Autonomous operation equipment

Abstract

A specific embodiment of the utility model discloses an autonomous operation device which comprises a machine body, a driving wheel, an auxiliary wheel, an operation module, a positioning module and a vision module, the front edge tangent line of the projection of the vision module on the horizontal ground is V1, the plane passing through the V1 and perpendicular to the horizontal ground is PV1, the operation module is arranged on the machine body, and the positioning module is arranged on the machine body. The driving wheel and the auxiliary wheel are arranged on the machine body front and back, the driving wheel is arranged in front of the auxiliary wheel, the positioning module is arranged on the machine body, and the vision module is arranged on the machine body so that a plane PV1 can be located between the front edge plane of the machine body and the axis of a front wheel. According to the autonomous operation equipment, a reasonable installation position is limited for the vision module, and the problems that the image acquisition quality is reduced and a blind area is too large in the working process are solved.

Description

Technical Field

[0001] A specific implementation manner of the utility model relates to the field of outdoor working equipment, and in particular to an autonomous working equipment. Background Art

[0002] At present, more and more outdoor work can be undertaken by unmanned autonomous equipment, such as goods transportation and outdoor cleaning. Usually, after the relevant moving range or path is given, the autonomous equipment will move according to the planned path. In order to improve the positioning accuracy of the autonomous equipment and improve the recognition accuracy of the path, RTK antennas and visual sensors and other devices will be installed on the autonomous equipment. For front-wheel drive autonomous equipment, the visual sensor should be set at a suitable position in the front of the fuselage. If the visual sensor is too far away from the drive wheel, when the autonomous equipment turns, the linear speed of the visual sensor is too large, resulting in a decrease in image acquisition quality. If the visual sensor is too close to the drive wheel, on the one hand, the fuselage in front of the visual sensor is too long, forming a large visual blind area, and on the other hand, due to the lack of sufficient fuselage shielding, the visual sensor is easily contaminated by ground dirt. Utility Model Content

[0003] The utility model aims at a specific implementation method to solve the technical problems in the prior art: unreasonable installation position of the visual sensor of the front-drive autonomous operation equipment will lead to reduced image acquisition quality, excessive blind spots and susceptibility to external pollution. An autonomous operation equipment is proposed, which limits the installation position of the visual sensor within a reasonable range, avoiding the occurrence of the above problems.

[0004] A specific implementation method of the utility model is achieved through the following technical solutions:

[0005] An autonomous operating device, wherein the direction of the autonomous operating device on a horizontal ground P is forward, the direction opposite to the direction of the autonomous operating device on the horizontal ground P is backward, the autonomous operating device moves forward, and the autonomous operating device includes a fuselage, driving wheels, auxiliary wheels, an operating module, a positioning module, and a visual module;

[0006] The leading edge tangent F, trailing edge tangent R, left edge tangent T1, and right edge tangent T2 of the projection of the fuselage on the horizontal ground P form a first rectangle, and the planes passing through the F, R, T1, and T2 lines and perpendicular to the horizontal ground P are PF, PR, PT1, and PT2 respectively. The planes PF and PR are perpendicular to the forward direction of the autonomous operating device. The first rectangle has a center line T0, which is parallel to and equidistant from the lines T1 and T2, and the plane passing through T0 and perpendicular to the horizontal ground P is PT0;

[0007] The driving wheel axis is W1. When the autonomous working device moves forward in a straight line on the horizontal ground P, W1 is parallel to the horizontal ground P. The plane passing through W1 and perpendicular to the horizontal ground is PW1. The plane PW1 is perpendicular to the moving direction of the autonomous working device.

[0008] The front edge tangent of the projection of the visual module on the horizontal ground P is V1, the plane passing through V1 and perpendicular to the horizontal ground P is PV1, the plane PV1 is perpendicular to the forward direction of the autonomous operating device, the optical axis of the lens of the visual module is V2, and V2 is parallel to the plane PT0;

[0009] The positioning module and the operation module are set on the fuselage, the driving wheel and the auxiliary wheel are arranged front and back on the fuselage, the driving wheel is in front, the auxiliary wheel is in the back, the plane PW1 is located behind the plane PF, the visual sensor is set on the fuselage, and the plane PV1 is located between the plane PF and the plane PW1.

[0010] A further improvement of a specific embodiment of the utility model, the auxiliary wheel axis is W2, when the autonomous working device moves forward on the horizontal ground P, W2 is parallel to the horizontal ground P, and the plane passing through W2 and perpendicular to the horizontal ground is PW2, and the plane PW2 is perpendicular to the forward direction of the autonomous working device;

[0011] The front edge tangent C1, the rear edge tangent C2, the left edge tangent E1, and the right edge tangent E2 of the projection of the operating module on the horizontal ground P form a second rectangle, and the planes passing through the lines C1, C2, E1, and E2 and perpendicular to the horizontal ground P are PC1, PC2, PE1, and PE2 respectively, and the planes PC1 and PC2 are perpendicular to the forward direction of the autonomous operating device;

[0012] The second rectangle has a center line C0, C0 is parallel to and equidistant from lines C1 and C2, and a plane passing through the center line C0 and perpendicular to the horizontal ground P is PC0;

[0013] The operation module is arranged on the fuselage, and the plane PC2 is located behind the plane PW1.

[0014] A further improvement to a specific embodiment of the utility model, the positioning module is arranged on the fuselage, the installation positioning line A1 of the positioning module is perpendicular to the horizontal ground P, the plane passing through the installation positioning line A1 and perpendicular to the horizontal ground and perpendicular to the forward direction of the autonomous operating device is PA1, the projection of the installation positioning line A1 on the horizontal ground P falls within the first rectangle and the installation positioning line A1 is located behind the plane PW1;

[0015] A further improvement to a specific embodiment of the utility model is that the fuselage length is the distance L0 between the plane PF and the plane PR, the distance between the plane PF and the plane PV1 is L1, L1 / L0≤0.4, preferably, 0.18≤L1 / L0≤0.23.

[0016] As a further improvement to a specific embodiment of the utility model, the distance between plane PF and plane PW1 is L2, L1 / L2≤0.8, preferably, L1 / L2≤0.7, and further preferably, 0.45≤L1 / L2≤0.7.

[0017] As a further improvement to a specific implementation of the utility model, the distance between the visual module and the positioning module is the distance L5 between the plane PV1 and the plane PA1, 150mm≤L5≤250mm, preferably, 180mm≤L5≤220mm.

[0018] A further improvement to a specific embodiment of the utility model, the central axis A1 of the positioning module is located between the plane PW1 and the plane PC2, the distance between the installation positioning line A1 and the plane PW1 is d1, the distance between the installation positioning line A1 and the plane PC2 is d2, d1 / d2≤0.5, preferably, d1 / d2≤0.4, further preferably, 0.3≤d1 / d2≤0.37.

[0019] A further improvement to a specific embodiment of the utility model, plane PC0 is located behind plane PW1, the installation positioning line A1 of the positioning module is located between the plane PW1 and the plane PC0, and the distance between A1 and plane PC0 is d3, d1 / d3≤0.7, preferably, d1 / d3≤0.6, and further preferably 0.53≤d1 / d3≤0.58.

[0020] A further improvement to a specific embodiment of the utility model, the second rectangle is located behind the axis W1, the central axis A1 of the RTK antenna is located between the plane PC1 and the plane PC2, the distance between A1 and the plane PC1 is d4, the distance between the plane PC1 and the plane PC2 is d5, d4 / d5≤0.7, preferably, 0.1≤d4 / d5≤0.65.

[0021] As a further improvement to a specific embodiment of the utility model, the installation positioning line A1 of the positioning module is located between the plane PC1 and the plane PC0, and the distance between the plane PC1 and the plane PC0 is d6, d4 / d6≤0.7, preferably 0.2≤d4 / d6≤0.5.

[0022] A further improvement to a specific embodiment of the utility model, the second rectangle is located behind the axis W1 and in front of the axis W2, the distance between plane PW1 and plane PW2 is D1, the distance between plane PC1 and plane PC2 is D2, D2 / D1≥0.5, preferably 0.6≤D2 / D1≤0.7.

[0023] In a further improvement to a specific implementation of the utility model, the positioning module is an RTK antenna, and the installation positioning line A1 is the central axis A1 of the RTK antenna.

[0024] In a further improvement to a specific implementation of the utility model, the visual module is a visual sensor, and the visual sensor is a binocular camera or a monocular camera.

[0025] Compared with the prior art, the utility model defines a reasonable installation position for the vision module for the front-drive autonomous operation equipment, thereby avoiding problems such as reduced image acquisition quality and excessive blind spots during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 It is a side view of an autonomous operating device according to a specific embodiment of the utility model;

[0028] Figure 2 It is a cross-sectional view of an autonomous operating device according to a specific embodiment of the utility model;

[0029] Figure 3 It is a partial enlarged view of the autonomous operation equipment X in a specific embodiment of the utility model;

[0030] Figure 4-5 It is a bottom view of an autonomous operating device according to a specific embodiment of the utility model;

[0031] Figure 6 It is a side view of an autonomous operating device according to a specific embodiment of the utility model;

[0032] Figure 7 It is a cross-sectional view of an autonomous operating device according to a specific embodiment of the utility model;

[0033] Figure 8 It is a bottom view of an autonomous operating device according to a specific embodiment of the utility model;

[0034] Fig. 9 It is a partial enlarged view of the autonomous operation equipment X in a specific embodiment of the utility model;

[0035] Fig.10 It is a cross-sectional view of an autonomous operating device according to a specific embodiment of the utility model. DETAILED DESCRIPTION

[0036] The following will be combined with the accompanying drawings to clearly and completely describe the technical solutions of the various embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of them. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0037] The present invention is further described in detail below through specific embodiments in conjunction with the accompanying drawings.

[0038] In this embodiment, the autonomous operating equipment is an intelligent lawn mower that autonomously performs mowing operations. The intelligent lawn mower can move autonomously according to a planned path to perform mowing operations. The forward direction of the intelligent lawn mower on the horizontal ground P is the front, and the direction opposite to the forward direction of the intelligent lawn mower on the horizontal ground P is the rear. During the mowing operation, the intelligent lawn mower moves forward.

[0039] The intelligent lawn mower comprises a body 1, two coaxial driving wheels 2, auxiliary wheels 3, an operation module, a positioning module, and a vision module. In the intelligent lawn mower of this embodiment, the auxiliary wheels 3 are configured to include a hub motor, and the operation module is a cutting disc 4. In some other embodiments, the auxiliary wheels 3 are configured as universal wheels.

[0040] The leading edge tangent, trailing edge tangent, left edge tangent and right edge tangent of the projection of the fuselage 1 on the horizontal ground P are F, R, T1 and T2 respectively. The tangents F, R, T1 and T2 form a first rectangle 14. The planes passing through the lines F, R, T1 and T2 and perpendicular to the horizontal ground P are PF, PR, PT1 and PT2 respectively. The planes PF and PR are perpendicular to the forward direction of the smart lawn mower. The first rectangle 14 has a center line T0, T0 is parallel to the lines T1 and T2, and the plane passing through T0 and perpendicular to the horizontal ground P is PT0.

[0041] The axis of the driving wheel 2 is W1. When the smart lawn mower moves forward in a straight line on the horizontal ground P, W1 is parallel to the horizontal ground P. The plane passing through W1 and perpendicular to the horizontal ground is PW1. The plane PW1 is perpendicular to the forward direction of the smart lawn mower.

[0042] The axis of the auxiliary wheel 3 is W2. When the smart lawn mower moves forward on the horizontal ground P, W2 is parallel to the horizontal ground P. The plane passing through W2 and perpendicular to the horizontal ground is PW2. The plane PW2 is perpendicular to the moving direction of the smart lawn mower.

[0043] The fuselage 1 includes an outer shell 5 and a chassis 6. The driving wheel 2 and the auxiliary wheel 3 are arranged front and back on the chassis 6 of the fuselage 1, with the driving wheel 2 in the front and the auxiliary wheel 3 in the back. The two driving wheels 2 are arranged symmetrically on the fuselage 1. Forward or backward movement is achieved by rotating in the same direction at the same speed, and steering is achieved by rotating in the same direction at a differential speed, in the opposite direction at the same speed, or in the opposite direction at a differential speed.

[0044] In the smart lawn mower of the present embodiment, the positioning module is the RTK antenna 7, the installation positioning line is the central axis A1 of the RTK antenna, the visual module is the visual sensor 8, the central axis A1 of the RTK antenna 7 is perpendicular to the horizontal ground P, the plane passing through A1 and perpendicular to the horizontal ground and perpendicular to the forward direction of the smart lawn mower is PA1, the RTK antenna 7 is arranged on the fuselage 1, the installation height is higher than the axis W1 of the driving wheel 2, the projection of the central axis A1 on the horizontal ground P falls within the first rectangle 14 and the central axis A1 is located behind the plane PW1.

[0045] In this embodiment, the visual sensor 8 is a binocular camera, and the leading edge tangent of the projection of the binocular camera on the horizontal ground P is V1. The plane passing through V1 and perpendicular to the horizontal ground P is PV1. Plane PV1 is perpendicular to the forward direction of the smart lawn mower. The optical axis of the binocular camera lens is V2, and V2 is parallel to plane PT0. The binocular camera is installed on the body 1 and the installation position is in front of the driving wheel 2, that is, PV1 is ensured to be located between plane PF and plane PW1. In some other embodiments of autonomous operating equipment, the visual sensor 8 can also be designed as a monocular camera.

[0046] A battery pack 9 and a main control board 10 are provided in the fuselage 1. The battery pack 9 and the main control board 10 are wrapped by the outer shell 5 and the chassis 6 of the fuselage 1. The battery pack 9 is arranged on the chassis 6 in front of the plane PW1. The main control board 10 is arranged behind the battery pack 9 and in front of the plane PA1. A high-voltage terminal 11 and a low-voltage terminal 12 are provided on the main control board 10. The high-voltage terminal 11 is on the side of the main control board 10 close to the battery pack 9 and away from the RTK antenna. In this embodiment, being away from the RTK antenna more specifically means being away from the plane PA1. The low-voltage terminal 12 is on the side of the main control board 10 close to the RTK antenna and away from the battery pack 9. In this embodiment, being close to the RTK antenna more specifically means being close to the plane PA1. Generally, the voltage of the device connected to the high-voltage terminal is not less than 15V, typically not less than 18V, and the voltage of the device connected to the low-voltage terminal is not higher than 9V, typically not higher than 5V. By moving the high-voltage terminal 11 away from the RTK antenna, the influence of the electromagnetic interference generated at the high-voltage terminal on the RTK antenna can be reduced.

[0047] The front edge tangent, rear edge tangent, left edge tangent and right edge tangent of the projection of the cutting disc 4 on the horizontal ground P are C1, C2, E1 and E2 respectively. The lines C1, C2, E1 and E2 form a second rectangle 15. The planes passing through the lines C1, C2, E1 and E2 and perpendicular to the horizontal ground P are PC1, PC2, PE1 and PE2 respectively. The planes PC1 and PC2 are perpendicular to the forward direction of the autonomous operating equipment.

[0048] The cutting disc 4 is arranged on the body 1, specifically installed on the chassis 6. A working entrance is arranged at the front of the cutting disc 4. When the intelligent lawn mower moves forward, plants enter the working area of ​​the cutting disc 4 through the working entrance and are cut off. The second rectangle 15 of the entire cutting disc 4 projected on the horizontal ground P is located behind the plane PW1 and in front of the plane PW2. The second rectangle 15 has a center line C0, which is parallel to the lines C1 and C2. The plane passing through the center line C0 and perpendicular to the horizontal ground P is PC0.

[0049] In the smart lawn mower of this embodiment, in order to avoid problems such as decreased image acquisition quality and excessive blind spots of the visual sensor 8 during operation and to reduce electromagnetic interference of the main control board 10 in the fuselage 1 to the RTK antenna 7, the installation of the visual sensor 8 and the RTK antenna 7 needs to meet the following conditions:

[0050] The distance between the central axis A1 and the plane PW1 is d1, the distance between A1 and the plane PC2 is d2, the value range of d1 is 115mm-125mm, the value range of d2 is 335mm-345mm, and d1 / d2 needs to satisfy d1 / d2≤0.5. Preferably, d1 / d2 should satisfy d1 / d2≤0.4, and further preferably, d1 / d2 should satisfy 0.3≤d1 / d2≤0.37.

[0051] The distance between A1 and plane PC0 is d3, the value range of d3 is 205mm-215mm, d1 / d3 needs to satisfy d1 / d3≤0.7, preferably, d1 / d3 should satisfy d1 / d3≤0.6, and further preferably, d1 / d3 should satisfy 0.53≤d1 / d3≤0.58.

[0052] The distance between A1 and plane PC1 is d4, the distance between plane PC1 and plane PC2 is d5, the value range of d4 is 33mm-37mm, the value range of d5 is 245mm-255mm, d4 / d5 needs to satisfy d4 / d5≤0.7, preferably, d4 / d5 should satisfy 0.1≤d4 / d5≤0.65.

[0053] The distance between plane PC1 and plane PC0 is d6, the value range of d6 is 120mm-130mm, d4 / d6 needs to satisfy d4 / d6≤0.7, preferably d4 / d6 should satisfy 0.2≤d4 / d6≤0.5.

[0054] The distance between plane PW1 and plane PW2 is D1, the distance between plane PC1 and plane PC2 is D2, the value range of D1 is 395mm-405mm, the value range of D2 is 245mm-255mm, and D2 / D1 needs to satisfy D2 / D1≥0.5, preferably D2 / D1 should satisfy 0.6≤D2 / D1≤0.7.

[0055] The maximum length L0 of the smart lawn mower is the distance between plane PF and plane PR, and the value range of L0 is 735mm-745mm. The distance between plane PF and plane PV1 is L1, and the value range of L1 is 155mm-165mm. The distance between plane PF and plane PW1 is L2, and the value range of L2 is 235mm-245mm. At the same time, L1 / L0 needs to satisfy L1 / L0≤0.25, preferably L1 / L0 should satisfy 0.18≤L1 / L0≤0.23, L1 / L2 needs to satisfy L1 / L2≤0.8, preferably L1 / L2 should satisfy L1 / L2≤0.7, and further preferably L1 / L2 should satisfy 0.45≤L1 / L2≤0.7.

[0056] The maximum working width of the cutting blade 4 is the distance L4 between the plane PE1 and the plane PE2, and the value of L4 satisfies L4≥220, and preferably the value of L4 should satisfy L4≥300mm.

[0057] The distance between the binocular camera and the RTK antenna 7 is the distance L5 between the plane PV1 and the plane PA1, and the value range of L5 is 150mm-250mm, preferably the value range of L5 is 180mm-220mm.

[0058] At the same time, in order to further reduce the influence of the low-voltage terminal 12 on the main control board 10 on the RTK antenna, in the present embodiment, a shielding cover 13 is further provided on the fuselage 1, and the shielding cover 13 is arranged below the RTK antenna 7. The projection of the low-voltage terminal 12 on the horizontal ground P completely falls within the projection of the shielding cover 13 on the horizontal ground P. The distance between the lower horizontal section of the shielding cover 13 and the upper horizontal section of the main control board 10 is H, and H should satisfy H≥40mm, preferably H should satisfy H≥55mm, and the distance K between the center point of the high-voltage terminal 11 and A1 should satisfy K≥100mm, and preferably K should satisfy K≥135mm.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solution recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solution from the technical solution of the embodiments of the utility model.

Claims

1. An autonomous operation device, comprising a body, driving wheels, auxiliary wheels, an operation module, a positioning module, and a visual module, characterized in that: The front edge tangent F, the rear edge tangent R, the left edge tangent T1, and the right edge tangent T2 of the projection of the fuselage on the horizontal ground P form a first rectangle, and the planes passing through the lines F, R, T1, and T2 and perpendicular to the horizontal ground P are PF, PR, PT1, and PT2 respectively. The first rectangle has a midline T0, T0 is parallel to the lines T1 and T2, and the plane passing through T0 and perpendicular to the horizontal ground P is PT0; The driving wheel axis is W1, W1 is parallel to the horizontal ground P, and the plane passing through W1 and perpendicular to the horizontal ground is PW1; The front edge tangent of the projection of the visual module on the horizontal ground P is V1, the plane passing through V1 and perpendicular to the horizontal ground P is PV1, the optical axis of the lens of the visual module is V2, and V2 is parallel to the plane PT0; The positioning module and the operation module are set on the fuselage, the driving wheel and the auxiliary wheel are arranged front and back on the fuselage, the driving wheel is in front, the auxiliary wheel is in the back, the plane PW1 is located behind the plane PF, the vision module is set on the fuselage, and the plane PV1 is located between the plane PF and the plane PW1.

2. The autonomous operation equipment according to claim 1, characterized in that: The auxiliary wheel axis is W2, W2 is parallel to the horizontal ground P, and the plane passing through W2 and perpendicular to the horizontal ground is PW2; The front edge tangent line C1, the rear edge tangent line C2, the left edge tangent line E1, and the right edge tangent line E2 of the projection of the operation module on the horizontal ground P form a second rectangle, and the planes passing through the lines C1, C2, E1, and E2 and perpendicular to the horizontal ground P are PC1, PC2, PE1, and PE2 respectively; The second rectangle has a center line C0, C0 is parallel to and equidistant from lines C1 and C2, and a plane passing through the center line C0 and perpendicular to the horizontal ground P is PC0; The operation module is arranged on the fuselage, and the plane PC2 is located behind the plane PW1.

3. The autonomous operation equipment according to claim 2, characterized in that: The positioning module is arranged on the fuselage, and the installation positioning line A1 of the positioning module is perpendicular to the horizontal ground P. The plane passing through the installation positioning line A1 and perpendicular to the horizontal ground P is PA1. The projection of the installation positioning line A1 on the horizontal ground P falls within the first rectangle and the installation positioning line A1 is located behind the plane PW1.

4. The autonomous operation equipment according to claim 3, characterized in that: The fuselage length is the distance L0 between the plane PF and the plane PR, the distance between the plane PF and the plane PV1 is L1, and L1 / L0≤0.

4.

5. The autonomous operation device according to claim 4, characterized in that: The distance between plane PF and plane PW1 is L2, L1 / L2≤0.

8.

6. The autonomous operation device according to any one of claims 4 or 5, characterized in that: The distance between the vision module and the positioning module is the distance L5 between the plane PV1 and the plane PA1, 150mm≤L5≤250mm.

7. The autonomous operation device according to claim 6, characterized in that: The center axis A1 of the positioning module is located between the plane PW1 and the plane PC2, the distance between the installation positioning line A1 and the plane PW1 is d1, the distance between the installation positioning line A1 and the plane PC2 is d2, and d1 / d2≤0.

5.

8. The autonomous operation device according to claim 7, characterized in that: The plane PC0 is located behind the plane PW1 , and the installation positioning line A1 of the positioning module is located between the plane PW1 and the plane PC0 . The distance between A1 and the plane PC0 is d3 , and d1 / d3 ≤ 0.

7.

9. The autonomous operation device according to claim 8, characterized in that: The second rectangle is located behind the axis W1, the central axis A1 of the positioning module is located between the plane PC1 and the plane PC2, the distance between A1 and the plane PC1 is d4, the distance between the plane PC1 and the plane PC2 is d5, and d4 / d5≤0.

7.

10. The autonomous operation device according to claim 9, characterized in that: The installation positioning line A1 of the positioning module is located between the plane PC1 and the plane PC0, and the distance between the plane PC1 and the plane PC0 is d6, d4 / d6≤0.

7.

11. The autonomous operation device according to claim 10, characterized in that: The second rectangle is located behind the axis W1 and in front of the axis W2, the distance between the plane PW1 and the plane PW2 is D1, the distance between the plane PC1 and the plane PC2 is D2, and D2 / D1≥0.

5.

12. The autonomous operation device according to claim 3, characterized in that: The positioning module is an RTK antenna, and the installation positioning line A1 is the central axis A1 of the RTK antenna.

13. The autonomous operation device according to claim 1, characterized in that: The visual module is a visual sensor, and the visual sensor is a binocular camera or a monocular camera.

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