Autonomous work equipment

Abstract

The utility model discloses autonomous operation equipment. The utility model relates to autonomous operation equipment, which 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, and the visual module is provided with a bottom surface facing the machine body, a top surface opposite to the bottom surface, and a peripheral surface surrounding the bottom surface and the top surface; the supporting device is connected with the machine body and is connected with the peripheral surface and / or the top surface of the visual module to support the visual module; 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 trimming lawn 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 aspect of 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 top of the machine body, the vision module has the bottom surface towards the machine body, the top surface being oppositely arranged with the bottom surface, and the outer circumferential surface around the bottom surface and the top surface;

[0008] Supporting device, the supporting device is connected with the machine body, and the outer circumferential surface and / or top surface of the vision module is connected to support the vision module;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 supporting piece and second supporting piece, and the first supporting piece and the second supporting piece are connected with the machine body body, and are connected with the outer circumferential surface and / or top surface of the vision module;

[0011] The vision module is clamped between the first supporting piece and the second supporting piece.

[0012] In an embodiment, the first supporting piece and the second supporting piece are oppositely arranged along the width direction of the machine body.

[0013] In an embodiment, the visual module has a visual functional surface facing the front end of the machine body, and a visual back surface opposite to the visual functional surface; the visual functional surface and the visual back surface are oppositely arranged along the length direction of the machine body; the first support and the second support are connected with the side wall surface between the visual functional surface and the visual back surface.

[0014] In an embodiment, the first support, the visual module form an airflow channel around the machine body, and / or the second support, the visual module form an airflow channel around the machine body.

[0015] In an embodiment, the airflow channel extends towards the length direction of the machine body, and the distance between the first support and the second support gradually increases from the inlet side of the airflow channel to the outlet side of the airflow channel.

[0016] In an embodiment, the machine body comprises a machine body and a base arranged on the machine body, and the base receives the visual module; the cutting device and the support device are connected with the machine body.

[0017] In an embodiment, the support device and the visual module form an airflow channel around the base and the machine body.

[0018] In an embodiment, the support device has a first support and a second support, and the first support and the second support are both connected with the machine body and connected with the peripheral surface and / or the top surface of the visual module; and the visual module and the base are clamped between the first support and the second support.

[0019] The first support, the visual module form the airflow channel around the machine body and the base, and / or the second support, the visual module form the airflow channel around the machine body and the base; the airflow channel extends towards the length direction of the machine body.

[0020] In an embodiment, the autonomous work equipment further comprises a cleaning component arranged on the base for cleaning the lens of the visual module; the cleaning component comprises a cleaning body and a first driving member 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.

[0021] In an embodiment, the output axis of the first driving member is parallel to the main optical axis of the visual module, and both are inclined downward and forward.

[0022] In an embodiment, the cleaning component further comprises a bracket sleeved on the 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.

[0023] In an embodiment, the vision module comprises a mounting shell provided with a mounting port, a shooting member arranged in the mounting shell, a shell cover closing the mounting port, and a second fixing member;

[0024] 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.

[0025] In an embodiment, the shell cover is a heat dissipation member, and the mounting port is an open port of the mounting shell towards the tail end of the fuselage; a sealing member is clamped between the shell cover and the mounting shell, and the support device is connected to the mounting shell. 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 example are not intended to limit the implementation of embodiments, as those skilled in the art will appreciate various adaptations and modifications of the example illustrated and described herein. Those skilled in the art will appreciate that the images in the accompanying drawings are not necessarily drawn to scale, unless otherwise indicated.

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

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

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

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

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

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

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

[0034] Figure 8 is Figure 7 is a sectional view of X1-X1 in the embodiment A;

[0035] Figure 9 is Figure 8 is an enlarged view of a part of A;

[0036] Figure 10 is Figure 7 is a sectional view of X2-X2 in the embodiment A;

[0037] Figure 11 is Figure 10 is an enlarged view of a part of B;

[0038] Figure 12 is Figure 7 is a sectional view of X3-X3 in the embodiment A. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical scheme and advantages of the embodiments 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 if there are no such technical details and various changes and modifications based on the following embodiments, the technical scheme claimed by the present application can be realized.

[0040] 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 the 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 order to avoid unnecessarily obscuring the description of the embodiments.

[0041] 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".

[0042] 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.

[0043] 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. Furthermore, the particular features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0044] 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" typically is used herein to mean "including at least the recited elements," and that the term "or" typically is used herein to mean "and / or" unless the content clearly dictates otherwise.

[0045] In the following description, for the purposes of clarity, directional terms such as "front", "back", "left", "right", "upper", "lower", "over", "under", "above", "below", and the like are used with reference to the orientation of the apparatus as shown in the drawings. It is understood that these directional terms are used for convenience only and do not necessarily require a particular orientation of the apparatus.

[0046] Embodiments of the present application are described below with reference to the accompanying drawings.

[0047] An embodiment of the present application relates to an autonomous work equipment 100. The autonomous work equipment 100 is especially a robot which can autonomously move in a preset area and perform a specific work, typically like an intelligent mower which performs a mowing work. In particular, the specific work refers to a work of processing a work surface and changing a state of the work surface. The present application is described in detail taking the intelligent mower as an example. The autonomous work equipment 100 can autonomously walk on the surface of a work area, and especially as an intelligent mower, can autonomously perform a mowing work on the ground.

[0048] As shown in Figures 1-3 The autonomous work equipment 100 includes a body 1, a cutting device 2, a vision module 3, and a control module.

[0049] The body 1 generally includes a chassis and a shell. The chassis is used to install and accommodate mobile mechanisms, working mechanisms, energy modules, detection modules, interaction modules, control modules, and the like. The shell is generally configured to at least partially cover the chassis, and mainly plays a role of enhancing the appearance and recognition of the autonomous work equipment 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 includes a wheeled mobile mechanism, a tracked or semi-tracked mobile mechanism, and a walking mobile mechanism, etc. In the embodiment, as shown in Figure 1The mobile mechanism is a wheeled mobile mechanism, which includes 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 present 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 present embodiment, the straight-line movement of the autonomous working device is achieved by the same-speed rotation of the left and right driving wheels in the same direction, and the turning movement is achieved by the same-direction differential speed or opposite rotation of the left and right driving wheels. In other embodiments, the mobile mechanism can further include a steering mechanism independent of the driving wheels and a steering prime mover independent of the walking prime movers. In the present embodiment, the mobile mechanism further includes at least one driven wheel, which is typically configured as a universal wheel, and the driving wheels and the driven wheels are respectively located at the front and rear ends of the autonomous working device.

[0050] The energy module is configured to provide energy for various operations of the autonomous working device 100. In the present embodiment, the energy module includes 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.

[0051] The detection module is configured as at least one sensor for sensing environmental parameters of the autonomous working device 100 or its own working parameters. Typically, the detection module can include sensors related to the definition of the working area, such as various types of magnetic induction, collision, ultrasonic, infrared, radio, etc., and the types of sensors are adapted to the positions and quantities of the corresponding signal generating devices. The detection module can also include sensors related to positioning and navigation, such as GPS positioning devices, laser positioning devices, electronic compasses, acceleration sensors, odometers, angle sensors, geomagnetic sensors, etc. The detection module can also include sensors related to the safety of its own work, such as obstacle sensors, lifting sensors, battery pack temperature sensors, etc. The detection module can also include sensors related to the external environment, such as environmental temperature sensors, environmental humidity sensors, light sensors, rain sensors, etc.

[0052] 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 sent to the autonomous working device 100 via a wired or wireless communication module.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] In addition, asFigure 1 and Figure 2 As shown in

[0064] 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.

[0065] 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 the present 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.

[0066] 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.

[0067] 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°.

[0068] 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.

[0069] 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.

[0070] Specifically, in the embodiment, as shown in Figure 11 and Figure 7 , the first support 41, the visual module 3 form the air flow channel 5 around the machine body 11 and the base 12. Similarly, the second support 42, 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.

[0071] 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 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, and it can be understood that the cleaning body 61 can also be a brush or other cleaning tool.

[0072] AsFigure 10 , Figure 1 , Figure 3 As shown, the output axis of the first drive unit 62 is parallel to the main optical axis P of the vision module 3, and both are tilted forward and downward, that is, tilted towards the front end of the body 1.

[0073] like Figure 1 , Figure 2 As shown, the angle α between the output axis L of the first drive unit 62 and the main optical axis P of the vision module 3 and the horizontal plane is both in the range of 10° to 30°. Optionally, the angle α can be in the range of 15° to 20°. Preferably, the angle can be in the range of 16°, 17° or 18°.

[0074] In addition, such as Figure 2 and Figure 6 As shown, the cleaning component 6 also includes: a bracket 64 sleeved on the output side of the first drive component 62, and a first fixing member 65 connecting the bracket 64 and the base 12. The bracket 64 has a first mounting hole 66, and the first fixing member 65 passes through the first mounting hole 66 from bottom to top and is inserted into the first connecting hole 121 of the base 12.

[0075] Furthermore, such as Figure 2 and Figure 6 As shown, the bracket 64 has a middle portion 641 sleeved on the output side of the first drive member 62, and a pair of connecting ears 642 extending from the middle portion 641 to both sides. The first drive member 62 is fixedly connected to the middle portion 641, and each connecting ear 642 is provided with a first mounting hole 66.

[0076] Furthermore, such as Figure 4 , Figure 5 As shown, the middle portion 641 has an output hole 643 for insertion of the output side of the first driving member 62. The cleaning component 6 also includes a gasket 67 disposed on the outer periphery of the output hole 643. The cleaning body 61 is connected to the output shaft of the first driving member 62 through the output hole 643, and the gasket 67 is clamped between the middle portion 641 and the cleaning body 61. The control module can drive the first driving member 62 to rotate the cleaning body 61, thereby cleaning the lens 321 of the vision module 3.

[0077] Specifically, such as 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.

[0078] As shown in Figure 8 , Figure 11 , Figure 12 , Figure 4 As shown, 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 As shown, the second fixing member 34 is connected from top to bottom between the mounting shell 31 and the base 12, 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.

[0079] 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.

[0080] 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, and after assembly, the first matching member 124 is outside the second matching member 37, so as to realize the positioning butt joint between the visual module 3 and the base 12.

[0081] 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, and after assembly, the first matching member 124 is outside the second matching member 37, so as to realize the positioning butt joint between the visual module 3 and the base 12. Figure 4 、 Figure 3 、 Figure 8 As 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 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.

[0082] 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.

[0083] 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.

[0084] The second embodiment of the utility model relates to a visual module installation method of an autonomous working device. As shown in the figure, 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: ​ 、 ​ As shown in the figure, 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:

[0085] Step 100, connecting the mounting shell 31 and the support device 4;

[0086] 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;

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] In view of the above detailed description, these and other changes can be made to the embodiments. Generally, the used terms in the claims are not to be considered as limiting in the specific embodiments disclosed in the specification and claims, but are to be understood to include all possible embodiments along with the full scope of equivalents to which such claims are entitled.

[0092] 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, which is connected to the machine body; A vision module is disposed on the top of the fuselage. The vision module has a bottom surface facing the fuselage, a top surface opposite to the bottom surface, and an outer peripheral surface surrounding the bottom surface and the top surface. A support device is connected to the body and to the outer peripheral surface and / or top surface of the vision module to support the vision module. 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 operating equipment to move and operate autonomously.

2. The autonomous operating equipment according to claim 1, characterized in that, The support device has a first support member and a second support member, and both the first support member and the second support member are connected to the main body of the machine body and to the outer peripheral surface and / or top surface of the vision module. The vision module is clamped between the first support and the second support.

3. The autonomous operating equipment according to claim 2, characterized in that, The first support member and the second support member are arranged opposite each other along the width direction of the fuselage.

4. The autonomous operating equipment according to claim 3, characterized in that, The vision module has a vision functional surface facing the front of the fuselage and a vision back surface disposed opposite to the vision functional surface; the vision functional surface and the vision back surface are disposed 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 vision functional surface and the vision back surface.

5. The autonomous operating equipment according to claim 2, characterized in that, The first support member and the vision module form an airflow channel around the fuselage, and / or the second support member and the vision module form an airflow channel around the fuselage.

6. The autonomous operating equipment according to claim 5, characterized in that, The airflow channel extends along the length of the fuselage, and the distance between the first support and the second support gradually increases from the inlet side of the airflow channel to the outlet side of the airflow channel.

7. The autonomous operating equipment according to claim 1, characterized in that, The machine body includes: a main body and a base disposed on the main body, wherein the base supports the vision module; the cutting device and the supporting device are connected to the main body.

8. The autonomous operating equipment according to claim 7, characterized in that, The support device and the vision module form an airflow channel around the base and the fuselage.

9. The autonomous operating equipment according to claim 8, characterized in that, The support device has a first support member and a second support member, and both the first support member and the second support member are connected to the main body of the machine body and to the outer peripheral surface and / or top surface of the vision module; and the vision module and the base are clamped between the first support member and the second support member; The first support member and the vision module form the airflow channel around the fuselage body and the base, and / or the second support member and the vision module form the airflow channel around the fuselage body and the base; the airflow channel extends along the length direction of the fuselage.

10. The autonomous operating equipment according to claim 7, characterized in that, The autonomous operating device further includes a cleaning component, which is disposed on the base and is used to clean the lens of the vision module; the cleaning component includes a cleaning body and a first driving member for driving the cleaning body; the first driving member is electrically connected to the control module, and the first driving member is disposed in the base and connected to the base.

11. The autonomous operating equipment according to claim 10, characterized in that, The output axis of the first driving component is parallel to the main optical axis of the vision module, and both are tilted forward and downward.

12. The autonomous operating equipment according to claim 11, characterized in that, The cleaning component further includes: a bracket sleeved on the output side of the first drive member, and a first fixing member connecting the bracket and the base; the bracket has a first mounting hole; 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 operating equipment according to claim 7, characterized in that, The vision module includes: a mounting shell with a mounting port, an imaging element disposed in the mounting shell, a shell cover that closes the mounting port, and a second fixing element; The second fastener connects the mounting shell and the base from top to bottom; the vertical axis of the second fastener passes through the mounting opening; before the shell cover is placed on the mounting shell, there are no obstructions in the area from the second fastener to the mounting opening along the vertical axis of the second fastener.

14. The autonomous operating equipment according to claim 13, characterized in that, The cover is a heat dissipation component, and the mounting port is an open opening of the mounting shell facing the rear end of the fuselage; a sealing component is clamped between the cover and the mounting shell, and the support device is connected to the mounting shell.

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