Autonomous work equipment

Abstract

The utility model discloses autonomous operation equipment. In the utility model, the autonomous operation equipment comprises a machine body, and the machine body comprises a machine body and a base arranged at the top of the machine body; the cutting device is connected with the machine body; the base is connected with the visual module; the cleaning component is arranged on the base and is used for cleaning the lens of the visual module; the cleaning part comprises a cleaning main body, a first driving part for driving the cleaning main body, a bracket arranged on the output side of the first driving part in a sleeving manner, and a first fixing part for connecting the bracket and the base; a first mounting hole is formed in the bracket; the first fixing piece penetrates through the first mounting hole from bottom to top and is inserted into the first connecting hole of the base; the control module is electrically connected with the cutting device, the visual module and the first driving part; and the control module is used for controlling self-walking and autonomous operation of the autonomous operation equipment. The visual effect is better, and installation and maintenance are convenient.

Description

TECHNICAL FIELD

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

[0002] The autonomous operation equipment takes the intelligent mower mainly used for trimming lawns as an example, can make the user free from complex and mixed labor, and is more and more popular with the user. The intelligent mower includes a vision module, and the vision module includes a camera and other accessories, and is used for automatically identifying a working area. Since the working environment of the intelligent mower is complex, better visual effect is required. SUMMARY

[0003] The utility model aims at providing an autonomous operation equipment, so that the specific better visual effect is provided.

[0004] To solve the above technical problem, the embodiment of the utility model provides an autonomous operation equipment, which comprises:

[0005] A machine body, the machine body comprises a machine body and a base arranged on the top of the machine body;

[0006] A cutting device connected with the machine body;

[0007] A vision module, the base receives the vision module;

[0008] A cleaning component arranged on the base and used for cleaning the lens of the vision module; the cleaning component comprises a cleaning body, a first driving piece driving the cleaning body, a bracket sleeved on the output side of the first driving piece, and a first fixing piece connecting the bracket and the base; the bracket is provided with a first mounting hole; the first fixing piece is inserted into a first connecting hole of the base from bottom to top through the first mounting hole; and

[0009] A control module electrically connected with the cutting device, the vision module and the first driving piece; the control module is used for controlling the autonomous operation equipment to walk and work autonomously.

[0010] In an embodiment, the bracket has an intermediate part sleeved on the output side of the first driving piece, and a pair of connecting ears formed by extending from the intermediate part to both sides; the first driving piece is fixedly connected with the intermediate part, and the first mounting hole is arranged on each connecting ear.

[0011] In an embodiment, the intermediate part is provided with an output hole for inserting the output side of the first driving piece;

[0012] The cleaning component further comprises a gasket arranged at the outer periphery of the output hole, the cleaning body is connected with the output shaft of the first driving member through the output hole, and the gasket is clamped between the intermediate part and the cleaning body.

[0013] In an embodiment, the output shaft line of the first driving member is parallel to the main optical axis of the visual module, and both are inclined downward and forward.

[0014] In an embodiment, the included angle of the output shaft line of the first driving member and the main optical axis of the visual module with the horizontal plane is in the range of 15° to 20°.

[0015] In an embodiment, the first fixing member is a screw, and the first fixing member is arranged vertically.

[0016] 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.

[0017] The second fixing member connects the mounting shell and the base from top to bottom; the vertical axis of the second fixing member penetrates the mounting port.

[0018] In an embodiment, the base has a second connecting hole for insertion of the second fixing member; the lens of the visual module is directed toward the front end of the body, and the first connecting hole is closer to the front end of the body than the second connecting hole.

[0019] In an embodiment, the top of the base is provided with a first wire passing hole, and the outer periphery of the first wire passing hole is arranged with a first flange; the bottom of the visual module is provided with a second wire passing hole, and the outer periphery of the second wire passing hole is arranged with a second flange;

[0020] The first flange and the second flange are sealingly connected, the second wire passing hole is arranged opposite to and penetrates through the first wire passing hole; the second connecting hole is located in the area surrounded by the first flange, and the first connecting hole is located outside the area surrounded by the first flange.

[0021] In an embodiment, the shell cover is a heat dissipation member, the mounting port is an open port of the mounting shell directed toward the tail end of the body, and a sealing member is clamped between the shell cover and the mounting shell.

[0022] When the mounting port is open, there is no obstruction from the second fixing member to the area of the mounting port in the direction of the vertical axis of the second fixing member.

[0023] In an embodiment, the autonomous work device further comprises a support device, the support device having a first support and a second support, the first support and the second support being oppositely arranged along the width direction of the fuselage body, and the first support and the second support being connected to the fuselage body; the vision module and the base are clamped between the first support and the second support.

[0024] In an embodiment, the first support, the vision module, the fuselage body and the base form an air flow channel, and / or the second support, the vision module, the fuselage body and the base form an air flow channel; the air flow channel extends towards the length direction of the fuselage body.

[0025] In an embodiment, the extension line of the first support towards the front end of the fuselage body intersects with the extension line of the second support towards the front end of the fuselage body at the front end of the fuselage body. BRIEF DESCRIPTION OF DRAWINGS

[0026] One or more embodiments are illustrated by way of example in the figures that form a part of this patent document, these illustrative examples do not limit the embodiments, elements having the same reference numerals in the figures represent similar elements, unless otherwise specified, the figures in the drawings do not constitute a proportional limit.

[0027] Figure 1 is a structural schematic view of an autonomous work device according to an embodiment of the present application;

[0028] Figure 2 is a top view of an autonomous work device according to an embodiment of the present application;

[0029] Figure 3 is an exploded view of a vision module, a support device and a cleaning component on a fuselage body according to an embodiment of the present application;

[0030] Figure 4 is a structural schematic view of a vision module according to an embodiment of the present application;

[0031] Figure 5 is an enlarged view of a base of an autonomous work device according to an embodiment of the present application;

[0032] Figure 6 is an exploded view of a cleaning component according to an embodiment of the present application;

[0033] Figure 7 is a top view of an autonomous work device according to an embodiment of the present application;

[0034] Figure 8 is Figure 7 a sectional view of X1-X1 in the above-mentioned

[0035] Figure 9 is Figure 8 is a partial enlarged view of A in FIG. 1;

[0036] Figure 10 is Figure 7 is a sectional view of X2-X2 in FIG. 1;

[0037] Figure 11 is Figure 10 is a partial enlarged view of B in FIG. 1;

[0038] Figure 12 is Figure 7 is a sectional view of X3-X3 in FIG. 1. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical scheme and advantages of the present application more clear, the 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 embodiments of the present application, many technical details are proposed in order to make the readers 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 in the claims of the present application can be realized.

[0040] Unless otherwise required by context, the word "comprise" and variations such as "comprises" or "comprising" will be understood to imply the inclusion of a stated integer or group of integers but not the exclusion of any other integer or group of integers.

[0041] The embodiments of the present application will be described in detail below with reference to the drawings, so as to make the purpose, characteristics and advantages of the present application more clear. It should be understood that the embodiments shown in the drawings are not a limitation on the scope of the present application, but only for illustrating the essential spirit of the technical scheme of the present application.

[0042] 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 the phrase "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. In addition, particular features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0043] As used in this specification and the appended claims, the singular forms "a," "an," and "the" include plural referents unless the content clearly dictates otherwise. It should be noted that the term "comprising" is typically used in its inclusive sense, unless otherwise explicitly defined herein.

[0044] In the following description, in order to clearly show the structure and working mode of the utility model, many directional words will be used for description, but "front", "back", "left", "right", "outer", "inner", "outward", "inward", "up", "down" and the like should be understood as convenient words, and should not be understood as limiting words.

[0045] Embodiments of the utility model are described below with reference to the drawings.

[0046] An embodiment of the utility model relates to a kind of autonomous working equipment 100.The autonomous working equipment 100 is especially robot that can autonomously move in preset area and perform specific work, typically like intelligent mower that performs mowing work.Especially, specific work refers to the work of processing work surface and changing the state of work surface.The utility model is explained in detail taking intelligent mower as an example.The autonomous working equipment 100 can autonomously walk on the surface of work area, and especially as intelligent mower can autonomously mow on ground.

[0047] As shown in Figures 1-3 Autonomous working equipment 100 includes body 1, cutting device 2, vision module 3 and control module.

[0048] Body 1 usually includes chassis and shell, and the chassis is used to install and accommodate mobile mechanism, working mechanism, energy module, detection module, interaction module, control module and other functional mechanisms and functional modules.The shell is usually structured to at least partially cover the chassis, mainly to enhance the appearance and recognition of autonomous working equipment 100.The mobile mechanism 7 is structured to support the main body mechanism on the ground and drive the main body mechanism to move on the ground, and usually includes wheeled mobile mechanism, tracked or semi-tracked mobile mechanism and walking mobile mechanism, etc.In the embodiment, as shown in Figure 1 In the embodiment, preferably, a left drive wheel, a left walking prime mover driving the left drive wheel, a right drive wheel and a right walking prime mover driving the right drive wheel are provided.In the embodiment, the straight-line travel of the autonomous working equipment is achieved by the same-speed rotation of the left and right drive wheels in the same direction, and the turning travel is achieved by the same-direction differential speed or opposite rotation of the left and right drive wheels.In other embodiments, the mobile mechanism can also include a steering mechanism independent of the drive wheel and a steering prime mover independent of the walking prime mover.In the embodiment, the mobile mechanism also includes at least one driven wheel, and the driven wheel is typically structured as a universal wheel, and the drive wheel and the driven wheel are respectively located at the front and rear ends of the autonomous working equipment.

[0049] The energy module is configured to provide energy for the autonomous working device 100 to perform various tasks. In the embodiment, the energy module comprises a battery, preferably a rechargeable battery, and a charging connection structure, preferably a charging electrode exposed outside the autonomous working device.

[0050] The detection module is configured to sense at least one sensor of the environmental parameters of the autonomous working device 100 or its own working parameters. Typically, the detection module can comprise sensors related to the working area definition, such as magnetic induction, collision, ultrasonic, infrared, radio, etc., and the sensor type is adapted to the position and number of the corresponding signal generating devices. The detection module can also comprise sensors related to positioning and navigation, such as GPS positioning device, laser positioning device, electronic compass, acceleration sensor, odometer, angle sensor, geomagnetic sensor, etc. The detection module can also comprise sensors related to the safety of its own working, such as obstacle sensor, lifting sensor, battery pack temperature sensor, etc. The detection module can also comprise sensors related to the external environment, such as environmental temperature sensor, environmental humidity sensor, light sensor, rain sensor, etc.

[0051] 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 embodiment, the interaction module comprises input devices arranged on the autonomous working device 100 for receiving user input control instruction information, typically such as control panel, emergency stop button, etc. The interaction module also comprises display screen, indicator light and / or buzzer arranged on the autonomous working device 100, which make the user perceive the information through light or sound. In other embodiments, the interaction module comprises a communication module arranged on the autonomous working device 100 and a terminal device independent of the autonomous working device 100, such as mobile phone, computer, 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 wired or wireless communication module.

[0052] The control module typically comprises at least one processor and at least one non-volatile memory, and the memory stores a computer program or instruction set written in advance, and the processor controls the execution of the movement, working, 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 according to the signal of the detection module and / or user control instruction, modify the parameters in the memory, etc.

[0053] The working mechanism is configured to perform a specific work task, including a work piece and a work prime mover driving the work piece to operate. Exemplarily, for the intelligent sweeper / vacuum cleaner, the work piece includes a roller brush, a suction pipe, a dust collecting chamber, etc.; for the intelligent mower, the work piece includes a cutting blade or a cutting disc, further including a height adjusting mechanism for adjusting the mowing height and other components for optimizing or adjusting the mowing effect. The work 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 some other embodiments, the work 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.

[0054] 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 for controlling the autonomous work equipment 100 to walk and work autonomously.

[0055] In addition, as shown in Figure 1 and Figure 2 , the autonomous work equipment 100 further includes a support device 4 connected with the body 1 and the vision module 3.

[0056] In addition, as shown in Figure 1 and Figure 2 , the support device 4 and the vision module 3 form at least one airflow channel 5 penetrating front and back around the body 1, so that when the autonomous work equipment 100 walks, the airflow passes through the airflow channel 5, balancing the mechanical strength, reducing the resistance, and having better ventilation and heat dissipation for the vision module.

[0057] From the above, it can be seen that the vision module 3 is arranged on the body 1, the height of the vision module 3 is improved, and the use effect of the vision module 3 is better, but the working environment of the autonomous work equipment 100 is complex, the structure protruding from the body 1 is easy to be damaged, and the requirement for 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.

[0058] As shown in Figure 1 , Figure 3 and Figure 4As shown, the visual module 3 has a bottom surface 303 facing the fuselage 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 the present embodiment, the surface of the outer peripheral surface 305 facing the front end of the fuselage 1 is the visual function surface 302, and the surface facing the tail end of the fuselage 1 is the visual back surface 301. In other embodiments, the visual function surface 302 can face the tail end of the fuselage 1 or other directions of the fuselage 1. The support device 4 is connected to the outer peripheral surface 305 of the visual module 3 to support the visual module 3, and the support device 4 can also be connected to the top surface of the visual module 3 to support the visual module 3.

[0059] In the present embodiment, the airflow passage 5 is provided. In other embodiments, the airflow passage 5 can also be absent. The outer peripheral surface 305 or the top surface 304 of the visual module 3 is supported by the support device 4.

[0060] Further, as shown in Figure 1 and Figure 2 , the support device 4 has a first support member 41 and a second support member 42 opposite to the first support member 41, and both the first support member 41 and the second support member 42 are connected to the fuselage 1. In the present embodiment, the first support member 41 and the second support member 42 are arranged on the top of the fuselage 1. In other embodiments, the support device 4 can be arranged on the side of the fuselage 1 and extended to be connected to the visual module 3. The visual module 3 is clamped between the first support member 41 and the second support member 42, so that both sides of the visual module 3 are supported, which is more stable and has higher strength.

[0061] In the present embodiment, the first support member 41 and the second support member 42 are connected to the outer peripheral surface 304 of the visual module 3. In other embodiments, the first support member 41 and the second support member 42 can also be connected to the top surface of the visual module 3.

[0062] In addition, as shown in Figure 1 and Figure 2 , the first support member 41 and the second support member 42 are spaced apart along the width direction of the fuselage 1.

[0063] Further, as shown in Figure 1 and Figure 2 , the first support member 41 and the visual module 3 form the airflow passage 5 around the fuselage 1, and the second support member 42 and the visual module 3 form the airflow passage 5 around the fuselage 1, so that two airflow passages 5 are formed. In other embodiments, only one airflow passage 5 can be formed. In addition, the structure of the support device 4 is not limited to the structure of the first support member 41 and the second support member 42 in the present application, and the number of airflow passages 5 can be more.

[0064] As shown in Figure 1 and Figure 2As shown, the distance between the first support member 41 and the second support member 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 facing the front end of the fuselage 1, and the outlet side is the side facing the rear end of the fuselage 1. Preferably, the airflow channel 5 extends in the longitudinal direction of the fuselage 1. The longitudinal direction of the fuselage 1 is the direction from the end to the rear of the fuselage 1, which is also the direction of travel of the autonomous operating device 100.

[0065] like Figure 1 and Figure 2 As shown, an extension line of the first support member 41 toward the front end of the fuselage 1 and an extension line of the second support member 42 toward the front end of the fuselage 1 intersect at the front end of the fuselage 1 .

[0066] like Figure 1 and Figure 2 As shown, the angle β between the extension line of the first support member 41 toward the front end of the fuselage 1 and the extension line of the second support member 42 toward the front end of the fuselage 1 ranges from 20° to 30°. Optionally, the angle β is 25°, 27° or 29°.

[0067] Furthermore, if Figure 1 and Figure 2 As shown, the visual module 3 has a visual function surface 302 facing the front end of the fuselage 1, and a visual back surface 301 arranged opposite to the visual function surface 302. The visual function surface 302 and the visual back surface 301 are arranged opposite to each other along the length direction of the fuselage 1, and the first support member 41 and the second support member 42 are connected to the side wall surface between the visual function surface 302 and the visual back surface 301. The visual function surface 302 is the shooting surface of the lens 321 of the visual module 3. In other embodiments, the first support member 41 and the second support member 42 can also be connected to the visual back surface 301. In this embodiment, the lens 321 faces the front end of the fuselage 1. In other embodiments, the lens 321 can also face the rear end of the fuselage 1 or the side of the fuselage 1.

[0068] Furthermore, if Figure 3 and Figure 7 As shown, the fuselage 1 includes: a fuselage body 11 and a base 12 disposed on the fuselage body 11, and the base 12 receives the vision module 3. The cutting device 2 and the support device 4 are connected to the fuselage body 11. The support device 4 and the vision module 3 form an airflow channel 5 around the base 12 and the fuselage body 11.

[0069] Specifically, in this embodiment, if Figure 11 and Figure 7As shown, the first support 41, the vision module 3 form an airflow channel 5 around the fuselage body 11 and the base 12. Similarly, the second support 42, the vision module 3 form an airflow channel 5 around the fuselage body 11 and the base 12, the airflow channel 5 extends towards the length direction of the fuselage 1. In this structure, the first support 41 and the second support 42 are snap-fitted with the fuselage body 11, the first support 41 is spaced apart from the base 12, the first support 41, the side wall of the vision module 3, the side wall of the base 12, the fuselage body 11 surround to form the airflow channel 5, and the second support 42 forms the structure of the airflow channel 5. In addition, in other embodiments, the first support 41 or the second support 42 can also partially extend to be snap-fitted with the base 12, but the airflow channel 5 exists.

[0070] In addition, as shown in Figure 10 , Figure 11 , Figure 7 As shown, the autonomous working device 100 further comprises a cleaning component 6, the cleaning component 6 is arranged on the base 12 and is used for cleaning the lens 321 of the vision module 3. The cleaning component 6 comprises a cleaning body 61 and a first driving member 62 for driving the cleaning body 61, the first driving member 62 is electrically connected with the control module, and the first driving member 62 is 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. Understandably, the cleaning body 61 can also be a brush or other cleaning tool.

[0071] As shown in Figure 10 , Figure 1 , Figure 3 The output axis of the first driving member 62 is parallel to the main optical axis P of the vision module 3, and both are inclined downward and forward, that is, inclined to the front end direction of the fuselage 1.

[0072] As shown in Figure 1 , Figure 2 The included angle α between the output axis L of the first driving member 62 and the main optical axis P of the vision module 3 and the horizontal plane is in the range of 10° to 30°. Alternatively, the included angle α can be in the range of 15° to 20°. Preferably, the included angle can be 16°, 17° or 18°.

[0073] In addition, as shown in Figure 2 and Figure 6As shown, the cleaning component 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. The bracket and the base are connected by the first fixing member, so as to realize the connection and fixation between the first driving member and the base. This structure facilitates the installation, disassembly and maintenance of the cleaning component, and the cleaning component can clean the lens of the visual module, thereby further maintaining the better shooting effect of the visual module.

[0074] 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.

[0075] 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 component 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 visual module 3.

[0076] Specifically, as shown in Figure 7 , Figure 8 , during installation, the bracket 64 is sleeved on the output side of the first driving member 62, the first driving member 62 has an extension plate 621, the extension plate 621 is locked with the screw hole 68 on the intermediate portion 641 through a screw, so as to realize the fixation between the bracket 64 and the first driving member 62. The axis of the first mounting hole 66 can be a vertical direction, and it can be understood that a slight inclination can also be understood as a vertical direction. The first fixing member 65 can be a screw, which is inserted into the first mounting 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 on the base 12. In addition, the output hole 643 of the intermediate portion 641 has a boss on the outer periphery for inserting the gasket 67, the gasket 67 can be a waterproof and dustproof felt, 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 intermediate portion 641, so as to prevent water from entering from the area of the output hole 643.

[0077] As shown in Figure 8 , Figure 11 , Figure 12 ,Figure 4 As shown in the figure, the visual module 3 comprises a mounting shell 31 with a mounting port, a camera component 32 arranged in the mounting shell 31, a shell cover 33 closing the mounting port, and a second fixing member 34. As shown in the figure, Figure 5 、 Figure 8 、 Figure 11 As shown in the figure, 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 direction of the vertical axis M of the second fixing member 34, that is, the vertical axis of the second fixing member 34 penetrates the mounting port. Thus, when the visual module 3 is mounted 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, ensuring that it can be operated with a common screwdriver.

[0078] In addition, as shown in the figure, Figure 12 、 Figure 4 As shown in the figure, 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 sealingly connected, and the second wire passing hole 35 is oppositely arranged and penetrates the first wire passing hole 122. As shown in the figure, Figure 5 、 Figure 2 、 Figure 4 As shown in the figure, the base 12 has a second connecting hole 123 in the area surrounded by the first flange 125, and the bottom of the visual module 3 has a second mounting hole 38 in the area surrounded by the second flange 36. 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 lines of the camera component 32 and the control circuit in the visual module 3 can pass through the first wire passing hole 122 and the second wire passing hole 35 to enter the inner cavity of the base 12, 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. 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, preventing water from entering the first wire passing hole 122.

[0079] Further, as shown in the figure, Figure 11 、 Figure 4 As shown in the figure, the top of the base 12 is further provided with a first matching member 124, and the first matching member 124 is 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, and the second matching member 37 is connected in abutment with the first matching member 124. The first matching member 124 and the second matching member 37 can be mutually matching protruding clamping rings, and after assembly, the first matching member 124 is on the outside of the second matching member 37, thereby realizing the positioning and abutment between the visual module 3 and the base 12.

[0080] Further, as Figure 4 , Figure 3 , Figure 8 shown, 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 plurality of grid structures, and the mounting port is an open port of the mounting shell 31 toward the tail end of the fuselage 1. The sealing member 39 is clamped between the shell cover 33 and the mounting shell 31, and the support device 4 is connected to the mounting shell 31. During installation, the shell cover 33 is not installed first, and after the mounting shell 31 is installed on the base 12, the shell cover 33 is finally installed to cover the mounting port, and there is a sealing ring between the shell cover 33 and the mounting shell 31 to prevent water leakage.

[0081] In this embodiment, as Figure 3 , ​ , ​ shown, the support device 4 is connected to the mounting shell 31 and the fuselage body 11 through clamping, for example, the first support member 41 is provided with a protruding structure 411 clamped into the annular protrusion 306 on the visual module, and the first support member 41 is provided with a base 412 embedded into the recessed position 13 of the fuselage body 11, and the recessed position 13 is provided with a protrusion 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 exemplary structure, and other forms can be used in actual installation.

[0082] In this embodiment, after the base 12, the first driving member 62, and the bracket 64 are assembled, the visual module 3 and the support device 4 are installed. Specifically, when the visual module 3 is installed, after the camera member 32, i.e. the camera and other components, are installed into the mounting shell 31, the support device 4 is first installed onto the mounting shell 31, such as the clamping of the first support member 41 and the second support member 42 to the mounting shell 31, and then the support device 4 and the mounting shell 31 are installed together, so that the mounting shell 31 is connected to the base 12, the first flange 125 is connected to the second protruding ring 36, the second matching member 37 is connected to the first matching member 124, and the first support member 41 and the second support member 42 are clamped to the fuselage body 11. Then, the second fixing member 34 is inserted into the second connecting hole 123 and the second mounting hole 38 from top to bottom, and the mounting shell 31 is fixed to the base 12. After the circuit of the visual module 3 is installed, the shell cover 33 is finally installed onto the mounting shell 31 to seal the mounting port.

[0083] The second embodiment of the utility model relates to a visual module installation method of an autonomous working device. As ​ , ​ shown, 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:

[0084] Step 100, connecting the installation shell 31 with the support device 4;

[0085] Step 200, connecting the installation shell 31 with the support device 4 with the base 12, and installing the support device 4 to the fuselage body 11;

[0086] Step 300, installing the shell cover 33 to the installation shell 31, and closing the installation port. Specifically, as in the first embodiment, which will not be repeated here.

[0087] It is not difficult to find that the embodiment is a system embodiment corresponding to the first embodiment, and the embodiment can be implemented in cooperation with the first embodiment. The related technical details mentioned in the first embodiment are still valid in this embodiment. In order to reduce repetition, they will not be repeated here. Accordingly, the related technical details mentioned in this embodiment can also be applied in the first embodiment.

[0088] The step division of the above methods is only for clear description, and can be combined into one step or some steps can be split and decomposed into multiple steps when implemented, as long as the same logical relationship is included, all within the protection scope of the patent; adding irrelevant modifications or introducing irrelevant designs in the algorithm or process, but not changing the core design of the algorithm and process are within the protection scope of the patent.

[0089] 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.

[0090] 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 these claims are entitled.

[0091] 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 work apparatus characterized by comprising: The application relates to an autonomous working device, which comprises a machine body, a cutting device connected with the machine body, a visual module, a cleaning component and a control module. The machine body comprises a machine body and a base arranged on the top of the machine body. The visual module is arranged on the base. The cleaning component is arranged on the base and used for cleaning the lens of the visual module. The cleaning component comprises a cleaning body, a first driving element used for driving the cleaning body, a bracket arranged on the output side of the first driving element, and a first fixing element connected with the bracket and the base. The bracket has an intermediate part arranged on the output side of the first driving element, and a pair of connecting ears formed by extending from the intermediate part to both sides.

2. The autonomous work apparatus according to claim 1, characterized by, The first driving element is fixedly connected with the intermediate part, and the first mounting hole is arranged on each connecting ear.

3. The autonomous work apparatus according to claim 2, characterized by, The intermediate part is provided with an output hole used for inserting the output side of the first driving element. The cleaning component further comprises a gasket arranged on the outer periphery of the output hole.

4. The autonomous work equipment of claim 1, wherein, The output shaft of the first driving element is parallel to the main optical axis of the visual module, and both are inclined downward and forward.

5. The autonomous work apparatus according to claim 4, characterized by, The included angle between the output shaft of the first driving element and the main optical axis of the visual module with the horizontal plane is 15-20 degrees.

6. The autonomous work equipment of claim 1, wherein, The first fixing element is a screw, and the first fixing element is arranged vertically.

7. The autonomous work equipment of claim 1, wherein, The visual module comprises a mounting shell with a mounting port, a shooting element arranged in the mounting shell, a shell cover for closing the mounting port, and a second fixing element. The second fixing element is connected from top to bottom with the mounting shell and the base.

8. The autonomous work equipment of claim 7, wherein, The vertical axis of the second fixing element penetrates the mounting port.

9. The autonomous work equipment of claim 8, wherein, The base is provided with a second connecting hole used for inserting the second fixing element. The lens of the visual module faces the front end of the machine body.

10. The autonomous work equipment of claim 7, wherein, The top of the base is provided with a first wire hole, and the outer periphery of the first wire hole is arranged with a first flange. The bottom of the visual module is provided with a second wire hole, and the outer periphery of the second wire hole is arranged with a second flange. The first flange and the second flange are sealingly connected, and the second wire hole is arranged opposite to the first wire hole and penetrates the first wire hole. The second connecting hole is located in the area surrounded by the first flange, and the first connecting hole is located outside the area surrounded by the first flange. The shell cover is a heat dissipation element, and the mounting port is an open port of the mounting shell facing the tail end of the machine body. When the mounting port is open, there is no obstacle in the area from the second fixing element to the mounting port in the direction of the vertical axis of the second fixing element.

11. The autonomous work equipment of claim 1, wherein, The autonomous work device further comprises a support device, the support device having a first support and a second support, the first support and the second support being oppositely arranged along the width direction of the fuselage body, and the first support and the second support being connected with the fuselage body; the vision module and the base are clamped between the first support and the second support.

12. The autonomous work equipment of claim 11, wherein, The first support, the vision module, the fuselage body and the base form an air flow channel, and / or the second support, the vision module, the fuselage body and the base form an air flow channel; the air flow channel extends towards the length direction of the fuselage.

13. The autonomous work equipment of claim 11, wherein, The extension line of the first support towards the front end direction of the fuselage intersects with the extension line of the second support towards the front end direction of the fuselage at the front end of the fuselage.

Images