Autonomous work equipment

Abstract

The utility model discloses autonomous operation equipment. The autonomous operation equipment comprises a machine body; the cutting device is connected with the machine body; the visual module is arranged at the top of the machine body; the supporting device is connected with the machine body and the visual module; the supporting device and the visual module surround the machine body to form at least one front-back through airflow channel; the control module is electrically connected with the cutting device and the visual module; and the control module is used for controlling self-walking and autonomous operation of the autonomous operation equipment. Therefore, the visual module is stable in installation and high in strength.

Description

TECHNICAL FIELD

[0001] The utility model relates to outdoor operation equipment field, especially in autonomous operation equipment. BACKGROUND

[0002] Autonomous operation equipment takes intelligent mower that mainly functions as lawn trimming as an example, can make user exempt from complex and mixed labor, and more and more popular with user. Intelligent mower includes vision module, and vision module includes camera and other accessories, is used for automatic identification work area. Because the working environment of intelligent mower is complex, the installation structure of existing vision module still needs improvement. SUMMARY

[0003] The utility model aims at providing a kind of autonomous operation equipment, so that the installation structure of vision module has at least one improvement.

[0004] To solve the above technical problems, the embodiment of the utility model provides a kind of autonomous operation equipment, comprising:

[0005] Machine body;

[0006] Cutting device, the cutting device is connected with the machine body;

[0007] Vision module, the vision module is set in the machine body top;

[0008] Supporting device, the supporting device is connected with the machine body and the vision module;The supporting device, the vision module form at least one front and rear through air flow channel around the machine body;And

[0009] Control module, the control module is electrically connected with the cutting device and the vision module;The control module is used to control the autonomous operation equipment self walking and autonomous operation.

[0010] In an embodiment, the supporting device has first support and second support, the first support and the second support are connected with the machine body body;And the vision module is clamped between the first support and the second support;

[0011] The first support, the vision module form the air flow channel around the machine body, and / or the second support, the vision module form the air flow channel around the machine body.

[0012] In an embodiment, the distance between the first support and the second support gradually increases from the inlet side of the air flow channel to the outlet side of the air flow channel.

[0013] In an embodiment, the first support and the second support are oppositely arranged along a width direction of the fuselage; the airflow channel extends towards a length direction of the fuselage.

[0014] In an embodiment, an extension line of the first support towards a front end direction of the fuselage intersects with an extension line of the second support towards the front end direction of the fuselage at the front end of the fuselage.

[0015] In an embodiment, an included angle between the extension line of the first support towards the front end direction of the fuselage and the extension line of the second support towards the front end direction of the fuselage ranges from 20° to 30°.

[0016] In an embodiment, the visual module has a visual functional surface towards a front end of the fuselage, and a visual back surface oppositely arranged with the visual functional surface; the visual functional surface and the visual back surface are oppositely arranged along a length direction of the fuselage; the first support and the second support are connected with a side wall surface between the visual functional surface and the visual back surface.

[0017] In an embodiment, the fuselage comprises a fuselage body and a base arranged on the fuselage body, and the base receives the visual module; the cutting device and the support device are connected with the fuselage body; the support device and the visual module form the airflow channel around the base and the fuselage body.

[0018] In an embodiment, the autonomous work equipment further comprises a cleaning component arranged on the base for cleaning a lens of the visual module; the cleaning component comprises a cleaning body and a first driving member for driving the cleaning body; the first driving member is electrically connected with the control module, and the first driving member is arranged in the base and connected with the base.

[0019] In an embodiment, an output axis of the first driving member is parallel with a main optical axis of the visual module, and both are inclined downward and forward.

[0020] In an embodiment, an included angle between the output axis of the first driving member and the main optical axis of the visual module with a horizontal plane ranges from 10° to 30°.

[0021] In an embodiment, the cleaning component further comprises a bracket sleeved on an output side of the first driving member, and a first fixing member connecting the bracket and the base; the bracket is provided with a first mounting hole; the first fixing member is inserted into a first connecting hole of the base from bottom to top through the first mounting hole.

[0022] In an embodiment, the visual module comprises: a mounting shell with a mounting port, a shooting member arranged in the mounting shell, a shell cover closing the mounting port, and a second fixing member;

[0023] The second fixing member connects the mounting shell and the base from top to bottom; a vertical axis of the second fixing member penetrates the mounting port; before the shell cover is capped on the mounting shell, there is no obstruction in the area of the second fixing member to the mounting port in the direction of the vertical axis of the second fixing member.

[0024] In an embodiment, a first wire passing hole is opened at the top of the base, and a first flange is arranged around the outer periphery of the first wire passing hole; a second wire passing hole is opened at the bottom of the visual module, and a second flange is arranged around the outer periphery of the second wire passing hole;

[0025] The first flange and the second flange are sealingly connected, and the second wire passing hole and the first wire passing hole are oppositely arranged and penetrate each other;

[0026] The base has a second connecting hole in the area surrounded by the first flange, and the bottom of the visual module has a second mounting hole in the area surrounded by the second flange, and the second fixing member is inserted into the second connecting hole and the second mounting hole.

[0027] In an embodiment, a first matching member is further arranged at the top of the base, and the first matching member is located at one side of the first flange facing the front end of the fuselage;

[0028] A second matching member is further arranged at the bottom of the visual module, and the second matching member is connected in connection with the first matching member.

[0029] In an embodiment, the shell cover is a heat dissipation member, the mounting port is an open port of the mounting shell facing the tail end of the fuselage, a sealing member is clamped between the shell cover and the mounting shell, and the supporting device is connected with the mounting shell.

[0030] In an embodiment, the supporting device has a first supporting member and a second supporting member, the first supporting member and the second supporting member are both connected with the fuselage body, and the visual module and the base are clamped between the first supporting member and the second supporting member.

[0031] The first supporting member, the visual module, the fuselage body and the base form the airflow channel, and / or the second supporting member, the visual module, the fuselage body and the base form the airflow channel; the airflow channel extends in the length direction of the fuselage.

[0032] Embodiments of the utility model also provide a visual module mounting method of autonomous working equipment, the autonomous working equipment comprises:

[0033] a machine body, the machine body comprising a machine body proper and a base arranged at the top of the machine body proper;

[0034] a cutting device connected with the machine body proper;

[0035] a vision module, the base receiving the vision module; the vision module comprising a mounting shell with a mounting opening, a camera component arranged in the mounting shell, a shell cover closing the mounting opening, and a second fixing member; the second fixing member connecting the mounting shell and the base from top to bottom;

[0036] a supporting device connected with the machine body and supporting the vision module in connection with the mounting shell; and

[0037] a control module electrically connected with the cutting device and the vision module; the control module being used for controlling the autonomous working equipment to walk and work autonomously;

[0038] the vision module mounting method comprising:

[0039] connecting the mounting shell with the supporting device;

[0040] connecting the mounting shell with the supporting device with the base fixedly connected, and installing the supporting device on the machine body proper;

[0041] installing the shell cover on the mounting shell to close the mounting opening. BRIEF DESCRIPTION OF DRAWINGS

[0042] One or more embodiments are illustrated by way of example in the drawings that are not intended to be limiting of the embodiments so as to illustrate exemplary principles of the embodiments, the drawings in which like reference numerals refer to like elements, unless otherwise specified, the drawings are not necessarily to scale, the drawings are not intended to limit the embodiments to the illustrated embodiments and the drawings do not imply a source of work.

[0043] Figure 1 is a structural schematic view of the autonomous working equipment according to an embodiment of the present application;

[0044] Figure 2 is a top view of the autonomous working equipment according to an embodiment of the present application;

[0045] Figure 3 is an exploded view of the vision module, the supporting device, and the cleaning component on the machine body according to an embodiment of the present application;

[0046] Figure 4 is a structural schematic view of the vision module according to an embodiment of the present application;

[0047] Figure 5 is an enlarged view of the base of the autonomous work equipment according to an embodiment of the present application;

[0048] Figure 6 is an exploded view of the cleaning component according to an embodiment of the present application;

[0049] Figure 7 is a top view of the autonomous work equipment according to an embodiment of the present application;

[0050] Figure 8 is Figure 7 is a sectional view of X1-X1 in FIG. 1;

[0051] Figure 9 is Figure 8 is a partial enlarged view of A in FIG. 1;

[0052] Figure 10 is Figure 7 is a sectional view of X2-X2 in FIG. 1;

[0053] Figure 11 is Figure 10 is a partial enlarged view of B in FIG. 1;

[0054] Figure 12 is Figure 7 is a sectional view of X3-X3 in FIG. 1. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the various embodiments of the present application will be described in detail below with reference to the drawings. However, those skilled in the art can understand that, in the various embodiments of the present application, many technical details are proposed in order to make the reader better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed by the present application can be implemented.

[0056] In the following description, for the purpose of illustrating various disclosed embodiments, specific details are set forth in order to provide a thorough understanding of various disclosed embodiments. However, persons of ordinary skill in the relevant arts would appreciate that embodiments can be practiced without one or more of these specific details. In other instances, well-known devices, structures and techniques associated with the present application have not been shown or described in detail in order to avoid unnecessarily obscuring the description of the embodiments.

[0057] Unless the context clearly requires otherwise, throughout the description and the claims, the words "comprise", "comprising", and the like are to be construed in an open, non- limiting sense, as meaning "including, but not limited to".

[0058] The following will be combined with the accompanying drawings to describe in detail the various embodiments of the present invention so that the purpose, features and advantages of the present invention can be more clearly understood. It should be understood that the embodiments shown in the accompanying drawings are not intended to limit the scope of the present invention, but are only intended to illustrate the essential spirit of the technical solution of the present invention.

[0059] Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any manner in one or more embodiments.

[0060] As used in this specification and the appended claims, the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. It should be noted that the term "or" is generally employed in its sense including "and / or" unless the context clearly dictates otherwise.

[0061] In the following description, in order to clearly demonstrate the structure and working mode of the present invention, many directional words will be used for description, but words such as "front", "back", "left", "right", "outside", "inside", "outward", "inward", "up", and "down" should be understood as convenient terms and should not be understood as restrictive terms.

[0062] The following describes embodiments of the present invention with reference to the accompanying drawings.

[0063] One embodiment of the present invention relates to an autonomous working device 100. The autonomous working device 100 is, in particular, a robot that can autonomously move within a preset area and perform specific operations, such as a typical intelligent lawn mower that performs mowing operations. Specifically, the specific operation refers to an operation that processes a work surface and changes the state of the work surface. The present invention is described in detail using an intelligent lawn mower as an example. The autonomous working device 100 can autonomously move on the surface of the work area, and in particular, as an intelligent lawn mower, can autonomously perform mowing operations on the ground.

[0064] like Figures 1-3 As shown, the autonomous operation equipment 100 includes a body 1, a cutting device 2, a vision module 3 and a control module.

[0065] The body 1 generally comprises a chassis and a shell. The chassis is used to mount and accommodate the mobile mechanism, the working mechanism, the energy module, the detection module, the interaction module, the control module and other functional mechanisms and functional modules. The shell is generally configured to at least partially cover the chassis and mainly serves to enhance the appearance and recognition of the autonomous working device 100. The mobile mechanism 7 is configured to support the main body mechanism on the ground and drive the main body mechanism to move on the ground, and generally comprises a wheeled mobile mechanism, a tracked or semi-tracked mobile mechanism, a walking mobile mechanism and the like. In the embodiment, the mobile mechanism is a wheeled mobile mechanism, which comprises at least one driving wheel and at least one walking prime mover. The walking prime mover is preferably an electric motor, and in other embodiments can be an internal combustion engine or a mechanical device powered by other types of energy. In the embodiment, a left driving wheel, a left walking prime mover driving the left driving wheel, a right driving wheel and a right walking prime mover driving the right driving wheel are preferably provided. In the embodiment, the straight-line travel of the autonomous working device is achieved by the same speed rotation of the left and right driving wheels, and the turning travel is achieved by the same direction differential rotation or opposite rotation of the left and right driving wheels. In other embodiments, the mobile mechanism can further comprise a steering mechanism independent of the driving wheel and a steering prime mover independent of the walking prime mover. In the embodiment, the mobile mechanism further comprises at least one driven wheel, which is typically configured as a universal wheel. The driving wheel and the driven wheel are respectively located at the front and rear ends of the autonomous working device. Figure 1

[0066] The energy module is configured to provide energy for the various operations of the autonomous working device 100. In the embodiment, the energy module comprises a battery and a charging connection structure, wherein the battery is preferably a rechargeable battery, and the charging connection structure is preferably a charging electrode that can be exposed outside the autonomous working device.

[0067] The detection module is configured as at least one sensor that senses the environmental parameters of the autonomous working device 100 or its own working parameters. Typically, the detection module can comprise sensors related to the definition of the working area, such as magnetic induction type, collision type, ultrasonic type, infrared type, radio type and the like, and the type of sensor is adapted to the position and number of corresponding signal generating devices. The detection module can also comprise sensors related to positioning and navigation, such as GPS positioning devices, laser positioning devices, electronic compasses, acceleration sensors, odometers, angle sensors, geomagnetic sensors and the like. The detection module can also comprise sensors related to the safety of its own work, such as obstacle sensors, lifting sensors, battery pack temperature sensors and the like. The detection module can also comprise sensors related to the external environment, such as environmental temperature sensors, environmental humidity sensors, light sensors, rain sensors and the like.

[0068] ​The interaction module is configured to at least receive user input control instruction information, send information that needs to be perceived by the user, communicate with other systems or devices to send and receive information, etc. In the present embodiment, the interaction module includes input devices arranged on the autonomous working device 100 for receiving user input control instruction information, typically a control panel, an emergency stop button, etc.; the interaction module also includes a display screen, an indicator light and / or a buzzer arranged on the autonomous working device 100 to make the user perceive information through light or sound. In other embodiments, the interaction module includes a communication module arranged on the autonomous working device 100 and a terminal device independent of the autonomous working device 100, such as a mobile phone, a computer, a network server, etc., and the user's control instruction information or other information can be input on the terminal device and reach the autonomous working device 100 via a wired or wireless communication module.

[0069] The control module generally includes at least one processor and at least one non-volatile memory, and the memory has a pre-written computer program or instruction set stored therein, and the processor controls the execution of the movement, work, etc. of the autonomous working device 100 according to the computer program or instruction set. Further, the control module can also control and adjust the corresponding behavior of the autonomous working device 100, modify the parameters in the memory, etc. according to the signals of the detection module and / or user control instructions.

[0070] The working mechanism is configured to perform specific work tasks, including a working member and a working prime mover for driving the working member to operate. Exemplarily, for a smart sweeper / vacuum cleaner, the working member includes a roller brush, a suction pipe and a dust collection chamber, etc.; for a smart mower, the working member includes a cutting blade or a cutting disc, and further includes a height adjustment mechanism for adjusting the mowing height and other components for optimizing or adjusting the mowing effect. The working prime mover is preferably an electric motor, and in other embodiments can also be an internal combustion engine or a mechanical device powered by other types of energy. In some other embodiments, the working prime mover and the walking prime mover are configured as one prime mover. In the present example, the cutting device 2 is at least part of the working mechanism, and the cutting device 2 is arranged at the bottom of the body 1, and the cutting device 2 includes a cutting tool and an electric motor.

[0071] As shown in Figure 1 and Figure 2 The vision module 3 is arranged at the top of the body 1, and the control module is electrically connected with the cutting device 2 and the vision module 3, and the control module is used to control the autonomous walking and autonomous work of the autonomous working device 100.

[0072] In addition, as shown in Figure 1 and Figure 2 The autonomous working device 100 further includes a support device 4 connected with the body 1 and the vision module 3.

[0073] In addition, as shown in Figure 1 and Figure 2 The support device 4 and the vision module 3 form at least one front-to-back airflow channel 5 around the body 1, so that when the autonomous working device 100 is running, the airflow passes through the airflow channel 5, balancing the mechanical strength, reducing the resistance, and having good ventilation and heat dissipation for the vision module.

[0074] From the above, the vision module 3 is arranged on the body 1, the height of the vision module 3 is increased, and the use effect of the vision module 3 is better, but the working environment of the autonomous working device 100 is complex, the structure protruding from the body 1 is easy to be damaged, and the mechanical strength is higher. The installation strength of the vision module is improved by the arrangement of the support device 4, and the vision module 3 outside the body 1 is not easy to be damaged.

[0075] As shown in Figure 1 , Figure 3 and Figure 4 The vision module 3 has a bottom surface 303 facing the body 1, a top surface 304 opposite to the bottom surface, and an outer peripheral surface 305 surrounding the bottom surface 303 and the top surface 304. In this embodiment, the surface of the outer peripheral surface 305 facing the front end of the body 1 is the vision function surface 302, and the surface facing the tail end of the body 1 is the vision back surface 301. In other embodiments, the vision function surface 302 can face the tail end of the body 1 or other directions of the body 1. The support device 4 is connected with the outer peripheral surface 305 of the vision module 3 to support the vision module 3, and the support device 4 can also be connected with the top surface of the vision module 3 to support the vision module 3.

[0076] In this embodiment, the airflow channel 5 is provided, and in other embodiments, the airflow channel 5 can also not be provided, and the outer peripheral surface 305 or the top surface 304 of the vision module 3 is supported by the support device 4.

[0077] Further, as shown in Figure 1 and Figure 2 The support device 4 has a first support 41 and a second support 42 opposite to the first support 41, and the first support 41 and the second support 42 are connected with the body 1, which is arranged on the top of the body 1 in this embodiment. In other embodiments, the support device 4 can be arranged on the side of the body 1 and extended to be connected with the vision module 3. The vision module 3 is clamped between the first support 41 and the second support 42, so that both sides of the vision module 3 are supported, the stability is better, and the strength is higher.

[0078] In this embodiment, the first support 41 and the second support 42 are connected with the outer peripheral surface 304 of the vision module 3, and in other embodiments, they can also be connected with the top surface of the vision module 3.

[0079] In addition, asFigure 1 and Figure 2 As shown in

[0080] Further, as shown in Figure 1 and Figure 2 The first support 41 and the second support 42 are spaced apart along the width direction of the fuselage 1.

[0081] As shown in Figure 1 and Figure 2 The distance between the first support 41 and the second support 42 gradually increases from the inlet side of the airflow channel 5 to the outlet side of the airflow channel 5. In this embodiment, the inlet side is the side toward the front end of the fuselage 1, and the outlet side is the side toward the tail end of the fuselage 1. Preferably, the airflow channel 5 extends toward the length direction of the fuselage 1. The length direction of the fuselage 1 is the direction from the front end to the tail end of the fuselage 1, which is also the direction in which the self-operated working device 100 advances.

[0082] As shown in Figure 1 and Figure 2 The extension line of the first support 41 in the direction toward the front end of the fuselage 1 intersects with the extension line of the second support 42 in the direction toward the front end of the fuselage 1 at the front end of the fuselage 1.

[0083] As shown in Figure 1 and Figure 2 The included angle β between the extension line of the first support 41 in the direction toward the front end of the fuselage 1 and the extension line of the second support 42 in the direction toward the front end of the fuselage 1 ranges from 20° to 30°. Optionally, the included angle β is 25°, 27°, or 29°.

[0084] Further, as shown in Figure 1 and Figure 2As shown, the visual module 3 has a visual functional surface 302 facing the front end of the machine body 1, and a visual back surface 301 opposite to the visual functional surface 302. The visual functional surface 302 and the visual back surface 301 are oppositely arranged along the length direction of the machine body 1, and the first support 41 and the second support 42 are connected with the side wall surface between the visual functional surface 302 and the visual back surface 301. The visual functional surface 302 is the shooting surface of the lens 321 of the visual module 3. In other embodiments, the first support 41 and the second support 42 can also be connected with the visual back surface 301. In the embodiment, the lens 321 faces the front end of the machine body 1, and in other embodiments, the lens 321 can also face the tail end of the machine body 1, or can also face the side surface of the machine body 1.

[0085] Further, as shown in Figure 3 and Figure 7 , the machine body 1 comprises a machine body 11 and a base 12 arranged on the machine body 11, and the base 12 receives the visual module 3, and the cutting device 2 and the support device 4 are connected with the machine body 11. The support device 4 and the visual module 3 form an air flow channel 5 around the base 12 and the machine body 11.

[0086] Specifically, in the embodiment, as shown in Figure 11 and Figure 7 , the first support 41 and the visual module 3 form the air flow channel 5 around the machine body 11 and the base 12. Similarly, the second support 42 and the visual module 3 form the air flow channel 5 around the machine body 11 and the base 12, and the air flow channel 5 extends towards the length direction of the machine body 1. In this structure, the first support 41 and the second support 42 are clamped with the machine body 11, the first support 41 is separated from the base 12, and the first support 41, the side wall of the visual module 3, the side wall of the base 12, and the machine body 11 form the air flow channel 5 around, and the second support 42 forms the structure of the air flow channel 5. In addition, in other embodiments, the first support 41 or the second support 42 can also partially extend to be clamped with the base 12, but the air flow channel 5 exists.

[0087] In addition, as shown in Figure 10 , Figure 11 , Figure 7 , the autonomous working device 100 further comprises a cleaning component 6 arranged on the base 12 for cleaning the lens 321 of the visual module 3. The cleaning component 6 comprises a cleaning body 61 and a first driving member 62 driving the cleaning body 61, and the first driving member 62 is electrically connected with the control module and arranged in the base 12 and connected with the base 12. Specifically, the cleaning body 61 can be a wiper, and the first driving member 62 can be a motor, and it can be understood that the cleaning body 61 can also be a brush or other cleaning tool.

[0088] AsFigure 10 、 Figure 1 、 Figure 3 As shown in

[0089] As shown in Figure 1 、 Figure 2 The angle α between the output axis L of the first driving member 62 and the main optical axis P of the vision module 3 ranges from 10° to 30°. Alternatively, the angle α can range from 15° to 20°. Preferably, the angle α can be 16°, 17° or 18°.

[0090] In addition, as shown in Figure 2 and Figure 6 The cleaning member 6 further comprises a bracket 64 sleeved on the output side of the first driving member 62 and a first fixing member 65 connecting the bracket 64 and the base 12. The bracket 64 is provided with a first mounting hole 66, and the first fixing member 65 is inserted into the first connecting hole 121 of the base 12 from bottom to top through the first mounting hole 66.

[0091] Further, as shown in Figure 2 and Figure 6 The bracket 64 has an intermediate portion 641 sleeved on the output side of the first driving member 62 and a pair of connecting ears 642 extending from the intermediate portion 641 to both sides. The first driving member 62 is fixedly connected with the intermediate portion 641, and each connecting ear 642 is provided with a first mounting hole 66.

[0092] Further, as shown in Figure 4 、 Figure 5 The intermediate portion 641 is provided with an output hole 643 for inserting the output side of the first driving member 62. The cleaning member 6 further comprises a gasket 67 arranged on the outer periphery of the output hole 643, the cleaning body 61 is connected with the output shaft of the first driving member 62 through the output hole 643, and the gasket 67 is clamped between the intermediate portion 641 and the cleaning body 61. The control module can drive the first driving member 62 to rotate the cleaning body 61, so as to clean the lens 321 of the vision module 3.

[0093] Specifically, as shown in Figure 7 、 Figure 8As shown, the bracket 64 is sleeved to the output side of the first driving member 62 at the time of installation, the first driving member 62 has an extension plate 621 thereon, the extension plate 621 is locked by a screw through a screw hole 68 on the middle part 641, so as to realize the fixation between the bracket 64 and the first driving member 62. The axis of the first installation hole 66 can be a vertical direction, and it can be understood that it can also be understood as vertical with a slight inclination. The first fixing member 65 can be a screw, which is inserted into the first installation hole 66 and the first connecting hole 121 of the base 12 from bottom to top in the vertical direction, so as to realize the installation of the first driving member 62 to the base 12. In addition, the outer periphery of the output hole 643 of the middle part 641 has a boss for inserting a gasket 67, the gasket 67 can be a felt with waterproof and dustproof effect, the output shaft of the first driving member 62 is inserted into the cleaning body 61 through the output hole 643, and the gasket 67 is arranged to seal the cleaning body 61 and the middle part 641, so as to prevent water from entering from the area of the output hole 643.

[0094] As shown in Figure 8 , Figure 11 , Figure 12 , Figure 4 , the visual module 3 comprises: a mounting shell 31 with a mounting port, a shooting member 32 arranged in the mounting shell 31, a shell cover 33 for closing the mounting port, and a second fixing member 34. As shown in Figure 5 , Figure 8 , Figure 11 , the second fixing member 34 connects the mounting shell 31 and the base 12 from top to bottom, and before the shell cover 33 is capped to the mounting shell 31, there is no obstruction in the area of the second fixing member 34 to the mounting port in the vertical axis direction M of the second fixing member 34, that is, the vertical axis of the second fixing member 34 penetrates the mounting port. Therefore, when the visual module 3 is installed on the base 12, it is convenient to operate. For example, the second fixing member 34 can be a screw, and there is no obstruction above the central axis of the screw, which ensures that it can be operated with a common screwdriver.

[0095] In addition, as shown in Figure 12 , Figure 4 , the top of the base 12 is provided with a first wire passing hole 122, and the outer periphery of the first wire passing hole 122 is provided with a first flange 125. The bottom of the visual module 3 is provided with a second wire passing hole 35, and the outer periphery of the second wire passing hole 35 is provided with a second flange 36. The first flange 125 and the second flange 36 are sealed and connected, and the second wire passing hole 35 and the first wire passing hole 122 are oppositely arranged and penetrate each other. As shown in Figure 5 , Figure 2 , Figure 4As shown, the base 12 has a second connecting hole 123 in the area surrounded by the first flange 125, the bottom of the visual module 3 has a second mounting hole 38 in the area surrounded by the second flange 36, and the second fixing member 34 is inserted into the second connecting hole 123 and the second mounting hole 38. The inner cavity of the base 12 communicates with the inner cavity of the body 11, and the wires of the shooting member 32 and the control circuit in the visual module 3 can enter the inner cavity of the base 12 through the first wire passing hole 122 and the second wire passing hole 35, so as to be guided into the inner cavity of the body 11 and electrically connected with the control module. In addition, the second flange 36 has a groove 361 embedded with the sealing strip 8, and when the shell is mounted on the base 12, the first flange 125 is embedded in the groove 361 and is in interference fit with the sealing strip 8 to achieve sealing and prevent water from entering the first wire passing hole 122.

[0096] Further, as shown in Figure 11 、 Figure 4 , the top of the base 12 is further provided with a first matching member 124 located on the side of the first flange 125 facing the front end of the body 1. The bottom of the visual module 3 is further provided with a second matching member 37 connected with the first matching member 124 in butt joint, and the first matching member 124 and the second matching member 37 can be mutually matched protruding clamping rings, so that after assembly the first matching member 124 is outside the second matching member 37, thereby realizing positioning butt joint between the visual module 3 and the base 12.

[0097] Further, as shown in Figure 4 、 Figure 3 、 Figure 8 , Figure 9 is a schematic view of the visual module upside down, the bottom surface 303 is shown upward, the shell cover 33 is a heat dissipation member, i.e. Figure 1 the right side has a structure with multiple grids, and the mounting port is an open port of the mounting shell 31 facing the tail end of the body 1. The sealing member 39 is clamped between the shell cover 33 and the mounting shell 31, and the support device 4 is connected with the mounting shell 31. During installation, the shell cover 33 is not installed first, and after the mounting shell 31 is mounted on the base 12, the shell cover 33 is finally installed to cover the mounting port, and the shell cover 33 and the mounting shell 31 have a sealing ring therebetween to prevent water leakage.

[0098] In this embodiment, as shown in Figure 3 、 ​ 、 ​As shown, the support device 4 is connected to the mounting shell 31 and the fuselage body 11 by clamping, for example, the first support 41 is provided with a protruding structure 411 which is clamped into the annular protrusion 306 on the visual module, the bottom of the first support 41 is provided with a base 412 which is embedded into the recessed position 13 of the fuselage body 11, and the recessed position 13 is provided with a protrusion which is clamped into the base 412, thereby realizing the installation of the support device 4 and the fuselage body 11. The installation structure is only an example, and other forms can be used in actual installation.

[0099] In this embodiment, after the base 12, the first driving member 62 and the support 64 are assembled, the visual module 3 and the support device 4 are installed. Specifically, when installing the visual module 3, after the camera member 32, i.e. the camera and other components, is installed into the mounting shell 31, the support device 4 is first installed onto the mounting shell 31, such as the first support 41 and the second support 42 being clamped with the mounting shell 31, and then the support device 4 and the mounting shell 31 are installed together, the mounting shell 31 is docked with the base 12, the first flange 125 is docked with the second protruding ring 36, the second matching member 37 is docked with the first matching member 124, and the first support 41 and the second support 42 are clamped with the fuselage body 11. Then the second fixing member 34 is inserted from top to bottom into the second connecting hole 123 and the second mounting hole 38, and the mounting shell 31 is fixed with the base 12. After the circuit of the visual module 3 is installed, finally the shell cover 33 is installed onto the mounting shell 31 to seal the installation port.

[0100] The second embodiment of the utility model relates to a visual module installation method of an autonomous working device. As shown in ​ 、 ​ the visual module 3 installation method is used for the autonomous working device 100 in the first embodiment, and the structure of the autonomous working device 100 is as described in the first embodiment, which will not be repeated here. The visual module 3 installation method comprises the following steps:

[0101] Step 100, connecting the mounting shell 31 with the support device 4;

[0102] Step 200, fixing the mounting shell 31 connected with the support device 4 with the base 12, and installing the support device 4 onto the fuselage body 11;

[0103] Step 300, installing the shell cover 33 onto the mounting shell 31 to seal the installation port. Specifically, as described in the first embodiment, which will not be repeated here.

[0104] It can be found that the present embodiment is a system embodiment corresponding to the first embodiment, and the present embodiment can be implemented in cooperation with the first embodiment. The related technical details mentioned in the first embodiment are still valid in the present embodiment, and in order to reduce repetition, they will not be repeated here. Correspondingly, the related technical details mentioned in the present embodiment can also be applied in the first embodiment.

[0105] The step division of the above various methods is only for clear description, and can be combined into one step or split certain steps to be decomposed into multiple steps in implementation, as long as the same logical relationship is included, and all are within the protection scope of the patent; adding irrelevant modifications or introducing irrelevant designs in the algorithm or flow, but not changing the core design of the algorithm and flow are within the protection scope of the patent.

[0106] The preferred embodiments of the present application have been described in detail above, but it should be understood that, if necessary, aspects of the embodiments can be modified to employ aspects, features and concepts of various patents, applications and publications to provide additional embodiments.

[0107] In view of the above detailed description, these and other changes can be made to the embodiments. Generally, the terms 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 to which such claims are entitled.

[0108] Those skilled in the art can understand that the above embodiments are specific embodiments for implementing the present application, and in actual application, various changes can be made in form and details without departing from the spirit and scope of the present application.

Claims

1. An autonomous operating device, characterized in that: include: body; a cutting device connected to the fuselage; A visual module, the visual module being arranged on the top of the fuselage; a supporting device connected to the fuselage and the visual module; The support device and the visual module form at least one airflow channel running through the fuselage from front to back. as well as A control module is electrically connected to the cutting device and the vision module; the control module is used to control the autonomous operation equipment to move and operate autonomously.

2. The autonomous operation equipment according to claim 1, characterized in that: The supporting device comprises a first supporting member and a second supporting member, wherein the first supporting member and the second supporting member are both connected to the fuselage body; and the visual module is clamped between the first supporting member and the second supporting member; The first support member and the vision module form the airflow channel around the fuselage, and / or the second support member and the vision module form the airflow channel around the fuselage.

3. The autonomous operation equipment according to claim 2, characterized in that: The distance between the first support member and the second support member gradually increases from the inlet side of the air flow channel to the outlet side of the air flow channel.

4. The autonomous operation equipment according to claim 3, characterized in that: The first support member and the second support member are arranged opposite to each other along the width direction of the fuselage; and the air flow channel extends toward the length direction of the fuselage.

5. The autonomous operation equipment according to claim 4, characterized in that: An extension line of the first support member in a direction toward the front end of the fuselage and an extension line of the second support member in a direction toward the front end of the fuselage intersect at the front end of the fuselage.

6. The autonomous operation equipment according to claim 5, characterized in that: An included angle between an extension line of the first support member in a direction toward the front end of the fuselage and an extension line of the second support member in the direction toward the front end of the fuselage is in a range of 20° to 30°.

7. The autonomous operation equipment according to claim 2, characterized in that: The visual module has a visual functional surface facing the front end of the fuselage, and a visual back surface arranged opposite to the visual functional surface; the visual functional surface and the visual back surface are arranged opposite to each other along the length direction of the fuselage; the first support member and the second support member are connected to the side wall surface between the visual functional surface and the visual back surface.

8. The autonomous operation equipment according to claim 1, characterized in that: The fuselage includes: a fuselage body and a base arranged on the fuselage body, and the base supports the visual module; the cutting device and the supporting device are connected to the fuselage body; the supporting device and the visual module form the airflow channel around the base and the fuselage body.

9. The autonomous operation equipment according to claim 8, characterized in that: The autonomous operating equipment also includes: a cleaning component, which is arranged on the base and is used to clean the lens of the visual module; the cleaning component includes: a cleaning body, and a first driving member that drives the cleaning body; the first driving member is electrically connected to the control module, and the first driving member is arranged in the base and connected to the base.

10. The autonomous operation equipment according to claim 9, characterized in that: The output axis of the first driving member is parallel to the main optical axis of the visual module, and both are inclined forward and downward.

11. The autonomous operation equipment according to claim 10, characterized in that: The angles between the output axis of the first driving member and the main optical axis of the visual module and the horizontal plane are both in the range of 10° to 30°.

12. The autonomous operation equipment according to claim 9, characterized in that: The cleaning component also includes: a bracket mounted on the output side of the first driving member, and a first fixing member connecting the bracket and the base; a first mounting hole is opened on the bracket; the first fixing member passes through the first mounting hole from bottom to top and is inserted into the first connecting hole of the base.

13. The autonomous operation equipment according to claim 8, characterized in that: The visual module includes: a mounting shell having a mounting opening, a shooting component disposed in the mounting shell, a shell cover closing the mounting opening, and a second fixing component; The second fixing member connects the mounting shell and the base from top to bottom; the vertical axis of the second fixing member passes through the mounting opening; before the shell cover is sealed onto the mounting shell, there is no obstruction in the area from the second fixing member to the mounting opening in the direction of the vertical axis of the second fixing member.

14. The autonomous operation equipment according to claim 13, characterized in that: A first wire-passing hole is provided on the top of the base, and a first flange is provided around the outer periphery of the first wire-passing hole; a second wire-passing hole is provided on the bottom of the visual module, and a second convex ring is provided around the outer periphery of the second wire-passing hole; The first flange is sealed and connected to the second convex ring, and the second wire hole is arranged opposite to the first wire hole and is connected to each other; The base has a second connecting hole in an area surrounded by the first flange, the bottom of the visual module has a second mounting hole in an area surrounded by the second convex ring, and the second fixing member is inserted into the second connecting hole and the second mounting hole.

15. The autonomous operation equipment according to claim 14, characterized in that: A first matching piece is further provided on the top of the base, and the first matching piece is located on a side of the first flange facing the front end of the fuselage; A second matching piece is also provided at the bottom of the visual module, and the second matching piece is docked and connected to the first matching piece.

16. The autonomous operation equipment according to claim 13, characterized in that: The shell cover is a heat dissipation component, and the mounting opening is an opening of the mounting shell facing the rear end of the fuselage; a sealing component is clamped between the shell cover and the mounting shell, and the supporting device is connected to the mounting shell.

17. The autonomous operation equipment according to claim 8, characterized in that: The supporting device comprises a first supporting member and a second supporting member, wherein the first supporting member and the second supporting member are both connected to the fuselage body; and the visual module and the base are clamped between the first supporting member and the second supporting member; The first support member and the visual module form the airflow channel around the fuselage body and the base, and / or the second support member and the visual module form the airflow channel around the fuselage body and the base; the airflow channel extends in the length direction of the fuselage.

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