipation of the arithmetic module 220. The arithmetic module 220 usually includes a chip, and processes the information detected by the sensor to determine whether a preset condition occurs. Specifically, the second heat dissipation component includes a thermally conductive layer 240 and a metal plate heat sink 230, and the thermally conductive layer 240 is disposed between the computing module 220 and the metal plate heat sink 230. Specifically, the thermally conductive layer 240 includes at least one of a thermally conductive silicone gasket or a thermally conductive gel, and the metal plate heat sink 230 includes a copper plate heat sink. Specifically, the heat conduction layer 240 transfers the heat generated by the computing module 220 to the metal plate heat sink 230, which generally has a larger surface area and good heat dissipation capacity. In other embodiments, the second heat dissipation component may also include a graphene heat radiation patch, which is an ultra-thin heat dissipation material, which can effectively reduce the heat density of the heat source to achieve rapid heat transfer in a large area and heat dissipation in a large area. , The graphene heat radiation patch can choose different thickness, can also use different shapes to meet the structural requirements of the sensor assembly, by using the graphene heat radiation patch, its volume is small, the texture is soft and easy to process, almost no Increase the weight of the sensor component, and at the same time, the heat dissipation effect is better, and the position setting is highly random. In other embodiments, the second heat dissipation component includes a heat pipe to dissipate heat. Specifically, a liquid-filled thermally conductive copper pipe is covered on the sensor component. When the calculation module generates heat, the liquid in the heat pipe absorbs the heat and vaporizes. The gas passes through the heat pipe and reaches the heat dissipation area to cool down and condense, and then return to the computing module part again, and effectively dissipate heat from cycle to cycle. By adopting this technology, the efficiency of heat dissipation can be effectively improved.

The sensor assembly 200 can be detachably installed in the sensor storage compartment 130, and the heat of the sensor assembly 200 can be released to the sensor storage compartment 130, and the sensor storage compartment 130 is at least partially constructed by a metal shell. Specifically, metal has a good heat dissipation function, and the sensor receiving bin 130 is at least partially placed outside in the air, and the heat is transferred to the air through the metal shell, so as to dissipate the sensor assembly 200. Specifically, the sensor storage compartment 130 may include a heat conduction unit and a metal casing at the same time, so that the sensor storage compartment 130 can dissipate heat through both air circulation and heat exchange between the metal casing and the air, and the heat dissipation efficiency is high.

Specifically, the sensor assembly 200 can be a standard part or a non-standard part. When the sensor assembly 200 is a standard part, the entire sensor assembly 200 can be directly installed in the sensor housing 130, and the sensor assembly 200 can be dissipated through the sensor housing 130. deal with. When the sensor assembly 200 is a non-standard part, the sensor and the computing module 220 can be selected separately and installed in a predetermined position in the sensor storage compartment 130. Specifically, the sensor storage compartment 130 includes a plug-in interface through which the sensor assembly 200 can be inserted. The interface is installed in the sensor storage compartment 130, and the user can also add heat dissipation components to the sensor assembly 200 according to needs, for example, adding a metal plate heat sink 230, adding thermally conductive glue, thermally conductive silicone gaskets, etc., so that the sensor assembly 200 can adopt its own structure and sensor The accommodating bin 130 dissipates heat together, has a better heat dissipation effect and higher efficiency, so as to ensure the stable operation of the sensor assembly 200.

Preferably, the sensor assembly 200 further includes an encapsulated housing 260, which is packaged into a whole by the housing, and the sensor assembly can be installed as a whole in the sensor receiving compartment.

The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be It is considered as the range described in this specification.

The above-mentioned embodiments only express several implementation modes of the present invention, and their description is relatively specific and detailed, but they should not be understood as a limitation on the scope of the invention patent. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can be made, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.

Claims

A self-moving device that moves and works in the work area, including:

case;

A walking module for driving the self-moving device to move;

Work module, used to perform preset work tasks;

And, the control module is electrically connected to the walking module and the working module to control the self-moving device to automatically move and work in the working area;

It is characterized in that the self-moving device includes an electrical component, a protective shell used to cover the electrical component to prevent water from entering the electrical component, and a protective shell used to conduct the heat generated by the electrical component to the protection A heat dissipation component outside the housing, the heat dissipation component includes a front heat dissipation component disposed in the protective housing and a rear heat dissipation component at least partially exposed outside the protection housing, and the front heat dissipation component connects the electrical component and the The back-end heat dissipation component is used to conduct the heat in the electrical component to the back-end heat-dissipating component, one end of the back-end heat-dissipating component is in contact with the front-end heat-dissipating component, and the other end is in contact with the flowing medium to transfer the heat The heat in the back-end heat dissipation component is exported to the outside of the protective shell.
The self-moving device according to claim 1, wherein the casing comprises a bottom of the casing facing the ground, and the rear end heat dissipation assembly is at least partially exposed to the air below the bottom of the casing.
The self-moving device according to claim 2, wherein the self-moving device is a smart lawn mower, the working module is a cutting module that performs cutting work, and the cutting module is arranged at the bottom of the housing, When the cutting module performs cutting work, it drives the air flow under the bottom of the casing.
The self-moving device according to claim 1, wherein the rear end heat dissipation assembly includes a heat dissipation portion directly connected to the front end heat dissipation assembly, and the heat dissipation portion penetrates the inner and outer surfaces of the protective case.
The self-moving device according to claim 4, wherein the heat dissipation part is the protective shell or a part of the protective shell.
The self-moving device according to claim 4, wherein the heat dissipation part is made of metal.
The self-moving device according to claim 4, wherein one end of the heat dissipation portion is in contact with the flowing medium.
The self-moving device according to claim 4, wherein the rear-end heat dissipation assembly further comprises a heat-conducting element disposed outside the protective shell, one end of the heat-conducting element is in contact with the heat dissipation part, and the other end of the heat-conducting element is in contact with the heat dissipation part. In contact with the flowing medium.
The self-moving device according to claim 1, wherein the front-end heat dissipation component includes a thermally conductive layer in contact with the surface of the electrical component.
8. The self-moving device according to claim 8, wherein the front end heat dissipation assembly further comprises a metal heat sink connected to the heat conducting layer, and the metal heat sink is connected to the heat sink.
8. The self-moving device according to claim 8, wherein the thermally conductive layer comprises a thermally conductive silicone gasket.
The self-moving device according to claim 1, wherein the self-moving device comprises a sensor component arranged in the housing, and the sensor component comprises a sensor for acquiring predetermined information and a sensor for processing the sensor. The obtained information is used to obtain an arithmetic module for the calculation result, the control module controls the self-moving device to automatically move and work in the work area according to the calculation result of the arithmetic module, and the electrical component includes the electrical component arranged in the protective shell In the computing module, the heat dissipation component is used to transfer the heat of the computing module to the outside of the protective shell.
The self-moving device according to claim 11, wherein the protective case comprises a sensor case at least covering the outside of the computing module.
The self-moving device according to claim 12, wherein the sensor housing is made of metal, the sensor housing is at least partially exposed to the air outside the housing, and the front end heat dissipation component is in contact with the sensor housing , In order to transfer the heat derived from the front end heat dissipation component to the sensor housing.
The self-moving device according to claim 12, wherein the sensor housing is made of a metal material, the housing includes a sensor accommodating bin for accommodating the sensor housing, and the rear-end heat dissipation component includes The heat dissipating part on the shell and the heat conducting element at least partly exposed in the sensor accommodating bin, one end of the heat conducting body is in contact with the heat dissipating part, and the other end is exposed to the air outside the housing.
The self-moving device according to claim 12, wherein the sensor housing is made of metal, the housing includes a sensor accommodating bin for accommodating the sensor housing, and the back-end heat dissipation component includes The heat dissipating part on the housing and the heat conductor communicating with the air outside the housing, the inner wall of the sensor accommodating bin is provided with a heat radiating channel communicating with the sensor accommodating bin, and the heat dissipating channel is arranged between the heat dissipating part and Between the heat-conducting bodies, so that the heat on the heat dissipating part is transferred to the heat-conducting body through the heat dissipating channel.
The self-moving device according to claim 11, wherein the sensor component comprises a vision sensor component, the sensor is an image acquisition device for collecting environmental images, and the calculation module is used for collecting images according to the image acquisition device. The collected environment image generates environment information of the self-mobile device, and the control module controls the self-mobile device to automatically move and work according to the environment information.
The self-moving device according to claim 11, wherein the sensor assembly is at least partially exposed to the air above the housing.