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CN-224218909-U - Self-moving equipment

CN224218909UCN 224218909 UCN224218909 UCN 224218909UCN-224218909-U

Abstract

The utility model relates to self-moving equipment, which comprises a shell and a radar module arranged on the shell, wherein the radar module is used for detecting the working environment of the self-moving equipment, the radar module comprises an array laser emitter and an array laser detector which is matched with the array laser emitter to obtain three-dimensional point cloud data of the working environment, and the array laser emitter and the array laser detector are relatively fixed with the shell in the moving process of the self-moving equipment. The radar module can realize instantaneous three-dimensional imaging of the whole view field in a mode of emitting by the array light source and receiving by the array detector, has high imaging frame rate and high detection sensitivity, and the array laser emitter and the array laser detector are relatively fixed with the shell, so that the radar module works without mechanical parts rotating, and has high reliability and long service life.

Inventors

  • CHEN CHEN
  • HONG YUNBO
  • SUI CHAOYE

Assignees

  • 江苏东成园林机械有限公司

Dates

Publication Date
20260512
Application Date
20250416

Claims (16)

  1. 1. A self-mobile device, comprising: A housing; The radar module is used for detecting the working environment of the self-mobile equipment and is arranged on the shell; The radar module is characterized by comprising an array laser transmitter and an array laser detector which is matched with the array laser transmitter to acquire three-dimensional point cloud data of the working environment, wherein the array laser transmitter and the array laser detector are relatively fixed with the shell in the motion process of the self-moving equipment.
  2. 2. The self-moving device according to claim 1, wherein the housing comprises a base, an upper cover sealingly connected to the base to form a main housing cavity, and a cover connected to the base and/or the upper cover to form a sub housing cavity, the main housing cavity being isolated from the sub housing cavity, the sub housing cavity being in fluid communication with an external environment.
  3. 3. The self-mobile device of claim 2, wherein the housing further comprises a heat dissipation air duct formed in the secondary accommodating cavity, the heat dissipation air duct comprises a main air duct section, a first air duct section and a second air duct section which are respectively connected to the rear of the main air duct section, the radar module is arranged on the main air duct section, and heat dissipation air flows from the main air duct section to the first air duct section and the second air duct section after flowing through the radar module.
  4. 4. The self-moving device according to claim 3, wherein the first air duct section and the second air duct section are arranged at intervals in a left-right direction of the self-moving device.
  5. 5. The self-moving device of claim 3, wherein the first duct section and the second duct section each extend in a fore-aft direction of the self-moving device.
  6. 6. The self-moving device of claim 3, wherein the main duct section comprises an air inlet, a first air guide opening connected with the first duct section, and a second air guide opening connected with the second duct section, and the heat dissipation air flows into the main duct section from the air inlet, flows through the radar module, and flows into the first duct section and the second duct section from the first air guide opening and the second air guide opening, respectively.
  7. 7. The self-moving device of claim 6, wherein the first air duct section further comprises a first air outlet arranged behind the first air guide opening, the second air duct section further comprises a second air outlet arranged behind the second air guide opening, and the radar module is positioned between the first air outlet and the second air outlet in the left-right direction of the self-moving device.
  8. 8. The self-moving device according to claim 6, wherein the air inlet is provided in front of the first air guide opening and the second air guide opening in a front-rear direction of the self-moving device.
  9. 9. The self-mobile device of claim 2, wherein the radar module further comprises a radar housing disposed in the secondary receiving cavity, the radar housing defining a radar cavity for receiving the array laser transmitter and the array laser detector, the radar cavity being isolated from an external environment, and the radar cavity being isolated from the primary receiving cavity.
  10. 10. The self-mobile device of claim 9, further comprising a vision module for detecting the operating environment of the self-mobile device, the vision module disposed within the radar cavity.
  11. 11. The self-moving device according to claim 1, wherein the housing includes an upper surface and a lower surface disposed opposite to the upper surface in a height direction of the self-moving device, and a distance between an uppermost end of the radar module and the upper surface is not more than one third of a height of the housing.
  12. 12. The self-mobile device of claim 11, wherein the uppermost end of the radar module does not protrude beyond the upper surface of the housing.
  13. 13. The self-moving device according to claim 1, wherein the housing includes a front surface and a rear surface disposed opposite the front surface in a front-rear direction of the self-moving device, and a distance between a foremost end of the radar module and the front surface is not more than one third of a length in a longitudinal direction of the housing.
  14. 14. The self-mobile device of claim 1, wherein the detection direction of the radar module is at a predetermined angle with respect to a horizontal reference plane, and the predetermined angle is in the range of 0-30 degrees.
  15. 15. The self-mobile device of claim 1, wherein the radar module has a horizontal field angle in the range of 75-150 degrees.
  16. 16. The self-mobile device of claim 1, wherein the radar module has a vertical field angle in the range of 15-90 degrees.

Description

Self-moving equipment [ Field of technology ] The utility model relates to the technical field of intelligent tools, in particular to self-moving equipment. [ Background Art ] With the development of technology, self-mobile devices capable of autonomous operation without user operation are increasingly used in daily work and life. In order to cope with a complex working environment, a conventional self-mobile device is equipped with an environment detection device such as a laser radar and a camera device for detecting the surrounding environment, and if the environment detection device detects an obstacle or an abnormal situation such as a rain or a steep slope during the walking operation of the self-mobile device, the self-mobile device implements an adaptive processing strategy according to the signal transmitted by the environment detection device. The self-mobile device on the market adopts the scanning laser radar to detect the environment, however, the laser transmitting end and the receiving end of the scanning laser radar can always rotate 360 degrees in the working process of the self-mobile device to carry out optical scanning, so that after the self-mobile device works for a long time, the mechanical parts of the scanning laser radar are easy to wear and have low reliability. In view of the above, it is desirable to provide an improved self-moving device that overcomes the shortcomings of the prior art. [ utility model ] Aiming at the defects of the prior art, the utility model aims to provide self-moving equipment with long service life of a radar module. The technical scheme includes that the self-moving equipment comprises a shell, a radar module, an array laser emitter and an array laser detector, wherein the radar module is used for detecting the working environment of the self-moving equipment and is installed on the shell, the array laser emitter and the array laser detector are matched with the array laser emitter to obtain three-dimensional point cloud data of the working environment, and the array laser emitter and the array laser detector are kept relatively fixed with the shell in the moving process of the self-moving equipment. Further, the housing comprises a base, an upper cover connected with the base to form a main accommodating cavity and a housing connected with the base and/or the upper cover to form a secondary accommodating cavity, wherein the main accommodating cavity is isolated from the secondary accommodating cavity, and the secondary accommodating cavity is in fluid communication with the external environment. Further, the first air duct section and the second air duct section are arranged at intervals in the left-right direction of the self-moving device. Further, the first air duct section and the second air duct section both extend in a front-rear direction of the self-moving device. Further, the main air duct section comprises an air inlet, a first air guide opening connected with the first air duct section and a second air guide opening connected with the second air duct section, and the radiating airflow flows into the main air duct section from the air inlet and flows through the radar module, and then flows into the first air duct section and the second air duct section from the first air guide opening and the second air guide opening respectively. Further, the first air duct section further comprises a first air outlet arranged at the rear of the first air guide opening, the second air duct section further comprises a second air outlet arranged at the rear of the second air guide opening, and the radar module is located between the first air outlet and the second air outlet in the left-right direction of the self-moving equipment. Further, in the front-rear direction of the self-moving device, the air inlet is disposed in front of the first air guide opening and the second air guide opening. Further, the radar module further comprises a radar housing arranged in the auxiliary accommodating cavity, the radar housing defines a radar cavity for accommodating the array laser transmitter and the array laser detector, the radar cavity is isolated from the external environment, and the radar cavity is isolated from the main accommodating cavity. Further, the self-mobile device further comprises a vision module for detecting the working environment of the self-mobile device, and the vision module is arranged in the radar cavity. Further, in the front-rear direction of the self-moving device, the housing includes a front surface and a rear surface disposed opposite to the front surface, and a distance between a forefront end of the radar module and the front surface is not more than one third of a length in a longitudinal direction of the housing. Further, in the height direction of the self-mobile device, the housing includes an upper surface and a lower surface disposed opposite to the upper surface, and a distance between a lowermost end of the radar module and the