Autonomous work equipment

Abstract

The utility model discloses autonomous operation equipment. According to the utility model, the autonomous operation equipment comprises a machine body, which is provided with a functional area; and the cover is hinged with the machine body, is used for opening or covering the functional area, and is positioned on the machine body through a magnetic suction cover. Therefore, the functional area is not easy to operate by mistake and is not easy to damage.

Description

TECHNICAL FIELD

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

[0002] Autonomous operation equipment is mainly functional as the intelligent mower of lawn trimming, can make user free from complex and mixed labor, and more and more popular with user. The machine body of existing autonomous operation equipment has function area such as operating button, and function area is directly exposed to be easy to misoperation, and long-term outdoor work is easy to damage. SUMMARY

[0003] The utility model aims at providing a kind of autonomous operation equipment, can solve the above-mentioned problems.

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

[0005] Machine body, the machine body has function area;And

[0006] Flip, the flip is connected with the machine body hinge, for opening or covering the function area, the flip is positioned on the machine body by magnetic attraction cover.

[0007] In an embodiment, the flip includes hinged side and free side, the hinged side is hinged with the machine body, the free side can rotate around the hinged side, the free side is equipped with first magnet, the machine body has second magnet, the first magnet and the second magnet are used to be mutually magnetized when the flip is closed to the machine body.

[0008] In an embodiment, the first magnet and / or second magnet are equipped with shock pad.

[0009] In an embodiment, the first magnet seat for accommodating the first magnet is provided on the flip.

[0010] In an embodiment, the first magnet seat has accommodating cavity for accommodating the first magnet, the accommodating cavity is equipped with pressing block, and the pressing block positions the first magnet.

[0011] In an embodiment, the free side of the flip is equipped with recessed part;The flip has flange extending to the area of recessed part, and the flange forms handle part. In an embodiment, the machine body is equipped with protrusion, when the flip is closed, the protrusion closes the gap between the recessed part and the machine body, and the protrusion is in abutment with the side wall of the recessed part.

[0012] In an embodiment, both corner ends of the free side of the flip have the first magnet;

[0013] The machine body has a pair of second magnets corresponding to the first magnets.

[0014] The protrusion is located between the pair of second magnets.

[0015] In an embodiment, when the flip cover is in a fully open state, the center of gravity of the flip cover is located on a side of the flip cover and the machine body away from the second magnets.

[0016] In an embodiment, the flip cover and the machine body are connected through a rotating shaft, and the rotating shaft is in interference fit with the flip cover. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a structural schematic view of a self-operated equipment according to an embodiment of the present application;

[0018] Figure 2 is a structural schematic view of a cleaning structure according to an embodiment of the present application;

[0019] Figure 3 is Figure 2 is a partial enlarged view of P in FIG. 4;

[0020] Figure 4 is a sectional view of a machine body according to an embodiment of the present application;

[0021] Figure 5 is Figure 4 is a partial enlarged view of A in FIG. 5;

[0022] Figure 6 is Figure 4 is a partial enlarged view of B in FIG. 6;

[0023] Figure 7 is Figure 6 is a structural schematic view of another sectional angle;

[0024] Figure 8 is a structural schematic view of a main body part of a visual shell according to an embodiment of the present application;

[0025] Figure 9 is an exploded view of a wire sealing assembly according to an embodiment of the present application;

[0026] Figure 10 is a structural schematic view of a wire sealing assembly according to an embodiment of the present application;

[0027] Figure 11 is a structural schematic view of a flip cover opening of a self-operated equipment according to an embodiment of the present application;

[0028] Figure 12is a separated schematic view of the knob seat and the transmission assembly in the height-adjusting knob structure according to an embodiment of the present utility model;

[0029] Figure 13 is an exploded view of the knob seat according to an embodiment of the present utility model;

[0030] Figure 14 is a bottom schematic view of the exploded view of the knob seat according to an embodiment of the present utility model;

[0031] Figure 15 is a structure schematic view of the handle being opened according to an embodiment of the present utility model;

[0032] Figure 16 is Figure 15 a partial enlarged view of C in the figure;

[0033] Figure 17 is a structure schematic view of the handle being stored according to an embodiment of the present utility model;

[0034] Figure 18 is Figure 17 a partial enlarged view of D in the figure;

[0035] Figure 19 is a sectional view of the autonomous working equipment according to an embodiment of the present utility model;

[0036] Figure 20 is Figure 19 a partial enlarged view of G in the figure;

[0037] Figure 21 is an exploded view of the chassis of the autonomous working equipment according to an embodiment of the present utility model;

[0038] Figure 22 is a structure schematic view of the pressure discharge port according to an embodiment of the present utility model;

[0039] Figure 23 is another sectional view of the autonomous working equipment according to an embodiment of the present utility model;

[0040] Figure 24 is Figure 23 a partial enlarged view of H in the figure;

[0041] Figure 25 is a structure schematic view of the flip cover according to an embodiment of the present utility model;

[0042] Figure 26 is Figure 25 a partial enlarged view of L in the figure;

[0043] Figure 27 is a structure schematic view of the autonomous working equipment without the flip cover according to an embodiment of the present utility model;

[0044] Figure 28 is a sectional view of the autonomous work equipment according to an embodiment of the present application;

[0045] Figure 29 is Figure 28 is a partial enlarged view of M in FIG. 1;

[0046] Figure 30 is Figure 1 is a partial enlarged view of E in FIG. 1;

[0047] Figure 31 is Figure 19 is a partial enlarged view of F in FIG. 1;

[0048] Figure 32 is a bottom view of the autonomous work equipment according to an embodiment of the present application;

[0049] Figure 33 is a structural schematic view of the autonomous work equipment according to another embodiment of the present application;

[0050] Figure 34 is Figure 33 is a partial enlarged view of N in FIG. 1;

[0051] Figure 35 is a structural sectional view of the cleaning structure according to another embodiment of the present application;

[0052] Figure 36 is a structural schematic view of the cleaning structure according to another embodiment of the present application;

[0053] Figure 37 is Figure 36 is a partial enlarged view of Q in FIG. 1. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical scheme and advantages of the present application more clear, each embodiment 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 each embodiment of the present application, many technical details are proposed in order to make the reader better understand the present application. However, even if there are no such technical details and various changes and modifications based on each embodiment, the technical scheme claimed in each claim of the present application can be realized.

[0055] Unless the context requires otherwise, throughout the specification and claims which follow, the word "comprise" and variations thereof such as "comprises" and "comprising" are to be construed in an open, inclusive sense, that is as "including, but not limited to."

[0056] The embodiments of the present application will be described in detail below with reference to the accompanying 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 to illustrate the essential spirit of the technical scheme of the present application.

[0057] 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.

[0058] 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 in its inclusive sense, unless otherwise indicated.

[0059] In the following description, for the purpose of clarity, directional terms such as "front", "back", "left", "right", "outer", "inner", "outward", "inward", "upper", "lower", etc. are used with reference to the orientation of the apparatus as shown in the drawings. These directional terms are used for convenience only and do not imply any mandatory orientation of the apparatus.

[0060] Embodiments of the present application will be described below with reference to the accompanying drawings.

[0061] The present application relates to an autonomous working device 100, such as Figure 1 as shown, which is particularly a robot capable of autonomously moving within a preset area and performing a specific task, typically a smart sweeper or vacuum cleaner for performing a cleaning task, or a smart mower for performing a mowing task, etc. In particular, the specific task refers to a task of processing a work surface and changing the state of the work surface. The present application will be described in detail taking a smart mower as an example. The autonomous working device can autonomously walk on the surface of the work area, and particularly as a smart mower can autonomously perform a mowing task on the ground.

[0062] The body generally includes a chassis and a shell, the chassis is used to install and accommodate the moving 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 constructed to at least partially cover the chassis, mainly to enhance the appearance and recognition of the autonomous working device. The moving mechanism is configured to support the main body mechanism on the ground and drive the main body mechanism to move on the ground, typically including a wheeled moving mechanism, a tracked or semi-tracked moving mechanism, and a walking moving mechanism, etc. In the present embodiment, asFigure 1 The 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 turning mechanism independent of the driving wheels and a turning prime mover independent of the walking prime mover. 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.

[0063] The energy module is configured to provide energy for the various operations of the autonomous working device. 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.

[0064] The detection module is configured as at least one sensor that senses the environmental parameters of the autonomous working device or its own working parameters. Typically, the detection module can include sensors related to the definition of the working area, such as magnetic induction, collision, ultrasonic, infrared, radio, etc., and the type of sensor is adapted to the position and number of 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.

[0065] The interaction module is configured to at least receive user inputted 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 work device for receiving user inputted control instruction information, typically a control panel, an emergency stop button, etc.; the interaction module also includes a display screen, indicator lights and / or a buzzer arranged on the autonomous work device to make the user perceive information through light or sound. In other embodiments, the interaction module includes a communication module arranged on the autonomous work device and a terminal device independent of the autonomous work device, such as a mobile phone, a computer, a network server, etc., and the user's control instruction information or other information can be inputted on the terminal device and sent to the autonomous work device via a wired or wireless communication module.

[0066] The control module typically includes 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, work, etc. of the autonomous work device according to the computer program or instruction set. Further, the control module can also control and adjust the corresponding behavior of the autonomous work device, modify the parameters in the memory, etc. according to the signals of the detection module and / or user control instructions.

[0067] The working mechanism is configured to perform a specific work task, including a working member and a working prime mover 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 collecting 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 is at least part of the working mechanism, and the cutting device is arranged at the bottom of the machine body, and the cutting device includes a cutting tool and an electric motor.

[0068] In an embodiment of the present embodiment, as shown in Figure 1 The autonomous work device 100 includes a machine body 1, a vision module 2 and a cleaning structure 3. The vision module 2 is arranged on the machine body 1, and the cleaning structure 3 is arranged on the machine body 1 for cleaning the lens 21 of the vision module 2.

[0069] Further, as shown in Figure 1 The machine body 1 includes a machine body 11 and a base 12 connected to the machine body 11. The base 12 is connected to the vision module 2, and the base 12 is used to receive the vision module 2, and the vision module 2 is installed above the base 12. The vision module 2 can be a camera or a shooting device, etc.

[0070] Further, as shown in Figures 1-4 the cleaning structure 3 comprises a cleaning body 31 for cleaning the lens 21 of the vision module 2, a linkage assembly 32, and a first driving member 33 for driving the cleaning body 31. The first driving member 33 can be a motor or other power member. The linkage assembly 32 comprises an elastic member 321, which can be a tension spring or a spring sheet, and provides a restoring force for the cleaning body 31 to adhere to the lens 21. The first driving member 33 can drive the cleaning body 31 to clean the lens 21, preventing water vapor, humid air, dust, and other contaminants from affecting the information collection effect of the vision module 2 in outdoor working environment.

[0071] Further, as shown in Figure 2 the linkage assembly 32 comprises a first linkage 322 connected to the cleaning body 31, and a second linkage 323 connected to the first driving member 33. The first linkage 322 and the second linkage 323 are hingedly connected, and the two ends of the elastic member 321 are respectively connected to the first linkage 322 and the second linkage 323.

[0072] In addition, as shown in Figure 2 the cleaning body 31 is fixedly connected to the first linkage 322, and the cleaning body 31 can be a cleaning rubber strip, a brush, or the like.

[0073] Further, as shown in Figure 2 the first linkage 322 and the second linkage 323 each have a cavity 320, and each cavity 320 has a connecting seat 324. The two ends of the elastic member 321 are respectively connected to the connecting seats 324 in the first linkage 322 and the second linkage 323. The elastic body of the elastic member 321 is located in the cavity 320 of the first linkage 322. This facilitates installation and replacement, and also facilitates adjustment of the angle of the elastic member. When the elastic member is deformed after being used for a number of times and the restoring force is reduced, the elastic member can be squeezed to reduce the included angle between the first linkage and the second linkage, so that the cleaning body 31 can still adhere to the lens. In addition, the non-closed cavity can also reduce the accumulation of rainwater in the linkage.

[0074] In other embodiments, the elastic body can also be located in the cavity, or only one of the first linkage 322 and the second linkage 323 can have a cavity, and the elastic body is located in the cavity. In addition, the connecting seat can be present or absent, and a region on the first linkage 322 and the second linkage 323 where the elastic member can be connected can be provided.

[0075] In addition, the side of the cavity 320 facing the vision module 2 is an open side, which facilitates installation and replacement of the elastic member, and the open side is shielded by the vision module, which can prevent foreign matter and rainwater from entering. In other embodiments, the cavity 320 can also be open toward other directions, and is not limited to the scheme in the present embodiment.

[0076] Further, as shown inFigure 2 and Figure 3 As shown in FIG. 3, the first connecting rod 322 is provided with an open slot 3220 on the side of the first connecting rod 322 facing the vision module 2, and the open slot 3220 extends along the length direction of the first connecting rod 322. The cleaning body 31 is provided with an insertion portion 310 embedded in the open slot 3220.

[0077] As shown in FIG. 3, the first connecting rod 322 is provided with an open slot 3220 on the side of the first connecting rod 322 facing the vision module 2, and the open slot 3220 extends along the length direction of the first connecting rod 322. The cleaning body 31 is provided with an insertion portion 310 embedded in the open slot 3220. Figure 2 and Figure 3 As shown in FIG. 3, the open slot 3220 is provided with a first slot portion 32201 and a second slot portion 32202 connected with the first slot portion 32201. The first slot portion 32201 and the second slot portion 32202 are connected in the direction from the side of the first connecting rod 322 facing the vision module 2 to the side of the first connecting rod 322 away from the vision module 2, i.e., connected from left to right in FIG. 3, and the width of the first slot portion 32201 is smaller than the width of the second slot portion 32202. The insertion portion 310 is matched with the shape of the open slot 3220. Figure 3 The insertion portion 310 is T-shaped, which has a lower requirement for processing precision compared with a rectangular long strip shape. The insertion portion 310 is not easy to fall off during long-term use. If the insertion portion is designed as a rectangular long strip shape, the insertion portion and the open slot need to be tightly matched, such as interference fit, which makes the installation relatively difficult.

[0078] The end of the open slot 3220 away from the second connecting rod 323 is an open side, i.e., the top of the open slot 3220 is communicated with the side of the open slot 3220 facing the lens. The bottom of the open slot 3220 is a closed end, i.e., the end of the open slot 3220 facing the second connecting rod 322 is a closed end, and the closed end, i.e., the bottom of the open slot 3220, is not communicated with the side of the open slot 3220 facing the lens. The closed end can be understood as fully closed or semi-closed. The fully closed means that the bottom of the open slot 3220 has no through hole, and the semi-closed means that the bottom of the open slot 3220 has a through hole, but is not directly communicated from the bottom to the side of the open slot facing the lens. During installation, the insertion portion 310 is slid into the open slot 3220 from the top. This structure is convenient for replacing the cleaning body 31.

[0079] The autonomous working device further comprises a cleaning waterproof structure for sealing the connection between the cleaning structure 3 and the body. The cleaning structure 3 can be a wiper or other cleanable component. The cleaning waterproof structure is used to prevent rainwater, dew and the like from entering the interior of the body. The cleaning waterproof structure forms multi-stage waterproofing between the cleaning structure and the body 1.

[0080] Further, the base 12 is provided with a connecting hole, the cleaning body 31 is connected with the first driving member 33 through the connecting rod assembly 32, and the connecting rod assembly 32 penetrates through the connecting hole. The cleaning waterproof structure is used to seal the cleaning structure 3 and the base 12. The connecting rod assembly 32 extends upward so that the cleaning body 31 can be attached to the lens 21. The cleaning waterproof structure comprises a first-stage waterproofing and a second-stage waterproofing, both of which seal the gap between the connecting hole and the connecting rod assembly 32.

[0081] Further, as shown in Figure 2 , the first level of waterproofing includes a splash guard 41 disposed between the connecting hole and the connecting rod assembly 32.

[0082] Further, as shown in Figure 2 , Figure 4 and Figure 5 , the splash guard 41 is annularly disposed around the connecting rod assembly 32 and protrudes outwardly from the connecting rod assembly 32 to form a protruding partition to separate the interior of the base from the exterior. The inner wall of the connecting hole has a first groove 121 for embedding the splash guard 41. The splash guard 41 can be integrally formed with the connecting short rod 3231 of the second connecting rod 323 of the connecting assembly, or can be a protective gasket fixedly sleeved on the connecting short rod 3231.

[0083] Further, as shown in Figure 2 , Figure 4 and Figure 5 , the second level of waterproofing is closer to the interior of the base 12 than the first level of waterproofing, and further includes a sealing ring 42 sleeved on the connecting rod assembly 32 and abutting against the inner wall of the connecting hole.

[0084] Further, as shown in Figure 2 , Figure 4 and Figure 5 , the inner wall of the connecting hole has a second groove 120 for embedding the sealing ring 42. The sealing ring 42 is closer to the interior of the base 12 than the splash guard 41.

[0085] The cleaning waterproof structure includes a third level of waterproofing that seals the connection between the output end of the first driving member 33 and the connecting rod assembly 32.

[0086] In addition, as shown in Figure 2 , Figure 4 and Figure 5 , the third level of waterproofing includes a sealing glue 43. The connecting rod assembly 32 has a mounting groove 325 at the end away from the cleaning body 31 for inserting the output shaft of the first driving member 33, and the inner wall of the mounting groove 325 is filled with the sealing glue 43 between the output shaft of the first driving member 33.

[0087] The cleaning waterproof structure includes a fourth level of waterproofing that seals the mounting gap between the first driving member 33 and the base 12.

[0088] In addition, as shown in Figure 2 , Figure 4 and Figure 5As shown, the fourth level of waterproofing includes a gasket 44. The cleaning structure 3 further includes a bracket 34 disposed within the base 12, and the output shaft of the first driving member 33 penetrates the bracket 34. The gasket 44 is clamped between the bracket 34 and the end of the linkage assembly 32 away from the cleaning body 31.

[0089] Further, the cleaning waterproofing structure further includes a fifth level of waterproofing, which is filled between the inner wall of the bracket 34 and the first driving member 33. The fifth level of waterproofing can include a sealant.

[0090] Further, since the internal electronic components of the device generate heat during operation, the temperature difference between the inside and outside of the vision module 2 causes liquid water droplets to easily form on the inside of the lens, polluting the inner cavity of the vision module 2 and affecting the sensitivity of vision information acquisition. The autonomous working device further includes a vision waterproofing structure for sealing the inner cavity of the vision housing 22 and isolating the main cavity 110 of the body from the inner cavity of the vision housing 22. Isolating the inner cavity of the vision module 2 from the main cavity 110 of the body reduces external water ingress while isolating heat from the main cavity 110 to prevent water mist formation. The vision waterproofing structure is at least a three-level waterproofing structure, including a vision first level of waterproofing, a vision second level of waterproofing, and a vision third level of waterproofing. The vision first level of waterproofing and the vision second level of waterproofing seal the gap between the vision housing 22 and the outside, and the vision third level of waterproofing isolates the inner cavity of the vision housing 22 from the main cavity of the body 1.

[0091] Further, as shown in Figure 4 and Figure 6 , the vision first level of waterproofing includes a lens sealing ring 51, which is sleeved on the lens 21 and clamped between the lens 21 and the inner wall of the vision housing 22.

[0092] Further, as shown in Figure 4 and Figure 7 , the vision housing 22 includes a main body portion 221 and a rear cover 222. The vision second level of waterproofing includes a rear cover sealing ring 53 clamped between the rear cover 222 and the main body portion 221.

[0093] In addition, as shown in Figure 6 , since the wire 103 is long and extends into the main cavity 110 of the body 1, the lower end face of the vision housing 22 is provided with an outlet 220 for the wire to pass through. To improve the sealing of the vision housing 22, it is also necessary to avoid folding and deforming the wire 103 while ensuring the sealing of the outlet 220. The vision third level of waterproofing includes a wire sealing assembly 52 sealed at the outlet 220, and the wire sealing assembly 52 is connected to the vision housing 22. The wire 103 penetrates the wire sealing assembly 52 into the main cavity 110 of the body.

[0094] In addition, as shown in Figure 7 , the wire sealing assembly 52 includes a wire sealing ring 521 and a wire sealing ring 522.As shown, the cable sealing assembly 52 comprises an upper split piece 521 and a lower split piece 522 stacked and connected with the upper split piece 521. One of the upper split piece 521 and the lower split piece 522 is provided with a through slot 5221, and the other is provided with a protruding column 5211 inserted into the through slot 5211. The cable is inserted between the protruding column 5211 and the inner wall of the through slot 5221. The cable can be more specifically a MIPI cable.

[0095] Specifically, as shown in Figure 8 、 Figure 9 and Figure 10 , the cable itself is very thin, and when assembled, the cable passes through the through slot 5221, is attached to the inner wall of the through slot 5221, and the protruding column 5211 on the upper split piece 521 is pressed into the through slot 5221. At this time, the cable 103 is clamped between the outer wall of the protruding column 5211 and the inner wall of the through slot 5221, and the cable extends out of the outlet 220. In order to accommodate the cable and avoid extrusion deformation, a gap fit is used between the protruding column 5211 and the through slot 5221. The upper split piece 521 and the lower split piece 522 are also provided with screw holes 523, and the outlet 220 is provided with a screw hole 223 that matches the screw hole 523. By inserting a screw through the screw hole 223, the cable sealing assembly 52 is installed and fixed to the visual shell 22. The upper split piece 521 is provided with an insertion port 5212 along one side of the protruding column 5211, so that the cable can be inserted between the protruding column 5211 and the through slot 5221, as shown in Figure 8 , the insertion port 5212 is an open port open to one side wall of the upper split piece 521, which is easy to install and has good adhesion with the cable and is not easy to produce gaps. In other embodiments, the insertion port 5212 can also be a slot hole that is not open to one side wall of the upper split piece 521, which can allow the cable to pass through, or there can be no insertion port 5212, and the protruding column 5211 is directly arranged along one side wall of the upper split piece 521, and the side wall surface adjacent to the protruding column 5211 is part of the side wall surface of the upper split piece 521.

[0096] In addition, as shown in Figure 9 , the upper split piece 521 and the lower split piece 522 are elastic materials such as silicone or rubber, which can further prevent the cable from deforming.

[0097] Further, as shown in Figure 9As shown, the outer circumferential surface of the convex column 5211 and the inner wall of the through groove 5221 are both inclined surfaces, which have a stress dispersion effect. The normal force generated by the included angle of the inclined surface can be decomposed into horizontal and vertical components, so that the clamping force is more evenly distributed on the surface of the flat cable, avoiding single-point stress concentration caused by vertical contact surface. The inclined surface increases the contact area, which can reduce the unit area pressure of the inner wall on the flat cable and reduce the deformation rate of the conductor on the surface of the flat cable. The machining precision requirement is low, and the assembly tolerance of the inclined surface is larger, allowing axial assembly error. The specific error amount depends on the inclination angle and length of the inclined surface. In addition, the inclined surface also has the effect of preventing loosening.

[0098] In addition, the outer circumferential surface of the convex column 5211 is provided with a texture. Preferably, it can be an annular texture to increase the friction between the surface of the convex column 5211 and the inner wall of the through groove 5221, and to fit more tightly.

[0099] Further, as shown in Figure 9 The lower split piece 522 has a boss 5222 inserted into the outlet, and the through groove 5221 is formed on the boss 5222.

[0100] Further, the autonomous working device further comprises a cutting device 6 and a height adjustment knob structure 7. The cutting device 6 is arranged below the fuselage, and the height adjustment knob structure 7 is connected to the cutting device 6. The height adjustment knob structure 7 is used to adjust the height of the cutting device 6. The height adjustment knob structure 7 comprises a knob seat 71 arranged on the fuselage, and a handle 72 hingedly connected to the knob seat 71. The handle 72 can be flipped towards or away from the top surface of the knob seat 71. By arranging the handle 72, the operation of the height adjustment knob structure 7 is facilitated, and the use is more convenient. When the height adjustment knob structure 7 is not needed to be used, the handle 72 can be flipped to be laid flat in the knob seat 71, so that the handle 72 is stored, which helps to save the space above the knob seat 71.

[0101] Further, Figure 11 , Figure 12 , Figure 13 As shown, the knob seat 71 is provided with a containing area 710, and the handle 72 can be operatively flipped towards the top surface of the knob seat 71 into the containing area 710. The autonomous working device 100 further comprises a top cover movably connected to the fuselage 1. The top cover can be a flip cover 8 hingedly connected to the fuselage 1, and the top cover can operatively cover the knob seat 71. In other embodiments, the top cover can also be a detachable cover. After the handle 72 is flipped into the containing area 710, the height adjustment knob structure 7 can be covered by the top cover, and the upper surface of the height adjustment knob structure 7 does not have a protrusion that will hinder the closing of the top cover, which helps to save space.

[0102] In addition, as shown in Figure 13As shown, the handle 72 comprises an operation section 721 and a pair of hinged sections 722 respectively arranged at both ends of the operation section 721 and hingedly connected with the knob base 71. The knob base 71 is provided with a hinge area 711 for accommodating the hinged sections 722, and the hinged sections 722 are operable to flip and rotate in the hinge area 711. The hinge area 711 is part of the accommodation area, and the hinged sections 722 are provided with a gear member, and the hinge area 711 is provided with a gear matching member. When the handle 72 is in a preset position, the gear member cooperates with the gear matching member.

[0103] Further, as shown, Figure 13 The hinged sections 722 are connected with the knob base 71 through a hinge shaft, and the hinge area 711 can have a plurality of gear grooves constituting the gear matching member, and the plurality of gear grooves are arranged at intervals along the flipping track of the hinged sections 722. The gear member is a stop block 723 arranged on the hinged sections 722, and when the handle 72 is flipped to a preset position, the stop block 723 is embedded in the corresponding gear groove. Understandably, in other embodiments, the gear matching member can be the stop block 723, and the gear member can be a plurality of gear grooves. Thus, damping and gear feeling can be provided, thereby enhancing the feedback and control of the user during operation, making the switching process smoother and more reliable.

[0104] In addition, as shown, Figure 13 The sliding surface 713 is an arc surface. The hinged sections 722 slide along the sliding surface 713. The sliding surface 713 provides a pushing force to push the handle 72 to flip towards the knob base 71, and provides a damping feeling for the sliding of the hinged sections 722 on the sliding surface 713.

[0105] In addition, as shown, Figure 13 When the stop block 723 is embedded in one of the plurality of gear grooves, the operation section 721 is located in the accommodation area 710, and the handle 72 is located in a non-operation position. When the stop block 723 is embedded in another one of the plurality of gear grooves, the operation section 721 is away from the accommodation area 710, and the handle 72 is located in an operation position.

[0106] Specifically, as shown, Figure 13 In this embodiment, the handle 72 has two gear adjustments, and the gear grooves have two first gear groove 712A and second gear groove 712B, and the sliding surface 713 is arranged between the first gear groove 712A and the second gear groove 712B. The two gears correspond to the operation state and the non-operation state of the height adjustment knob structure 7, as shown, Figure 14 and Figure 15 When the stop block 723 slides into the first gear groove 712A, the handle 72 opens away from the accommodation area 710 and is in an operation position; as shown, Figure 16 and Figure 17As shown, when the stopper 723 slides into the second gear slot 712B, the handle 72 is accommodated in the accommodation area 710 of the knob base 71, and is in the non-operation position. When the stopper 723 is in the first gear slot 712A, the handle 72 is at a 90-degree angle with the upper surface of the knob base 71, and when the stopper 723 is in the second gear slot 712B, the handle 72 is at a 0-degree angle with the upper surface of the knob base 71. In other embodiments, the angle between the handle 72 and the upper surface of the knob base 71 in the operation state can be other angles, and is not limited to the perpendicular state. Understandably, the angle between the handle 72 and the upper surface of the knob base 71 in the non-operation position can also be other angles.

[0107] In addition, as shown in Figure 13 , the sliding surface 713 has a hollow area 714. The sliding surface 713 is provided with a certain deformability, and at the same time provides a reset extrusion force for the gear switching of the handle 72.

[0108] Further, as shown in Figure 13 , the hinge section 722 is connected to the knob base 71 through a hinge shaft 74, and the hinge shaft 74 is provided with an elastic member. The elastic member provides a pushing force for pushing the handle 72 to flip towards the knob base 71, thereby providing a reset elastic force for the gear switching of the handle 72.

[0109] In addition, as shown in Figure 14 , one side of the operation section 721 of the handle 72 towards the knob base 71 is provided with a convex rib 724.

[0110] Further, as shown in Figure 14 , the knob base 71 is connected to the cutting device 6 through a transmission assembly 73. The transmission assembly 73 is provided with a first insertion slot 731, the lower surface of the knob base 71 has a first insertion piece 715 inserted into the first insertion slot 731, and the knob base 71 is provided with an insertion piece hollow 7150. The first insertion piece 715 extends from the insertion piece hollow 7150 towards the transmission assembly 73. The connection between the knob base 71 and the transmission assembly 73 is realized through the hooking of the first insertion piece 715 and the first insertion slot 731. At the same time, the first insertion piece 715 and the first insertion slot 731 are clamped, which can reduce the stress concentration at the root and is not easy to be broken by lateral shear force. The transmission assembly 73 converts the rotating motion of the knob into the up-down motion of the cutting device 6, realizes the height adjustment of the cutting device 6 by the height-adjusting knob structure 7, and specifically, the transmission assembly 73 can be a tooth meshing, such as a component with a gear and a rack, etc.

[0111] In addition, as shown in Figure 14 , the knob base 71 includes a seat body 716 and a knob cover 717 connected to the seat body 716. The knob cover 717 covers the insertion piece hollow 7150 to prevent water from entering. The lower surface of the knob cover 717 is provided with a second insertion piece 718, and the knob base 71 is provided with a second insertion slot 719. The second insertion piece 718 and the second insertion slot 719 are clamped.

[0112] Further, Figure 21 As shown in the drawings, the machine body 1 comprises a chassis 13 with a main cavity 110 and a pressure balance assembly. The chassis 13 is provided with a pressure discharge port 130 communicating with the main cavity 110, and the pressure balance assembly is arranged on the pressure discharge port 130. The cutting device 6 is connected to the chassis 13.

[0113] Further, Figure 19 、 Figure 20 and Figure 21 As shown in the drawings, the pressure balance assembly comprises a waterproof and breathable film 14 covering the pressure discharge port. When the internal pressure and humidity of the main cavity 110 are high, water vapor will diffuse outward through the waterproof and breathable film 14, effectively balancing the pressure inside and outside the equipment, preventing the internal components of the machine body from being damaged, making the equipment safer to use, and prolonging the service life.

[0114] Further, Figure 19 、 Figure 20 and Figure 21 As shown in the drawings, the pressure balance assembly further comprises a support cover 15 arranged in the pressure discharge port 130. The support cover 15 has a breathable hole 150 communicating with the pressure discharge port 130, and the support cover 15 is used to support the waterproof and breathable film 14.

[0115] Further, Figure 19 、 Figure 20 and Figure 21 As shown in the drawings, the chassis 13 has a chassis upper cover 131 and a chassis lower cover 132. The chassis upper cover 131 and the chassis lower cover 132 are hinged to form the main cavity 110, and the pressure discharge port is arranged on the chassis upper cover 131. The chassis upper cover 131 has a drainage surface 1311 and a drainage groove 1312. The drainage surface 1311 is an inclined surface inclined towards the drainage groove 1312, which can guide the rainwater on the self-operating equipment to the drainage groove 1312, and the pressure discharge port 130 is arranged on the drainage surface 1311.

[0116] In addition, as shown in the drawings, Figure 19 、 Figure 20 and Figure 21 The chassis upper cover 131 has a flange 1313 protruding from the chassis upper cover 131 and enclosing the opening end of the pressure discharge port 130. This can prevent the rainwater on the chassis upper cover 131 from flowing into the drainage groove 1312 and covering the pressure discharge port, causing excessive external pressure and internal pressure imbalance.

[0117] Further, in this embodiment, as shown in the drawings, Figure 19 、 Figure 20 and Figure 21As shown, the pressure discharge port 130 has two, the first pressure discharge port 130A arranged at the front of the chassis and the second pressure discharge port 130B arranged at the rear of the chassis, and the pressure balance assembly is arranged in the first pressure discharge port 130A and the second pressure discharge port 130B. That is, the vertical line of the fuselage to the front end of the fuselage and the vertical line of the fuselage to the rear end of the fuselage are provided with pressure discharge ports. The autonomous working device also includes a vision module 2 arranged on the upper cover 131 of the chassis and a cleaning structure 3 for cleaning the vision module 2. The pressure discharge port located between the vision module 2 and the front end of the fuselage is the first pressure discharge port 130A, and the pressure balance assembly located in the first pressure discharge port 130A is the first pressure balance assembly. The upper surface of the pressure balance assembly is lower than the top surface 1314 of the upper cover 131 of the chassis. Because the front of the upper cover 131 of the chassis is provided with the cleaning structure 3, it needs to bear more drainage capacity, and this design can reduce the influence of the first pressure discharge port 130A on the drainage of the upper cover 131 of the chassis. In other embodiments, the pressure discharge port can be one or more. The reason why the pressure discharge port is arranged at the front and rear of the fuselage is that in order to balance the front and rear weights of the device, the heat generating devices such as the control panel motor of the device are often arranged at the front and rear of the fuselage, so the essence of arranging the pressure discharge port at the front and rear of the fuselage is to be arranged above the heat generating device, and the pressure discharge efficiency is higher.

[0118] Further, as shown in the drawings, Figure 21 The drainage surface 1311 has a recessed area 1315 adjacent to the drainage groove 1312, the first pressure discharge port 130A is arranged in the recessed area 1315, the bottom surface of the recessed area 1315 is lower than the top surface 1314 of the upper cover 131 of the chassis and higher than the groove bottom of the drainage groove 1312, and at least one side of the recessed area 1315 extends to the communication drainage groove 1312. The top surface 1314 of the upper cover 131 of the chassis is the surface outside the recessed area 1315.

[0119] In addition, the autonomous working device also includes a heat load device 9 arranged in the main cavity 110, the heat load device provides a power source for the autonomous device or controls the operation of the autonomous device, and the heat load device 9 will generate heat during operation. The area of the upper cover 131 of the chassis opposite to the position of the heat load device 9 is provided with a pressure discharge port.

[0120] The heat load device 9 includes an energy module 92, and the energy module 92 is provided with a shell 91, the shell 91 has an opening 910 communicating with the main cavity 110, the opening 910 is arranged in the direction of the pressure discharge port, and the opening 910 exchanges air flow with the pressure discharge port. The energy module 92 supplies power to the driving motor 61 of the vision module 2 and the cutting device 6. The shell 91 is a non-sealed open shell, specifically, the heat load device 9 is provided below the lower cover 132 of the chassis, the energy module is installed by opening the lower cover 132 of the chassis, the heat generated by the heat load device 9 can be dissipated from the opening, the opening realizes communication with the main cavity 110, and the opening also provides wiring space for the heat load device 9 and the external control panel.

[0121] As shown in Figure 19 , the pressure discharge port is arranged on the upper cover 131 of the base plate. The opening of the shell of the heat load device 9 is arranged upward, and the corresponding area of the upper cover 131 of the heat load device 9 is arranged with a pressure discharge port.

[0122] Further, as shown in Figure 11 , Figure 19 , the top cover is a flip cover 8, which is hingedly connected to the body, used for opening or covering the functional area. The flip cover 8 is positioned on the body by magnetic attraction, so as to protect the functional area, which can be provided with control buttons and height adjustment knobs 7. Thus, the functional area is protected from being misoperated, and the functional area is not exposed to the outside for long-term outdoor use, and is not easy to be damaged.

[0123] Further, as shown in Figure 23 , Figure 24 , Figure 25 , the flip cover includes a hinged side and a free side. The hinged side is hingedly connected to the body, and the free side can rotate around the hinged side. The flip cover 8 has a first magnet 81 on the side away from the hinged side, and the free side is provided with a first magnet 81. The body has a second magnet 82, and the first magnet 81 and the second magnet 82 are used to be magnetically attracted to each other when the flip cover 8 is closed on the body.

[0124] Further, as shown in Figure 23 , Figure 24 , the first magnet 81 and / or the second magnet 82 is provided with a shock pad 83 for reducing the impact and noise when the magnetic attraction is closed.

[0125] In addition, as shown in Figure 23 , Figure 24 , Figure 25 and Figure 26 , the flip cover 8 is provided with a first magnet seat 84 for accommodating the first magnet 81. The first magnet seat 84 has an accommodation cavity 840 for accommodating the first magnet 81, and the accommodation cavity 840 is provided with a pressing block 85 for positioning the first magnet 81. Because the surface of the flip cover 8 is inclined, the bottom of the accommodation cavity may be non-planar, so the installation stability of the first magnet 81 in the first magnet seat 84 can be enhanced by installing the pressing block 85. The corresponding position of the body 1 is provided with a second magnet seat 19, and the second magnet seat 19 is provided with a second magnet 82.

[0126] Further, as shown in Figure 27 , Figure 28 , Figure 29As shown, the free side of the flip cover 8 is provided with a recess 86, i.e. the side of the flip cover 8 away from the hinge with the body has the recess 86, and the body has a protrusion 16 extending into the recess, which is used to be inserted into the recess 86 after the flip cover 8 is closed. When the flip cover 8 is closed, the protrusion 16 closes the gap between the recess 86 and the body, and the protrusion 16 abuts against the side wall of the recess 86. The recess 86 is designed to be recessed in order to form a handle and reduce the gap between the flip cover and the body after the flip cover is closed. However, if the recess is directly designed to abut against the body, the surface of the body is not flat, the fit is not good, and the machining precision is required to be high. If the precision is not enough, the magnets on both sides may not be reliably attracted. Therefore, in this embodiment, the protrusion is designed on the body. The protrusion 16 abuts against the side end of the recess 86, which can block the gap between the recess and the body when the flip cover is closed, so as to prevent water and protect the operation panel (function area). The machining precision is not high, the blocking effect is good, and the attraction of the magnets on both sides will not be affected. In addition, since the protrusion 16 is in front of the operation panel, the upper cover is an arc surface, and the operation panel has a height difference, water may also accumulate if the protrusion 16 is not provided.

[0127] In addition, as shown in Figure 29 The protrusion 16 abuts against the side wall 861 of the recess 86.

[0128] Further, as shown in Figure 29 The flip cover 8 has a flange 87 extending to the area of the recess 86 to form a handle part, which facilitates the opening and closing of the flip cover 8.

[0129] Further, as shown in Figure 24 The two corner ends of the free side of the flip cover 8 each have a first magnet 81, i.e. the two corner ends of the side of the flip cover 8 away from the hinge with the body each have a first magnet 81, and the body has a pair of second magnets 82 spaced apart and corresponding to the first magnets 81 one by one. The protrusion 16 is located between the pair of second magnets 82.

[0130] Further, when the flip cover 8 is in the fully open state, the center of gravity of the flip cover 8 is located on the side of the flip cover 8 away from the rotation axis of the machine body and the second magnet 82, that is, the flip cover 8 can rely on the self weight to maintain the open state. The fully open state means that the flip cover reaches the maximum angle that can be opened. The torque generated by gravity drives the flip cover to rotate around the axis to a stable position, thereby relying on the self weight to offset the closing trend, achieving a sustained open state without external force assistance. In other embodiments, the flip cover 8 is connected to the machine body through a rotation axis, and the rotation axis is in interference fit with the flip cover 8. When the flip cover is opened, the opening state is locked by the friction torque. Preferably, when the flip cover 8 is in the open state, the center of gravity of the flip cover 8 can be located on the side of the rotation axis towards the second magnet 82, and the flip cover 8 can be kept open by relying on the friction resistance between the rotation axis and the flip cover 8, overcoming the self weight and magnetic attraction. Compared with the existing technology in which the hinge shaft and spring are used to achieve the opening of the flip cover, the present embodiment can reduce the number of parts and cost, and reduce the installation difficulty. The spring is prone to aging and is susceptible to metal fatigue, low-temperature embrittlement and other problems.

[0131] Further, as shown in Figure 1 and Figure 30 , the autonomous working device includes a moving mechanism 101 and a front collision protection structure 102. The moving mechanism 101 is arranged at the bottom of the machine body. The front collision protection structure 102 is connected to the machine body and extends towards the bottom of the machine body, covers the front end of the machine body, and shields at least part of the cutting device 6 and the front wheel 1011 of the moving mechanism 101 from the side of the front end of the machine body. The front collision protection structure 102 is spaced apart from the ground. By arranging the front collision protection structure 102, the feet of adults and children are prevented from accidentally contacting the cutting device 6 and the front wheel below the device. The height of the feet of children is lower than that of adults, and the traditional adult foot protection is not enough to meet the child foot safety standard.

[0132] Further, as shown in Figure 1 , the machine body further includes a mounting cover 17 connected to the machine body 11. In the present embodiment, the mounting cover 17 is a decorative cover, and in other embodiments, the mounting cover 17 can be a functional cover. The front collision protection structure 102 includes a plurality of protrusions 1021 connected to the end of the mounting cover 17 towards the bottom of the machine body.

[0133] Preferably, the protrusions 1021 are integrally formed with the mounting cover 17. In other embodiments, the protrusions 1021 and the mounting cover 17 can not be integrally formed. In addition, the protrusions 1021 can be made of the same material as the mounting cover, or other materials that can have greater friction, such as rubber, etc.

[0134] Further, as shown in Figure 31 , the extension length L of the protrusions 1021 towards the bottom of the machine body is greater than or equal to 2 mm.

[0135] Further, as shown in Figure 31 the distance between the protrusions 1021 and the ground is not less than half the height of the front wheels 1011, as shown in Figure 31 H≥R, which can prevent the device from being too low and unable to pass over common obstacles such as stones and the like during operation.

[0136] In addition, as shown in Figure 32 the protrusions 1021 are arranged from the front end of the body to the sides of the body.

[0137] Preferably, as shown in Figure 32 the protrusions 1021 are arranged in a sawtooth structure along the circumferential direction of the mounting cover 17. The sawtooth structure can increase the frictional contact with the child's foot, facilitating the sensor to identify and avoid.

[0138] In addition, as shown in Figure 1 and Figure 32 the mounting cover 17 includes a front section 171 and a rear section 172 connected in sequence from the front end of the body to the rear end of the body. The body further includes a decorative side cover 18 arranged on the side of the body 11, and the front section 171 of the mounting cover 17 has a connection with the rear cover of the mounting cover 17, which is located at one end O of the decorative side cover 18 facing the rear end of the body. The protrusions are arranged on the front section 171 of the mounting cover 17, which is the area from the line P to the front end of the body in the figure, i.e. the area surrounded by the arrow A-A.

[0139] In addition, as shown in Figure 1 and Figure 32 the protrusions 1021 are arranged to extend at least half the circumference of the front section 171 of the mounting cover 17, ensuring that the coverage of the front collision protection structure 102 during operation can fully achieve the protection effect.

[0140] In another embodiment, the autonomous working device is substantially the same as the above, the main difference being that the installation position of the base 12 and the cleaning structure 3 relative to the vision module 2 is different. In this embodiment, as shown in Figure 33 , Figure 34 and Figure 35 the vision module 2 is arranged between the base 12 and the body 11. The cleaning body 31 is connected to the first connecting rod 322. Further, the first connecting rod 322 includes a cleaning arm 3221 provided with the cleaning body 31, and a first connecting rod body 3222 hingedly connected to the cleaning arm 3221 and the second connecting rod 323, and the cleaning body 31 can be a brush or a silicone strip. In other embodiments, the first connecting rod body 3222 can also be fixedly connected to the cleaning arm 3221 and only hingedly connected to the second connecting rod 323.

[0141] The cleaning arm 3221 has a first included angle with the first connecting rod body 3222, the first connecting rod body 3222 has a second included angle with the second connecting rod 323, and the cleaning body 31 is used for cleaning the lens 21.

[0142] Specifically, as shown in Figure 34 the connecting end where the first connecting rod body 3222 is connected with the second connecting rod 323 is provided with a hinge seat 326, and the first connecting rod body 3222 is connected with the hinge seat 326 through a screw. The cleaning arm 3221 and the second connecting rod 323 are connected with the first connecting rod body 3222 through screws, the screws are letter screws, and the included angle between the first included angle and the second included angle can be changed when the cleaning member is attached to the lens 21 for cleaning.

[0143] In addition, as shown in Figure 35 the cleaning structure 3 further includes a control module 35 arranged in the base 12, and the control module 35 is electrically connected with the first driving member 33. The control module 35 includes a circuit board, and the first driving member 33 is controlled.

[0144] In addition, as shown in Figure 35 the first connecting rod body 3222 and the second connecting rod 323 both have cavities 320, and each cavity 320 has a connecting seat 324. The two ends of the elastic member 321 are connected with the connecting seats 324 in the first connecting rod body 3222 and the second connecting rod 323 respectively, and the elastic body of the elastic member 321 is located in the cavity of the second connecting rod 323. In other embodiments, the elastic body can also be located in the cavity, or only one of the first connecting rod body 3222 and the second connecting rod 323 has a cavity, and the elastic body is located in the cavity. In addition, the connecting seat can be present or absent, and the region on the first connecting rod body 3222 and the second connecting rod 323 where the elastic member can be connected can be provided.

[0145] In addition, the cavity 320 is open to the side of the visual module 2, which is convenient for the installation and replacement of the elastic member, and the visual module 2 can shield the open side to prevent sundries and rainwater from entering. In other embodiments, the cavity 320 can also be open to other directions, and is not limited to the scheme in the embodiment.

[0146] Further, in the embodiment, as shown in Figure 36 and Figure 37 the cleaning arm 3221 is provided with an open slot 3220 on the side facing the visual module, the open slot 3220 extends along the length direction of the cleaning arm 3221, and the cleaning body 31 has an insertion part 310 embedded into the open slot 3220.

[0147] As shown in Figure 36 and Figure 37As shown, the open slot 3220 has a first slot portion 32201, and a second slot portion 32202 connected with the first slot portion 32201, the first slot portion 32201 and the second slot portion 32202 are connected in a direction from a side of the cleaning arm 3221 facing the vision module 2 to a side of the cleaning arm 3221 away from the vision module 2, that is, as shown Figure 37 In the embodiment, the insertion portion 310 and the open slot 3220 are connected in a left-to-right direction, and the width of the first slot portion 32201 is smaller than the width of the second slot portion 32202. The insertion portion 310 is T-shaped, which has a lower requirement for processing precision compared to a rectangular long strip shape. In long-term use, the insertion portion 310 is not easy to fall off. If the insertion portion 310 is designed as a rectangular long strip shape, it is necessary to tightly match, such as interference fit, between the insertion portion 310 and the open slot 3220, which makes the installation relatively difficult.

[0148] Specifically, the cleaning body 31 is slidably inserted into the open slot 3220 to achieve installation and disassembly. Figure 35 In the embodiment, along the extension direction of the cleaning arm 3221, the top of the open slot is an open side, and the bottom of the open slot 3220 is a closed end, that is Figure 35 In the embodiment, the lower end surface of the open slot 3220 is a closed end. The bottom of the open slot 3220 is a closed end, that is, the bottom of the open slot 3220 facing the second connecting rod 322 is a closed end, which is not connected with the side facing the lens. The closed end can be understood as fully closed or semi-closed. Fully closed means that, as shown Figure 35 The bottom of the open slot 3220 has no through hole, and semi-closed means that the bottom of the open slot 3220 has a through hole, but does not directly penetrate and communicate from the bottom to the side of the open slot facing the lens. When installing, the insertion portion 310 is slid into the open slot 3220 from the top. This structure facilitates replacement of the cleaning body 31. Further, as shown Figure 33 Figure 35 The connecting rod assembly 32 extends downward to allow the cleaning body 31 to be close to the lens 21. In this structure, the sealant 43 is filled between the base 12 and the main body of the first driving member 33, which fully meets the waterproof requirement of IPX4 level. The sealing ring 42 is sleeved on the connecting short rod 3231 of the connecting rod assembly 32, and the sealing ring 42 abuts against the inner wall of the connecting hole.

[0149] Since the first embodiment corresponds to the present embodiment, 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 the technical effects achieved in the first embodiment can also be achieved in the present embodiment. In order to reduce repetition, they will not be described here. Correspondingly, the related technical details mentioned in the present embodiment can also be applied in the first embodiment.

[0150] ​The preferred embodiments of the present application have been described in detail above, but it should be understood that modifications can be made to the embodiments to adopt aspects, features and concepts of various patents, applications and publications to provide additional embodiments, if desired.

[0151] These and other changes can be made to the embodiments in light of the above Detailed Description. The terms used in the claims have their normal ordinary meaning in the patent law context and are not to be limited to a specialized meaning from the present application, unless such a specialized meaning is expressly set forth in the claims.

[0152] Those skilled in the art can understand that the above-mentioned various embodiments are specific embodiments for realizing the present application, and in actual application, various changes can be made to them 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 utility model relates to a mobile phone with a flip cover, comprising: a body having a functional area; and a flip cover hingedly connected to the body for opening or covering the functional area, the flip cover being positioned on the body by magnetic attraction when closed.

2. The autonomous work apparatus according to claim 1, characterized by, The flip cover comprises a hinged side and a free side, the hinged side being hingedly connected to the body, the free side being rotatable about the hinged side, the free side being provided with a first magnet, the body being provided with a second magnet, the first magnet and the second magnet being used for mutual magnetic attraction when the flip cover is closed on the body.

3. The autonomous work apparatus according to claim 2, characterized by, The first magnet and / or the second magnet is provided with a shock-absorbing pad.

4. The autonomous work equipment of claim 2, wherein, The flip cover is provided with a first magnet seat for accommodating the first magnet.

5. The autonomous work apparatus according to claim 4, characterized by The first magnet seat has an accommodating cavity for accommodating the first magnet, the accommodating cavity being provided with a pressing block for positioning the first magnet.

6. The autonomous work equipment of claim 2, wherein, The free side of the flip cover is provided with a recess; the flip cover has a flange extending to the area of the recess, the flange forming a handle part.

7. The autonomous work equipment of claim 6, wherein, The body is provided with a protrusion, when the flip cover is closed, the protrusion closes the gap between the recess and the body, the protrusion abutting against the side wall of the recess.

8. The autonomous work equipment of claim 7, wherein, Both corner ends of the free side of the flip cover have the first magnet; The body is provided with a pair of spaced-apart second magnets corresponding to the first magnets one by one; The protrusion is located between the pair of second magnets.

9. The autonomous work equipment of claim 2, wherein, When the flip cover is in a fully open state, the center of gravity of the flip cover is located on the side of the flip cover and the body away from the second magnets relative to the rotation axis.

10. The autonomous work equipment of claim 2, wherein, The flip cover and the body are connected by a rotation axis, the rotation axis being in interference fit with the flip cover.

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