An autonomous work device

Abstract

The application relates to the technical field of working equipment, in particular to an autonomous working equipment. The autonomous working equipment comprises a chassis, a cover body and an emergency stop button; at least a part of the chassis and at least a part of the cover body are arranged oppositely and spacedly, the chassis and / or the cover body is configured with an upper opening; at least a part of the emergency stop button is arranged between the chassis and the cover body, and at least a part of the emergency stop button is accessible through the opening. The autonomous working equipment provided by the application has the advantages of simple structure, good assembly, good reliability and low cost.

Description

Technical Field

[0001] This invention relates to the field of work equipment, and more specifically to an autonomous work equipment. Background Technology

[0002] The emergency stop button, also known as the emergency stop button, is a safety measure that can be taken by quickly pressing this button in an emergency.

[0003] In existing lawnmowers, the emergency stop button is attached to the mower body via separate fittings, such as screws, bolts, and latches. For example, the operating head of the emergency stop button is inserted into the mounting hole from the front of the panel, then screwed into the base from the back of the panel, and finally the screws at both ends are tightened evenly. If the panel is made of plastic or other non-metallic materials, a mounting plate can be placed behind the panel before installation. To remove the emergency stop button, a screwdriver is needed to lift the latches of the locking system to detach the button. Therefore, the existing emergency stop button installation structure is complex, and the installation and disassembly process is cumbersome, resulting in low assembly efficiency and high costs. Summary of the Invention

[0004] The purpose of this invention is to provide an autonomous operating device that has advantages such as simple structure, good assembly, high reliability, and low cost.

[0005] The autonomous operating device provided by this invention includes a chassis and a cover, as well as an emergency stop button;

[0006] At least a portion of the chassis and at least a portion of the cover are positioned opposite each other and spaced apart, and the chassis and / or the cover are configured with an upper opening; at least a portion of the emergency stop button is located between the chassis and the cover, and at least a portion of the emergency stop button is accessible through the opening.

[0007] In one embodiment, the emergency stop button includes a button body and a biasing member; the button body is movably connected to at least one of the chassis and the cover, the movable connection being configured to allow displacement of the button body;

[0008] The first end of the biasing member is connected to the chassis and / or the cover, and the second end of the biasing member is connected to the button body. The biasing member is configured to always have a tendency to move at least a portion of the button body away from the chassis.

[0009] In one embodiment, a first structure is constructed on the chassis and / or the cover, and a second structure is constructed on the button body, wherein the first structure and the second structure are rotatably or slidably connected.

[0010] In one embodiment, the first structure is a semi-cavity structure, and the first structure is constructed on both the chassis and the cover, with the two first structures relative to each other forming a complete cavity structure; the second structure is rotatably connected in the complete cavity structure.

[0011] In one embodiment, the button body includes a pressing part and an extension connected to the pressing part, the pressing part being accessible through the opening; the extension is disposed between the chassis and the cover, and the extension is movably connected to at least one of the chassis and the cover.

[0012] In one embodiment, the chassis is configured with a mounting portion having the upper opening, in which the emergency stop button is mounted; the cover covers a portion of the upper opening, and the emergency stop button is accessible through another portion of the upper opening.

[0013] In one embodiment, the autonomous operating device further includes a rain sensor, at least a portion of which passes through the emergency stop button.

[0014] In one embodiment, the projection of the rain sensor on the horizontal plane is located within the projection of the emergency stop button on the horizontal plane.

[0015] In one embodiment, at least a portion of the rain sensor is disposed between any two of the emergency stop button, the chassis, and the cover.

[0016] In one embodiment, the emergency stop button is configured with a clearance hole, through which the rain sensor passes and is exposed from the top side of the autonomous operating device.

[0017] In one embodiment, the chassis and the cover are provided with support portions, and two support portions are located within the clearance hole; a protruding flange is provided on the peripheral surface of the rain sensor, and the flange is located between the two support portions.

[0018] In one embodiment, the chassis and the cover are configured to engage with each other so that the rain sensor and the emergency stop button are sandwiched between the chassis and the cover.

[0019] In one embodiment, one of the chassis and the cover is provided with a hook, and the other of the chassis and the cover is provided with a slot, the slot being configured to receive the hook.

[0020] In one embodiment, the autonomous operating device is a smart lawnmower.

[0021] The autonomous operating device provided by this invention features an emergency stop button that is clamped to the device. A portion of the button is accessible and operable through an opening constructed in the chassis and / or cover. Utilizing two plate structures on the device eliminates the need for intermediate connecting parts, simplifying the assembly and disassembly of the emergency stop button and the overall structure of the device. The relative positions of the two plate structures remain stable, preventing the emergency stop button from easily loosening. Therefore, the autonomous operating device provided by this invention has advantages such as simple structure, excellent assemblability, high reliability, and low cost. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of an autonomous operating device according to an embodiment of the present invention;

[0023] Figure 2 yes Figure 1 XX sectional view;

[0024] Figure 3 yes Figure 1 YY sectional view;

[0025] Figure 4 yes Figure 2 Enlarged view of section A;

[0026] Figure 5 yes Figure 3 Enlarged view of section B;

[0027] Figure 6 yes Figure 1 Coaxial view;

[0028] Figure 7 yes Figure 6 Exploded view of the coaxial axis;

[0029] Figure 8 This is a schematic diagram of a rain sensor according to an embodiment of the present invention;

[0030] Figure 9 yes Figure 7 ZZ sectional view;

[0031] Figure 10 yes Figure 7 The left view. Detailed Implementation

[0032] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so as to better understand the purpose, features and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are only for illustrating the essential spirit of the technical solution of the present invention.

[0033] In the following description, certain specific details are set forth for the purpose of illustrating various disclosed embodiments in order to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the art will recognize that embodiments may be practiced without one or more of these specific details. In other instances, well-known apparatuses, structures, and techniques associated with this application may not have been shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

[0034] Unless the context requires otherwise, throughout the specification and claims, the word “comprising” and its variations, such as “including” and “having”, shall be understood to have an open, inclusive meaning, that is, to be interpreted as “including, but not limited to”.

[0035] This embodiment provides an autonomous operation system, including autonomous operation equipment 100, boundaries, and docking stations.

[0036] The autonomous operating device 100, particularly a robot capable of autonomously moving within a preset area and performing specific tasks, is typically a smart sweeper / vacuum cleaner for cleaning or a smart lawnmower for mowing. This invention will describe the smart lawnmower as an example. The autonomous operating device 100 can autonomously move on the surface of the work area, and as a smart lawnmower, it can autonomously perform lawnmowing on the ground. The autonomous operating device 100 includes at least a main body mechanism, a moving mechanism, a working mechanism, an energy module, a detection module, an interaction module, and a control module.

[0037] The main structure typically includes a chassis 10 and a housing 30. The chassis 10 is used to install and house functional mechanisms and modules such as a moving mechanism, a working mechanism, an energy module, a detection module, an interaction module, and a control module. The housing 30 is typically constructed to at least partially cover the chassis 10, primarily serving to enhance the aesthetics and recognizability of the autonomous operating equipment 100. In this embodiment, the housing 30 is constructed to translate and / or rotate relative to the chassis 10 under external force. Combined with an appropriate detection module, such as a Hall sensor 80, it can further detect events such as collisions and lifting.

[0038] The mobile mechanism is configured to support the main body on the ground and drive the main body to move on the ground. It typically includes wheeled, tracked, or half-tracked mobile mechanisms and walking mobile mechanisms. In this embodiment, the mobile mechanism is a wheeled mobile mechanism, including at least one drive wheel 90 and at least one prime mover 110. The prime mover 110 is preferably an electric motor, but in other embodiments it can also be an internal combustion engine or a machine powered by other types of energy. In this embodiment, preferably, a left drive wheel, a left prime mover driving the left drive wheel, a right drive wheel, and a right prime mover driving the right drive wheel are provided. In this embodiment, the straight-line movement of the autonomous operating device 100 is achieved by the same-direction, constant-speed rotation of the two drive wheels 90, and turning is achieved by the same-direction, differential-speed, or opposite-direction rotation of the two drive wheels 90. In other embodiments, the mobile mechanism may also include a steering mechanism independent of the drive wheels 90 and a steering prime mover independent of the prime mover 110. In this embodiment, the moving mechanism further includes at least one driven wheel, which is typically constructed as a caster wheel. The drive wheel 90 and the driven wheel are located at the front and rear ends of the autonomous operating device 100, respectively.

[0039] The working mechanism is configured to perform specific tasks and includes working parts and a prime mover that drives the working parts. For example, in a smart sweeper / vacuum cleaner, the working parts include a roller brush, a suction pipe, and a dust collection chamber; in a smart lawnmower, the working parts include cutting blades or a cutting disc, and further include other components such as a height adjustment mechanism for adjusting the mowing height to optimize or adjust the mowing effect. The prime mover is preferably an electric motor, but in other embodiments it can also be an internal combustion engine or a machine powered by other types of energy. In some other embodiments, the prime mover and the driving prime mover 110 are constructed as the same prime mover.

[0040] The energy module is configured to provide energy for the various operations of the autonomous operating device 100. In this embodiment, the energy module includes a battery 120 and a charging connection structure, wherein the battery 120 is preferably a rechargeable battery, and the charging connection structure is preferably a charging electrode that can be exposed to the outside of the autonomous operating device 100.

[0041] The detection module is constructed as at least one sensor that senses environmental parameters or its own operating parameters of the autonomous operating device 100. Typically, the detection module may include sensors related to the definition of the working area, such as magnetic induction, impact, ultrasonic, infrared, and radio sensors, with the sensor type corresponding to the location and number of the corresponding signal generating devices. The detection module may also include sensors related to positioning and navigation, such as GPS positioning devices, laser positioning devices, electronic compasses, and geomagnetic sensors. The detection module may also include sensors related to its own operational safety, such as obstacle sensors, lift sensors, and battery pack temperature sensors. The detection module may also include sensors related to the external environment, such as ambient temperature sensors, ambient humidity sensors, acceleration sensors, light sensors, and rain sensors.

[0042] The interaction module is configured to at least receive user-input control commands, issue information that the user needs to perceive, and communicate with other systems or devices to send and receive information. In this embodiment, the interaction module includes an input device mounted on the autonomous operating device 100 for receiving user-input control commands, typically such as a control panel 60 or an emergency stop button 50. The interaction module also includes a display screen and / or a buzzer mounted on the autonomous operating device 100 to make the information perceptible to the user through light or sound. In other embodiments, the interaction module includes a communication module mounted on the autonomous operating device 100 and a terminal device independent of the autonomous operating device 100, such as a mobile phone, computer, or network server. User control commands or other information can be input on the terminal device and reach the autonomous operating device 100 via wired or wireless communication modules.

[0043] The control module typically includes at least one processor and at least one non-volatile memory. The memory stores pre-written computer programs or instruction sets, and the processor controls the autonomous operating device 100 to perform actions such as movement and operation according to the computer programs or instruction sets. Furthermore, the control module can also control and adjust the corresponding behavior of the autonomous operating device 100 and modify the data in the memory based on signals from the detection module and / or user control commands.

[0044] The boundary is used to limit the working area of ​​the autonomous operating device 100, and typically includes an outer boundary and an inner boundary. The autonomous operating device 100 is confined to move and operate within the outer boundary, outside the inner boundary, or between the outer and inner boundaries. The boundary can be physical, typically such as a wall, fence, or railing; the boundary can also be virtual, typically such as a virtual boundary signal emitted by a boundary signal generator, which is usually an electromagnetic signal or an optical signal, or, for autonomous operating devices equipped with positioning devices (such as GPS), a virtual boundary set in an electronic map, exemplary, formed by two-dimensional or three-dimensional coordinates.

[0045] The docking station is typically constructed on or within the boundary to provide parking for the autonomous operating equipment 100, and in particular, to supply energy to the autonomous operating equipment 100 parked at the docking station.

[0046] like Figures 1-7 As shown, in this embodiment, a cover 20 is provided above the chassis 10, and the cover 20 is detachably mounted on the chassis 10. At least a portion of the emergency stop button 50 and at least a portion of the rain sensor 40 are disposed between the cover 20 and the chassis 10.

[0047] In this embodiment, the cover 20 is located in the rear end region of the chassis 10. The volume of the cover 20 is much smaller than that of the chassis 10, covering only a small part of the chassis 10. Therefore, it can be easily disassembled and assembled, and the rain sensor 40 and the emergency stop button 50 can be easily disassembled and assembled.

[0048] The chassis 10 has a sealing structure with a sealing cavity c. Specifically, the chassis 10 includes an upper chassis cover 11 and a lower chassis cover 12. The upper chassis cover 11 has an upwardly extending, downward-opening semi-cavity, and the lower chassis cover 12 has a downwardly extending, upward-opening semi-cavity. One of the upper chassis cover 11 and the lower chassis cover 12 has a sealing strip on its edge, and the other has a sealing groove on its edge. A sealing element is installed in the sealing groove, which is configured to accommodate the sealing strip. The upper chassis cover 11 and the lower chassis cover 12 are sealed together, and the two semi-cavities relative to each other constitute the aforementioned sealing cavity c. Figure 2 and Figure 3 As shown, two sealing positions a of the upper chassis cover 11 and the lower chassis cover 12 are shown respectively.

[0049] It should be understood that the chassis 10 is a conventional component of the autonomous operating equipment 100, and its structure can take many forms, not limited to the form of this preferred embodiment. Other chassis 10 based on the present invention are also within the protection scope of the present invention.

[0050] The outer surface of the chassis cover 11 is provided with an installation part 111, a first connecting part 112, a first supporting part 113, two first structures 114, several hooks 115, and a cover hole 1130.

[0051] Mounting part 111 mounts emergency stop button 50 to define the position of emergency stop button 50 on the outer surface. Mounting part 111 protrudes or is recessed from the outer surface, or is partially protruding and partially recessed, and has an upper opening 1110. Preferably, mounting part 111 is a closed or open vertical wall structure, or a continuous or discontinuous vertical wall structure. More preferably, mounting part 111 is a U-shaped vertical wall, the opening of which faces the rear end of the chassis 10.

[0052] The first connecting portion 112 connects to the first end of the biasing member 52. The first connecting portion 112 protrudes or is recessed from the outer surface, or is partially protruding and partially recessed. Preferably, the first connecting portion 112 protrudes from the outer surface, preferably as a protruding post or protruding ring, and the first end of the biasing member 52 is conveniently fitted with the first connecting portion 112.

[0053] The upper cover hole 1130 connects the inside and outside of the sealed cavity c, and the first support portion 113 protrudes from the outer edge of the upper cover hole 1130. The lower section of the rain sensor 40 passes through the first support portion 113 and the upper cover hole 1130, and its lower end face reaches the inside of the sealed cavity c, with its flange 414 supported on the first support portion 113. Preferably, the first support portion 113 is a continuous or discontinuous cylindrical ring structure.

[0054] The first structure 114 of the chassis cover 11 is opposite to the first structure 114 of the cover 20 to accommodate the second structure 513 of the emergency stop button 50. The two first structures 114 of the chassis cover 11 are respectively constructed at both ends of the opening of the mounting portion 111. Preferably, the first structure 114 is a semi-cavity structure with the opening facing upwards. More preferably, the first structure 114 is a semi-cylindrical cavity. Of course, the first structure 114 can also be a square semi-cavity.

[0055] Several hooks 115 engage with several slots (not shown in the figure) of the cover 20. The hooks 115 are constructed on the edge of the chassis cover 11 and / or the wall of the mounting portion 111. In this embodiment, three hooks 115 are constructed on the edge of the chassis cover 11, one of which is directly opposite the opening of the mounting portion 111, and the other two are opposite each other along the width direction of the chassis 10. Two opposing hooks 115 are constructed on the outer wall of the mounting portion 111.

[0056] Part of the edge of the cover 20 is bent downwards, and two protruding wall panels (not shown in the figure) are formed on the inner surface of the cover 20. The inner side of the bent part has three slots, which match the three hooks 115 at the aforementioned edge. The inner sides of the two wall panels each have slots, which match the two hooks 115 of the mounting part 111.

[0057] It should be understood that, of the chassis cover 11 and the cover body 20, one has a hook 115 and the other has a slot, the slot being configured to receive the hook 115. For example... Figure 2 As shown, two connection points b between the chassis cover 11 and the cover body 20 are illustrated.

[0058] It should be understood that the cover 20 can be hinged to the chassis cover 11. For example, a hinge structure can be constructed at the edge opposite the opening of the mounting portion 111, and the chassis cover 11 and the cover 20 can be rotatably hinged by the hinge structure. It should be understood that snap-fit ​​and hinge methods can be used in combination.

[0059] The cover 20 also has a second support 213, two first structures 114, and a cover hole 2130.

[0060] The cover hole 2130 connects the interior and exterior of the cover 20, and the second support portion 213 protrudes from the inner edge of the cover hole 2130. The upper section of the rain sensor 40 passes through the second support portion 213 and the cover hole 2130, and its upper end face reaches the exterior of the cover 20, that is, it is exposed from the top side of the autonomous operating device 100. The flange 414 of the rain sensor 40 is supported / clamped between the first support portion 113 and the second support portion 213. Preferably, the second support portion is a continuous or discontinuous cylindrical ring structure.

[0061] The two first structures 114 of the cover 20 correspond one-to-one with the two first structures 114 of the chassis cover 11, forming two complete cavity structures to accommodate the two second structures 513 of the emergency stop button 50. The complete cavity structure refers to a structure sufficient to stably accommodate the second structures 513 and achieve stable rotation or sliding, and is not limited to having complete sealing. In other embodiments, a single first structure 114 may also constitute a complete cavity structure.

[0062] In this embodiment, the cover 20 is fastened to the chassis cover 11, and the cover 20 covers a portion of the opening 1110. For example... Figure 7 As shown, the cover 20 covers the rear end of the upper opening 1110, while the front end of the opening 1110 remains open. The emergency stop button 50, located at the rear end of the mounting portion 111, is covered by the cover 20. The portion of the emergency stop button 50 located at the front end of the mounting portion 111 is exposed through the upper opening and thus accessible to the operator. Simultaneously, the first structure 114 on the cover 20 and the first structure 114 on the chassis cover 11 are aligned, and the second support portion 213 on the cover 20 and the first support portion 113 on the chassis cover 11 are coaxial.

[0063] In this embodiment, the mounting portion 111 is constructed on the chassis cover 11. It should be understood that the mounting portion 111 may also be constructed on the cover 20. Alternatively, the mounting portion 111 may be constructed on both the chassis cover 11 and the cover 20. For example, one may have a vertical wall or recessed structure, and the other may have a vertical wall or recessed structure, with the two structures forming the entirety of the mounting portion 111. The mounting portion 111 can be constructed in various ways, as long as it can define the position of the emergency stop button 50 relative to the chassis cover 11 and the cover 20.

[0064] In this embodiment, depending on the different structures of the emergency stop button 50, the emergency stop button 50 can be movably or fixedly disposed between the chassis cover 11 and the cover body 20.

[0065] Reference Figure 5 and Figure 7 In a preferred embodiment, the emergency stop button 50 is movably disposed between the chassis cover 11 and the cover body 20.

[0066] The emergency stop button 50 includes a button body 51 and a biasing member 52. The button body 51 is movably connected to at least one of the chassis cover 11 and the cover 20. This movable connection is configured to allow the button body 51 to be displaced relative to the chassis cover 11 and the cover 20, thereby allowing the button body 51 to be pressed downward relative to the upper opening 1110 and rebound upward. The direction of the displacement coincides with or forms an angle with the center line of the upper opening 1110.

[0067] The first end of the bias member 52 is connected to the chassis 10 and / or the cover 20, and the second end of the bias member 52 is connected to the button body 51. The bias member 52 is configured to always have a tendency to orient at least a portion of the button body 51 away from the chassis 10.

[0068] The button body 51 includes a pressing part 511 and an extension part 512 connected to the pressing part 511. The top surface of the pressing part 511 is higher than the top surface of the extension part 512, and the top surface of the pressing part 511 passes through the upper opening 1110 to reach above the cover 20, or at least can be reached by the upper opening 1110.

[0069] The pressing part 511 is a cavity structure with an open lower end, and a second connecting part 5111 is constructed inside the top wall of the cavity structure. The second connecting part 5111 protrudes from or is recessed from the top wall, or is partially protruding and partially recessed. Preferably, the second connecting part 5111 protrudes from the top wall, preferably a protruding post or a protruding ring. The biasing member 52 is placed in the cavity structure, preferably an elastic member, and the elastic member is preferably a spring. The first end of the biasing member 52 is sleeved with the first connecting part 112, and the second end of the biasing member 52 is sleeved with the second connecting part 5111.

[0070] The extension 512 has a clearance hole 5120. At least one second structure 513 is provided on the end of the extension 512 away from the pressing part 511. Preferably, the second structure 513 is a pivot, and preferably, two coaxial and spaced pivots are provided.

[0071] The emergency stop button 50 is installed in the mounting part 111, the first support part 113 is positioned precisely in the clearance hole 5120, and the two second structures 513 are positioned precisely in the two first structures 114 of the chassis cover 11. The cover 20 is fastened to the chassis cover 11, the second support part 213 is positioned precisely in the clearance hole 5120, and the two second structures are positioned precisely in the two integral cavity structures formed by the four first structures facing each other.

[0072] In this embodiment, a magnet 70 is provided inside the pressing part 511. Specifically, it can be disposed in the side wall of the cavity structure away from the extension part 512. Since this side wall is away from the second structure 513, the displacement range is the largest, which can improve the detection sensitivity. Of course, the magnet 70 can be disposed in other positions of the pressing part 511 and the extension part 512, or even on the biasing member 52.

[0073] The autonomous operating device 100 has a Hall sensor 80 installed inside its housing, specifically located on the outer front end of the mounting section 111. The magnet 70 and the Hall sensor 80 are close together, which improves detection sensitivity. The control module of the autonomous operating device 100 detects the movement of the magnet 70 through the Hall sensor 80, thereby determining whether the emergency stop button 50 has been pressed.

[0074] During operation, pressing the pressing part 511 with external force causes the emergency stop button 50 to rotate slightly around the center of the rotating shaft, causing the magnet 70 to move downwards and forcing the biasing member 52 to compress. After the external force is released, under the biasing force of the biasing member 52, the pressing part 511 rotates around the center of the rotating shaft and returns to its original position, and the magnet 70 returns to its original position. Specifically, when the control module determines that the emergency stop button 50 has been pressed, it stops the moving mechanism and / or the working mechanism.

[0075] In addition to the aforementioned rotatable connection, the emergency stop button 50 can be slidably connected between the cover 20 and the chassis upper cover 11. For example, the aforementioned mating structure of the semi-cylindrical cavity and the rotating shaft 53 can be replaced with a mating structure of a sliding groove and a slider. The sliding groove is constructed on the cover 20 and / or the chassis upper cover 11, and the extension direction of the sliding groove is aligned with the center line of the upper opening 1110. The slider is constructed on the emergency stop button 50, and the two can slide relative to each other. Alternatively, the slider is constructed on the cover 20 and / or the chassis upper cover 11, and the sliding groove is constructed on the emergency stop button 50.

[0076] In other embodiments, the emergency stop button 50 may be fixedly disposed between the chassis cover 11 and the cover body 20.

[0077] For example, by eliminating the aforementioned semi-cylindrical cavity and pivot, the extension 512 is clamped between the cover 20 and the chassis cover 11, thereby clamping the entire emergency stop button 50 in the mounting portion 111. A movable body and a biasing member 52 are disposed within the cavity structure of the pressing portion 511. The movable body is configured to move along the centerline of the upper opening 1110, allowing direct or indirect contact and pressing through the upper opening 1110. The first end of the biasing member 52 is sleeved with the first connecting portion 112, and the second end of the biasing member 52 is sleeved with the movable body. In this embodiment, preferably, the magnet 70 is disposed on the movable member.

[0078] For example, the top wall of the pressing part 511 in the preferred embodiment is configured to be elastic, so that the pressing of the bias member 52 is completed by the elasticity of the pressing part 511. In this embodiment, the magnet 70 is provided on the inner side of the top wall or on the bias member 52.

[0079] Reference Figures 8-10 The rain sensor 40 includes an elastic base 41 and an electrode 42 embedded in the elastic base 41. The elastic base 41 has an opposing upper end surface 411 and a lower end surface 412, with the lower end surface 412 exposed inside the sealed cavity c and the upper end surface 411 exposed outside the sealed cavity c. The two ends of the electrode 42 extend through the upper end surface 411 and the lower end surface 412, respectively. The upper end of the electrode 42 is exposed outside the sealed cavity c to contact rain, and the lower end of the electrode 42 is connected to a control board 60 in the sealed cavity c.

[0080] The elastic base 41 has an outer peripheral surface 413 formed between an upper end face 411 and a lower end face 412. A protruding flange 414 is formed on the outer peripheral surface 413. The flange 414 is a supporting flange that extends continuously along the circumference of the outer peripheral surface 413 of the elastic base 41 and has a certain thickness. At least one boss 415 is formed on the outer peripheral surface 413, extending along the circumference of the outer peripheral surface 413 and protruding beyond the outer peripheral surface 413. The boss 415 is annular and is used to mate with the inner wall of the first support portion 113. A recessed water collecting surface 416 is formed on the upper end face 411 of the elastic base 41. The upper end of the electrode 42 protrudes through the water collecting surface 416, which is recessed into the upper end face 411 to form a depression.

[0081] The lower section of the elastic base 41 passes through the first support 113, and its lower end face 412 reaches the sealed cavity c. The upper section of the elastic base 41 passes through the second support 213, and its upper end face 411 is exposed on the top side of the autonomous operating device 100 through the cover hole 2130. The flange 414 is clamped between the first support 113 and the second support 213, so that the rain sensor 40 passes through the emergency stop button 50 and is clamped by the cover 20 and the chassis cover 11. The outer walls of the first support 113 and the second support 213 are spaced apart from the inner wall of the clearance hole 5120 by a set distance, so that the rain sensor 40 is not interfered with when the emergency stop button 50 is operated.

[0082] It should be understood that the rain sensor 40 is integrated with the emergency stop button 50 through the clearance hole 5120, and the rain sensor 40 can partially or completely pass through the emergency stop button 50. Partially passing through means that the rain sensor 40 partially overlaps with the circumferential boundary of the emergency stop button 50. For example, a semi-cylindrical cavity is constructed on the circumferential side of the emergency stop button 50, and a portion of the rain sensor 40 is located within the semi-cylindrical cavity.

[0083] In this preferred embodiment, the autonomous operating device 100 is placed on a horizontal surface, and the projection of the rain sensor 40 on the horizontal surface is located within the projection of the emergency stop button 50 on the horizontal surface.

[0084] It should be understood that the position of the rain sensor 40 along the height direction of the autonomous operating device 100 can be fixed in various ways. In this embodiment, the rain sensor 40 can be clamped between any two of the emergency stop button 50, the chassis cover 11, and the cover 20. For example, the flange 414 of the rain sensor 40 is clamped between the chassis cover 11 and the emergency stop button 50, and the upper end face 411 of the rain sensor 40 passes through the clearance hole 5120 to reach the cover hole 2130.

[0085] The assembly steps for the autonomous operating equipment provided in this embodiment are as follows:

[0086] Step 1: Place the rain sensor 40 into the first support part 113;

[0087] Step 2: Place the emergency stop button 50 into the mounting part 111, and place the second structure 513 into the first structure 114;

[0088] Step 3: Attach the cover 20 to the chassis cover 11.

[0089] Step one and step two can be interchanged.

[0090] The preferred embodiments of the present invention have been described in detail above, but it should be understood that, if necessary, aspects of the embodiments can be modified to utilize aspects, features, and concepts from various patents, applications, and publications to provide other embodiments.

[0091] In light of the detailed description above, these and other changes can be made to the embodiments. Generally, the terminology used in the claims should not be considered limited to the specific embodiments disclosed in the specification and claims, but should be understood to include all possible embodiments together with the full scope of equivalents enjoyed by these claims.

Claims

1. An autonomous operating device, characterized in that, This includes the chassis and cover, as well as the emergency stop button; At least a portion of the chassis and at least a portion of the cover are positioned opposite each other and spaced apart, and the chassis and / or the cover are configured with an upper opening; at least a portion of the emergency stop button is located between the chassis and the cover, and at least a portion of the emergency stop button is accessible through the opening; The autonomous operating device also includes a rain sensor, at least a portion of which passes through the emergency stop button; The emergency stop button is equipped with a clearance hole, through which the rain sensor passes and is exposed from the top side of the autonomous operating device; The chassis and the cover are provided with support parts, and two of the support parts are located in the clearance hole; a protruding flange is provided on the peripheral surface of the rain sensor, and the flange is located between the two support parts.

2. The autonomous operating equipment according to claim 1, characterized in that, The emergency stop button includes a button body and a biasing component; the button body is movably connected to at least one of the chassis and the cover, and the movable connection is configured to allow the button body to be displaced. The first end of the biasing member is connected to the chassis and / or the cover, and the second end of the biasing member is connected to the button body. The biasing member is configured to always have a tendency to move at least a portion of the button body away from the chassis.

3. The autonomous operating equipment according to claim 2, characterized in that, The chassis and / or the cover are provided with a first structure, and the button body is provided with a second structure, wherein the first structure and the second structure are rotatably or slidably connected.

4. The autonomous operating equipment according to claim 3, characterized in that, The first structure is a semi-cavity structure, and the chassis and the cover are both constructed with the first structure, and the two first structures relative to each other constitute a complete cavity structure; the second structure is rotatably connected in the complete cavity structure.

5. The autonomous operating equipment according to claim 2, characterized in that, The button body includes a pressing part and an extension connected to the pressing part, the pressing part being accessible through the opening; the extension is disposed between the chassis and the cover, and the extension is movably connected to at least one of the chassis and the cover.

6. The autonomous operating equipment according to claim 1, characterized in that, The chassis is configured with a mounting portion having the upper opening, in which the emergency stop button is mounted; the cover covers a portion of the upper opening, and the emergency stop button is accessible through another portion of the upper opening.

7. The autonomous operating equipment according to claim 1, characterized in that, The projection of the rain sensor on the horizontal plane is located within the projection of the emergency stop button on the horizontal plane.

8. The autonomous operating equipment according to claim 1, characterized in that, At least a portion of the rain sensor is located between any two of the emergency stop button, the chassis, and the cover.

9. The autonomous operating equipment according to claim 1, characterized in that, The chassis and the cover are configured to snap together so that the rain sensor and the emergency stop button are sandwiched between the chassis and the cover.

10. The autonomous operating equipment according to claim 9, characterized in that, One of the chassis and the cover is provided with a hook, and the other of the chassis and the cover is provided with a slot, the slot being configured to accommodate the hook.

11. The autonomous operating equipment according to claim 1, characterized in that, The autonomous operating equipment is an intelligent lawnmower.

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