Autonomous work equipment

Abstract

The utility model discloses autonomous operation equipment. The autonomous operation equipment comprises a machine body, a driving device and a control device, the cutting device is arranged below the machine body; the height adjusting knob structure is used for adjusting the height of the cutting device and comprises a knob seat arranged on the machine body and a handle hinged to the knob seat; and the handle can turn towards or away from the top surface of the knob seat. And the height of the cutting device is convenient to adjust.

Description

TECHNICAL FIELD

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

[0002] Self-acting operation equipment is mainly functional as the intelligent mower of lawn pruning, can make user free from complex and mixed labor, and more and more popular with user. The existing self-acting operation equipment includes cutting device, according to different cutting needs, cutting device is adjusted height by height adjustment knob structure, directly holds knob seat operation in use, inconvenient operation. SUMMARY

[0003] The utility model aims at providing a kind of self-acting operation equipment, so that the height of cutting device is adjusted more conveniently.

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

[0005] Machine body;

[0006] Cutting device, the cutting device is set below the machine body;

[0007] Height adjustment knob structure, the height adjustment knob structure is connected the cutting device, for adjusting the height of the cutting device, including: the knob seat on the machine body and the handle connected with the knob seat hinge;The handle can be turned towards or away from the top surface of the knob seat.

[0008] In an embodiment, the knob seat is provided with containing area;The handle can be operatively turned towards the top surface of the knob seat into the containing area.

[0009] In an embodiment, the handle includes: operating section and a pair of hinged sections, a pair of the hinged sections is respectively set at both ends of the operating section, and is connected with the knob seat hinge;

[0010] The knob seat is provided with hinged area for accommodating the hinged section, and the hinged section can be operatively turned in the hinged area;

[0011] The hinged section is connected with the knob seat by hinged shaft, the hinged section has gear member, and the hinged area has gear matching member;When the handle is located in preset position, the gear member cooperates with the gear matching member.

[0012] In an embodiment, the hinged area has a plurality of gear slots, and the plurality of gear slots constitute the gear matching member, and the plurality of gear slots are arranged along the turning track of the hinged section;

[0013] The gear is a stopper arranged on the hinged segment; when the handle is turned to a preset position, the stopper is embedded in a corresponding gear slot.

[0014] In an embodiment, a sliding surface is connected between two adjacent gear slots, the sliding surface is an arc surface; the hinged segment slides along the sliding surface, the sliding surface provides a pushing force to push the handle to turn towards the knob base, and provides damping feeling for the sliding of the hinged segment on the sliding surface.

[0015] In an embodiment, the sliding surface has a hollow area.

[0016] In an embodiment, when the stopper is embedded in one of the gear slots, the operation segment is located in the containing area, and the handle is in a non-operation position.

[0017] When the stopper is embedded in another gear slot, the operation segment is away from the containing area, and the handle is in an operation position.

[0018] In an embodiment, an elastic member is arranged on the hinged shaft, and the elastic member provides a pushing force to push the handle to turn towards the knob base.

[0019] In an embodiment, the knob base is connected with the cutting device through a transmission assembly.

[0020] A first slot is arranged on the transmission assembly, a lower surface of the knob base has a first tab inserted into the first slot, the knob base is provided with a tab hollow, and the first tab extends from the tab hollow towards the transmission assembly.

[0021] In an embodiment, the knob base comprises a base body and a knob cover connected with the base body, and the knob cover covers the tab hollow.

[0022] The autonomous working device further comprises a top cover movably connected with the fuselage, and the top cover is operable to cover the knob base. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 FIG. 1 is a structural schematic view of an autonomous working device according to an embodiment of the present application;

[0024] Figure 2 FIG. 3 is a structural schematic view of a cleaning structure according to an embodiment of the present application;

[0025] Figure 3 FIG. 4 is a structural schematic view of a knob base according to an embodiment of the present application; Figure 2 FIG. 5 is a partial enlarged view of P in FIG. 4;

[0026] Figure 4 FIG. 6 is a sectional view of a fuselage according to an embodiment of the present application;

[0027] Figure 5 is Figure 4 a partial enlarged view of A in FIG. 1;

[0028] Figure 6 is Figure 4 a partial enlarged view of B in FIG. 1;

[0029] Figure 7 is Figure 6 a structural schematic view of another section angle of the self-operated equipment;

[0030] Figure 8 is a structural schematic view of a main body part of a visual shell according to an embodiment of the present application;

[0031] Figure 9 is an exploded view of a wire sealing assembly according to an embodiment of the present application;

[0032] Figure 10 is a structural schematic view of a wire sealing assembly according to an embodiment of the present application;

[0033] Figure 11 is a structural schematic view of a self-operated equipment flip opening according to an embodiment of the present application;

[0034] Figure 12 is a separate schematic view of a knob seat and a transmission assembly in a height adjusting knob structure according to an embodiment of the present application;

[0035] Figure 13 is an exploded view of a knob seat according to an embodiment of the present application;

[0036] Figure 14 is a bottom schematic view of the exploded view of the knob seat according to an embodiment of the present application;

[0037] Figure 15 is a structural schematic view of a handle opening according to an embodiment of the present application;

[0038] Figure 16 is Figure 15 a partial enlarged view of C in FIG. 1;

[0039] Figure 17 is a structural schematic view of a handle being stored according to an embodiment of the present application;

[0040] Figure 18 is Figure 17 a partial enlarged view of D in FIG. 1;

[0041] Figure 19 is a sectional view of the self-operated equipment according to an embodiment of the present application;

[0042] Figure 20is Figure 19 A partial enlarged view of G in FIG. 1;

[0043] Figure 21 is an exploded view of a chassis of the autonomous work equipment according to an embodiment of the present application;

[0044] Figure 22 is a structural schematic view of the pressure discharge port according to an embodiment of the present application;

[0045] Figure 23 is another sectional view of the autonomous work equipment according to an embodiment of the present application;

[0046] Figure 24 is Figure 23 A partial enlarged view of H in FIG. 1;

[0047] Figure 25 is a structural schematic view of the flip cover according to an embodiment of the present application;

[0048] Figure 26 is Figure 25 A partial enlarged view of L in FIG. 1;

[0049] Figure 27 is a structural schematic view of the autonomous work equipment without the flip cover according to an embodiment of the present application;

[0050] Figure 28 is a sectional view of the autonomous work equipment according to an embodiment of the present application;

[0051] Figure 29 is Figure 28 A partial enlarged view of M in FIG. 1;

[0052] Figure 30 is Figure 1 A partial enlarged view of E in FIG. 1;

[0053] Figure 31 is Figure 19 A partial enlarged view of F in FIG. 1;

[0054] Figure 32 is a bottom view of the autonomous work equipment according to an embodiment of the present application;

[0055] Figure 33 is a structural schematic view of the autonomous work equipment according to another embodiment of the present application;

[0056] Figure 34 is Figure 33 A partial enlarged view of N in FIG. 1;

[0057] Figure 35 is a structural sectional view of the cleaning structure according to another embodiment of the present application;

[0058] Figure 36 is a structural schematic view of a cleaning structure according to another embodiment of the present application;

[0059] Figure 37 is Figure 36 is a partial enlarged view of Q in the figure. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical scheme and advantages of the present application more clear, the embodiments of the present application will be described in detail below with reference to the drawings. However, those skilled in the art can understand that in the embodiments of the present application, many technical details are proposed in order to make the readers better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the claims of the present application can be realized.

[0061] Unless otherwise required by context, the word "comprise" and variations such as "comprises" or "comprising" will be understood to imply the inclusion of a stated integer or group of integers but not the exclusion of any other integer or group of integers. In other words, the word "comprise" and variations such as "comprises" or "comprising" will be understood to be inclusive or open-ended, and will be

[0062] The embodiments of the present application will be described in detail below with reference to the drawings, so that the purpose, characteristics and advantages of the present application can be more clearly understood. It should be understood that the embodiments shown in the drawings are not a limitation on the scope of the present application, but are only to illustrate the essential spirit of the technical scheme of the present application.

[0063] Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of the phrase "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. In addition, particular features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0064] 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" as used in this specification and the appended claims is to be construed as meaning "including, but not limited to."

[0065] In the following description, in order to clearly show the structure and working mode of the present application, many directional words will be used for description, but the words "front", "back", "left", "right", "outer", "inner", "outward", "inward", "up", "down" and the like should be understood as convenient language, and should not be understood as limiting words.

[0066] Embodiments of the present application are described below with reference to the accompanying drawings.

[0067] The present application relates to an autonomous work equipment 100, such as Figure 1 The autonomous work equipment is especially a robot that can autonomously move within a preset area and perform a specific work, typically such as an intelligent sweeper or vacuum cleaner that performs a cleaning work, or an intelligent mower that performs a mowing work, etc. Among them, the specific work especially refers to a work of processing a work surface and changing the state of the work surface. The present application takes an intelligent mower as an example for detailed description. The autonomous work equipment can autonomously walk on the surface of the work area, and especially as an intelligent mower, can autonomously perform a mowing work on the ground.

[0068] The body generally includes a chassis and a shell, the chassis is used to install and accommodate the mobile mechanism, the working mechanism, the energy module, the detection module, the interaction module, the control module and other functional mechanisms and functional modules. The shell is usually constructed to at least partially cover the chassis, mainly to enhance the appearance and recognition of the autonomous work equipment. The mobile mechanism is constructed to support the main body mechanism on the ground and drive the main body mechanism to move on the ground, and usually includes a wheeled mobile mechanism, a tracked or semi-tracked mobile mechanism, and a walking mobile mechanism, etc. In the present embodiment, as shown in Figure 1 The mobile mechanism is a wheeled mobile mechanism, including at least one drive 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 drive wheel, a left walking prime mover driving the left drive wheel, a right drive wheel and a right walking prime mover driving the right drive wheel are preferably provided. In the present embodiment, the straight-line travel of the autonomous work equipment is achieved by the same speed rotation of the left and right drive wheels in the same direction, and the turning travel is achieved by the same direction differential speed rotation or opposite rotation of the left and right drive wheels. In other embodiments, the mobile mechanism can also include a steering mechanism independent of the drive wheel and a steering prime mover independent of the walking prime mover. In the present embodiment, the mobile mechanism also includes at least one driven wheel, which is typically constructed as a universal wheel, and the drive wheel and the driven wheel are respectively located at the front and rear ends of the autonomous work equipment.

[0069] The energy module is constructed to provide energy for various works of the autonomous work equipment. 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 work equipment.

[0070] The detection module is configured as at least one sensor for sensing the environmental parameters of the autonomous work equipment or its own working parameters. Typically, the detection module can include sensors related to the definition of the working area, such as magnetic induction type, collision type, ultrasonic type, infrared type, radio type, etc., and the sensor type is adapted to the position and number of the corresponding signal generating devices. The detection module can also include sensors related to positioning and navigation, such as GPS positioning device, laser positioning device, electronic compass, acceleration sensor, odometer, angle sensor, geomagnetic sensor, etc. The detection module can also include sensors related to the safety of its own work, such as obstacle sensor, lifting sensor, battery pack temperature sensor, etc. The detection module can also include sensors related to the external environment, such as environmental temperature sensor, environmental humidity sensor, light sensor, rain sensor, etc.

[0071] 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 transmit and receive information, etc. In the embodiment, the interaction module includes input devices arranged on the autonomous work equipment for receiving user input control instruction information, typically such as control panel, emergency stop button, etc.; the interaction module also includes display screen, indicator light and / or buzzer arranged on the autonomous work equipment, which make the user perceive information through light or sound. In other embodiments, the interaction module includes communication modules arranged on the autonomous work equipment and terminal devices independent of the autonomous work equipment, such as mobile phones, computers, network servers, etc., and the user's control instruction information or other information can be input on the terminal device and reach the autonomous work equipment via wired or wireless communication module.

[0072] 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 equipment according to the computer program or instruction set. Further, the control module can also control and adjust the corresponding behavior of the autonomous work equipment, modify the parameters in the memory, etc. according to the signals of the detection module and / or user control instructions.

[0073] 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. For example, for a smart sweeper / vacuum cleaner, the working member includes a roller brush, a suction pipe, 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, but in other embodiments, it 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 this example, the cutting device, at least part of the working mechanism, is arranged at the bottom of the machine body, and the cutting device includes a cutting tool and an electric motor.

[0074] In an embodiment of the present embodiment, as shown in Figure 1 The autonomous work equipment 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 and used to clean the lens 21 of the vision module 2.

[0075] 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 used to support 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.

[0076] Further, as shown in Figures 1-4 The cleaning structure 3 includes a cleaning body 31 for cleaning the lens 21 of the vision module 2, a linkage assembly 32, and a first driving member 33 driving the cleaning body 31. The first driving member 33 can be a motor or the like power member. The linkage assembly 32 includes a resilient member 321, which can be a tension spring or a spring sheet, etc., and provides a restoring force for the cleaning body 31 to approach 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, etc. in the outdoor work environment from polluting the surface of the lens 21 and affecting the information acquisition effect of the vision module 2.

[0077] Further, as shown in Figure 2 The linkage assembly 32 includes 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 resilient member 321 are connected to the first linkage 322 and the second linkage 323, respectively.

[0078] 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 bristle, etc.

[0079] Further, as shown in Figure 2 , the first connecting rod 322 and the second connecting rod 323 each have a cavity 320, and each cavity 320 has a connecting seat 324. The two ends of the elastic member 321 are connected to the connecting seats 324 in the first connecting rod 322 and the second connecting rod 323, respectively. The elastic body of the elastic member 321 is located in the cavity 320 of the first connecting rod 322. It is convenient to install, replace and adjust the angle of the elastic member. When the elastic member is deformed and the restoring force is reduced after being used for many times, the elastic member can be squeezed to reduce the included angle between the first connecting rod and the second connecting rod, so that the cleaning body 31 can still tightly adhere to the lens. At the same time, the non-closed cavity can also reduce the accumulation of rainwater in the connecting rod.

[0080] In other embodiments, the elastic body can also be located in the cavity, or only one of the first connecting rod 322 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 provided or not provided. The area where the elastic member can be connected on the first connecting rod 322 and the second connecting rod 323 can be provided.

[0081] In addition, the side of the cavity 320 facing the visual module 2 is an open side, which is convenient for installing and replacing the elastic member, and the visual module can block the open side to prevent sundries and rainwater from entering. In other embodiments, the cavity 320 can also be open towards other directions, and is not limited to the scheme in the embodiment.

[0082] Further, as shown in Figure 2 and Figure 3 , the first connecting rod 322 has an opening groove 3220 on the side facing the visual module 2, and the opening groove 3220 extends along the length direction of the first connecting rod 322. The cleaning body 31 has an insertion part 310 embedded in the opening groove 3220.

[0083] As shown in Figure 2 and Figure 3 , the opening groove 3220 has a first groove part 32201 and a second groove part 32202 connected to the first groove part 32201. The first groove part 32201 and the second groove part 32202 are connected in the direction from the side of the first connecting rod 322 facing the visual module 2 to the side of the first connecting rod 322 away from the visual module 2, that is, connected from left to right in Figure 3 , and the width of the first groove part 32201 is less than the width of the second groove part 32202. The insertion part 310 is matched with the shape of the opening groove 3220. The insertion part 310 is T-shaped, which has a lower requirement for processing precision than a rectangular strip shape. In long-term use, it is not easy to fall off by left and right scraping. If it is designed as a rectangular strip shape, it is necessary to tightly match, such as interference fit, between the insertion part and the opening groove, which leads to relatively difficult installation.

[0084] The open slot 3220 has an open end facing away from one end of the second connecting rod 323, i.e. the top of the open slot 3220 is in communication 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, which is not in communication with the side facing the lens. The closed end can be fully closed or semi-closed. The fully closed end means that the bottom of the open slot 3220 has no through hole. The semi-closed end means that the bottom of the open slot 3220 has a through hole, but the through hole does not directly communicate from the bottom to the side of the open slot facing the lens. When installing, the insertion part 310 is slid into the open slot 3220 from the top. This structure facilitates replacement and cleaning of the main body 31.

[0085] 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, etc. from entering the interior of the body. The cleaning waterproof structure forms multi-stage waterproofing between the cleaning structure and the body 1.

[0086] Further, the base 12 has a connecting hole, the cleaning main body 31 is connected to the first driving member 33 through the connecting rod assembly 32, and the connecting rod assembly 32 penetrates 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 main 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.

[0087] Further, as shown in Figure 2 , the first-stage waterproofing comprises a splash-proof member 41 arranged between the connecting hole and the connecting rod assembly 32.

[0088] Further, as shown in Figure 2 , Figure 4 and Figure 5 , the splash-proof member 41 is annularly arranged on the outer periphery of the connecting rod assembly 32 and protrudes outwardly from the connecting rod assembly 32, forming a protruding partition to isolate the interior of the base from the exterior. The inner wall of the connecting hole has a first groove 121 for embedding the splash-proof member 41. The splash-proof member 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 fixed on the connecting short rod 3231.

[0089] Further, as shown in Figure 2 , Figure 4 and Figure 5 , the second-stage waterproofing is closer to the interior of the base 12 than the first-stage waterproofing. The second-stage waterproofing further comprises a sealing ring 42 annularly arranged on the connecting rod assembly 32 and abutting against the inner wall of the connecting hole.

[0090] Further, as shown inFigure 2 、 Figure 4 and Figure 5 As shown in

[0091] The cleaning waterproof structure includes a third level of waterproofing that seals a connection between the output of the first drive 33 and the linkage assembly 32.

[0092] Additionally, as shown in Figure 2 、 Figure 4 and Figure 5 The third level of waterproofing includes a sealant 43 that fills a mounting slot 325 in an end of the linkage assembly 32 that faces away from the cleaning body 31 and into which the output shaft of the first drive 33 is inserted.

[0093] The cleaning waterproof structure includes a fourth level of waterproofing that seals a mounting gap between the first drive 33 and the base 12.

[0094] Additionally, as shown in Figure 2 、 Figure 4 and Figure 5 The fourth level of waterproofing includes a gasket 44, and the cleaning structure 3 further includes a bracket 34 disposed within the base 12 through which the output shaft of the first drive 33 is inserted, and the gasket 44 is clamped between the end of the linkage assembly 32 that faces away from the cleaning body 31 and the bracket 34.

[0095] Further, the cleaning waterproof structure further includes a fifth level of waterproofing that fills between an inner wall of the bracket 34 and the first drive 33, and the fifth level of waterproofing can include a sealant.

[0096] Further, since the internal electronic components of the device generate heat when in operation, the temperature difference between the inside and outside of the vision module 2 causes the inside of the lens to easily appear liquid water droplets, polluting the inner cavity of the vision module 2 and affecting the sensitivity of the vision information collection. The autonomous working device further includes a vision waterproof structure for sealing the inner cavity of the vision housing 22 and for 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 and the main cavity 110 of the body reduces external water ingress while isolating heat from the main cavity 110 to prevent water mist from being generated. The vision waterproof structure is at least a three-level waterproof 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 sealing the gap between the vision housing 22 and the outside, and the vision third level of waterproofing isolating the inner cavity of the vision housing 22 from the main cavity of the body 1.

[0097] Further, as shown in Figure 4 andFigure 6 As shown, the visual first level 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 visual housing 22.

[0098] Further, as shown in Figure 4 and Figure 7 , the visual housing 22 includes a main body 221 and a rear cover 222. The visual second level waterproofing includes a rear cover sealing ring 53 clamped between the rear cover 222 and the main body 221.

[0099] 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 surface of the visual housing 22 is provided with an outlet 220 for the wire to pass through. In order to improve the sealing of the visual housing 22, it is necessary to avoid folding and deforming the wire 103 while ensuring that the outlet 220 is sealed. The visual third level waterproofing includes a wire sealing assembly 52 sealed at the outlet 220, and the wire sealing assembly 52 is connected to the visual housing 22. The wire 103 penetrates the wire sealing assembly 52 and enters the main cavity 110 of the body.

[0100] In addition, as shown in Figure 7 , the wire sealing assembly 52 includes an upper split piece 521 and a lower split piece 522 stacked and connected in cooperation with the upper split piece 521. One of the upper split piece 521 and the lower split piece 522 is provided with a through groove 5221, and the other is provided with a protruding column 5211 inserted into the through groove 5211. The wire is inserted between the protruding column 5211 and the inner wall of the through groove 5221. The wire can be more specifically a MIPI wire.

[0101] Specifically, as shown in Figure 8 , Figure 9 and Figure 10 , the wire itself is very thin. When assembled, the wire penetrates the through groove 5221 and is attached to the inner wall of the through groove 5221. The protruding column 5211 on the upper split piece 521 is pressed into the through groove 5221. At this time, the wire 103 is clamped between the outer wall of the protruding column 5211 and the inner wall of the through groove 5221. The wire extends out of the outlet 220. In order to accommodate the wire and avoid extrusion deformation, a gap fit is adopted between the protruding column 5211 and the through groove 5221. The upper split piece 521 and the lower split piece 522 are also provided with screw holes 523, and the position near the outlet 220 has a screw hole 223 matched therewith. By penetrating the screw hole 223 with a screw, the wire sealing assembly 52 is installed and fixed to the visual housing 22. The upper split piece 521 has an insertion port 5212 arranged along one side of the protruding column 5211, so that the wire can be inserted between the protruding column 5211 and the through groove 5221, as shown in Figure 8The middle insertion port 5212 is an open port open to one side wall of the upper split piece 521, which is beneficial for installation and good adhesion with the flat cable and is not prone to generate gaps. In other embodiments, the insertion port 5212 can also be a slot hole not open to one side wall of the upper split piece 521, which can allow the flat cable to pass through, or the insertion port 5212 can not exist, 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.

[0102] In addition, as shown in Figure 9 , the upper split piece 521 and the lower split piece 522 are elastic software such as silicone or rubber, which can further prevent the flat cable from deforming.

[0103] Further, as shown in Figure 9 , the outer circumferential surface of the protruding 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 a horizontal component and a vertical component, so that the clamping force is more uniformly 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.

[0104] In addition, the outer circumferential surface of the protruding column 5211 is provided with a texture. Preferably, it can be a ring-shaped texture, which is used to increase the friction between the surface of the protruding column 5211 and the inner wall of the through groove 5221, and the fit is more compact.

[0105] Further, as shown in Figure 9 , the lower split piece 522 has a boss 5222 with an insertion outlet, and the through groove 5221 is arranged on the boss 5222.

[0106] 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 machine body, 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 machine body, 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 placed flat in the knob seat 71, so that the handle 72 is stored, which helps to save the space above the knob seat 71.

[0107] Further, Figure 11 , Figure 12 ,Figure 13 As shown, the knob seat 71 is provided with a receiving area 710, and the handle 72 is operable to be flipped into the receiving area 710 towards the top surface of the knob seat 71. The self-operated equipment 100 further comprises a top cover movably connected with the machine body 1. The top cover can be hingedly connected with the machine body 1, and the top cover is operable to 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 receiving 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 protrusions that hinder the top cover from being closed, which helps to save space.

[0108] In addition, as shown in Figure 13 The handle 72 comprises an operation section 721 and a pair of hinged sections 722, which are respectively arranged at both ends of the operation section 721 and are hingedly connected with the knob seat 71. The knob seat 71 is provided with a hinge area 711 for accommodating the hinged sections 722, and the hinged sections 722 are operable to be flipped and rotated in the hinge area 711. The hinge area 711 is part of the receiving area, the hinged sections 722 have a gear member, and the hinge area 711 has a gear matching member. When the handle 72 is in a preset position, the gear member cooperates with the gear matching member.

[0109] Further, as shown in Figure 13 The hinged sections 722 are connected with the knob seat 71 through a hinge shaft, and the hinge area 711 can have a plurality of gear slots constituting the gear matching member, which 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 a corresponding gear slot. Understandably, in other embodiments, the gear matching member can be the stop block 723, and the gear member can be a plurality of gear slots. Thus, damping and gear feeling can be provided, thereby enhancing the feedback and control of the user during operation and making the switching process smoother and more reliable.

[0110] In addition, as shown in Figure 13 Between two adjacent gear slots, a sliding surface 713 is connected, which 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 seat 71, and provides a damping feeling for the sliding of the hinged sections 722 on the sliding surface 713.

[0111] In addition, as shown in Figure 13 When the stop block 723 is embedded in one of the plurality of gear slots, the operation section 721 is located in the receiving area 710, and the handle 72 is in a non-operation position. When the stop block 723 is embedded in another of the plurality of gear slots, the operation section 721 is away from the receiving area 710, and the handle 72 is in an operation position.

[0112] Specifically, as shown in Figure 13As shown, in this embodiment, the handle 72 has two adjustable positions. The position slots have two positions: a first position slot 712A and a second position slot 712B. A sliding surface 713 is provided between the first position slot 712A and the second position slot 712B. The two positions correspond to the operating and non-operating states of the height adjustment knob structure 7, respectively. Figure 14 and Figure 15 As shown, when the stop block 723 slides into the first stop slot 712A, the handle 72 opens and leaves the receiving area 710, and is in the operating position; as Figure 16 and Figure 17 As shown, when the stop block 723 slides into the second stop groove 712B, the handle 72 is housed within the receiving area 710 of the knob seat 71, in a non-operating position. When the stop block 723 is in the first stop groove 712A, the handle 72 forms a 90-degree angle with the upper surface of the knob seat 71; when the stop block 723 is in the second stop groove 712B, the handle 72 forms a 0-degree angle with the upper surface of the knob seat 71. In other embodiments, in the operating state, the angle between the handle 72 and the upper surface of the knob seat 71 can be other angles, not limited to a perpendicular state. Understandably, even when the handle 72 is in the non-operating position, the angle between the handle 72 and the upper surface of the knob seat 71 can be other angles.

[0113] In addition, such as Figure 13 As shown, the sliding surface 713 has a hollow area 714. This gives the sliding surface 713 a certain amount of deformability, while also providing a reset pressure for the handle 72 to switch gears.

[0114] Furthermore, such as Figure 13 As shown, the hinge section 722 is connected to the knob seat 71 via the hinge shaft 74. The hinge shaft 74 is provided with an elastic element, which provides a pushing force to push the handle 72 toward the knob seat 71 to rotate, thereby providing a reset spring force for the gear switching of the handle 72.

[0115] In addition, such as Figure 14 As shown, the operating section 721 of the handle 72 has a protruding ridge 724 on the side facing the knob seat 71.

[0116] Furthermore, such as Figure 14As shown, the knob seat 71 is connected with the cutting device 6 through a transmission assembly 73. The transmission assembly 73 is provided with a first slot 731, and the lower surface of the knob seat 71 is provided with a first insertion piece 715 which is inserted into the first slot 731. The knob seat 71 is provided with an insertion piece hollow 7150, and the first insertion piece 715 extends from the insertion piece hollow 7150 towards the transmission assembly 73. The knob seat 71 and the transmission assembly 73 are connected through the hooking of the first insertion piece 715 and the first slot 731. When the first insertion piece 715 and the first slot 731 are clamped, the stress concentration at the root can be reduced, and the first insertion piece 715 is not easy to be broken by lateral shear force. The transmission assembly 73 converts the rotating movement of the knob into the up-down movement of the cutting device 6, so as to realize the height adjustment of the cutting device 6 by the height-adjusting knob structure 7. Specifically, the transmission assembly 73 can be a tooth type engagement, such as a component with a gear and a rack.

[0117] In addition, as shown in Figure 14 The knob seat 71 includes a seat body 716 and a knob cover 717 connected with 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 seat 71 is provided with a second slot 719. The second insertion piece 718 is clamped with the second slot 719.

[0118] Further, Figure 21 As shown, the machine body 1 includes a chassis 13 with a main cavity 110 and a pressure balance assembly. The chassis 13 is provided with a pressure discharge port 130 which is communicated with the main cavity 110, and the pressure balance assembly is arranged on the pressure discharge port 130. The cutting device 6 is connected with the chassis 13.

[0119] Further, Figure 19 , Figure 20 and Figure 21 As shown, the pressure balance assembly includes a waterproof and breathable film 14 which covers the pressure discharge port. When the internal pressure and humidity of the main cavity 110 are high, water vapor can diffuse outward through the waterproof and breathable film 14, which effectively balances the pressure inside and outside the equipment, prevents the internal components of the machine body from being damaged, makes the equipment safer to use, and prolongs the service life.

[0120] Further, Figure 19 , Figure 20 and Figure 21 As shown, the pressure balance assembly further includes a support cover 15 which is arranged in the pressure discharge port 130. The support cover 15 is provided with a breathable hole 150 which is communicated with the pressure discharge port 130, and the support cover 15 is used for supporting the waterproof and breathable film 14.

[0121] Further, Figure 19 , Figure 20 and Figure 21As shown, the chassis 13 has a chassis upper cover 131 and a chassis lower cover 132, which are combined 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-operated equipment to the drainage groove 1312, and the drainage surface 1311 is provided with the pressure discharge port 130.

[0122] In addition, as shown in Figure 19 、 Figure 20 and Figure 21 , the chassis upper cover 131 has a flange 1313 protruding on the chassis upper cover 131 and enclosing the opening end of the pressure discharge port 130. This can prevent the water flow from covering the pressure discharge port when the rainwater on the chassis upper cover 131 flows to the drainage groove 1312, causing excessive external pressure and internal pressure discharge problems.

[0123] Further, in the embodiment, as shown in Figure 19 、 Figure 20 and Figure 21 , the pressure discharge port 130 has two, which are 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 each of the first pressure discharge port 130A and the second pressure discharge port 130B. That is, there is a pressure discharge port between the median line of the fuselage to the front end of the fuselage and between the median line of the fuselage to the rear end of the fuselage. The self-operated equipment further comprises a vision module 2 arranged on the chassis upper cover 131 and a cleaning structure 3 for cleaning the vision module 2. The pressure discharge port between the vision module 2 and the front end of the fuselage is the first pressure discharge port 130A, and the pressure balance assembly 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 chassis upper cover 131. Since the front of the chassis upper cover 131 is provided with the cleaning structure 3, it needs to bear more water flow, and this design can reduce the influence of the first pressure discharge port 130A on the drainage of the chassis upper cover 131. In other embodiments, the pressure discharge port can be one or more. The reason for arranging the pressure discharge port at the front and rear of the fuselage is that in order to balance the front and rear weights of the equipment, the heat generating devices such as the control panel motor of the equipment 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 arrange above the heat generating device, and the pressure discharge efficiency is higher.

[0124] Further, as shown in Figure 21As shown, the drainage surface 1311 has a recessed area 1315 adjacent to the drainage groove 1312, the first drainage port 130A is opened in the recessed area 1315, the bottom surface of the recessed area 1315 is lower than the top surface 1314 of the upper cover of the chassis 131 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 of the chassis 131 is the surface outside the recessed area 1315.

[0125] In addition, the autonomous working device further comprises 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 generates heat during operation. The area of the upper cover of the chassis 131 opposite to the position of the heat load device 9 is provided with a drainage port.

[0126] The heat load device 9 comprises an energy module 92, and the energy module 92 is provided with a shell 91, the shell 91 has an opening 910 in communication with the main cavity 110, and the opening 910 is opened towards the direction of the drainage port and exchanges air flow with the drainage 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, a lower cover of the chassis 132 is arranged below the heat load device 9, the energy module is installed by opening the lower cover of the chassis 132 during installation, heat generated by the heat load device 9 can be dissipated from the opening, realizing communication with the main cavity 110, and the opening can also provide wiring space for the heat load device 9 and the external control panel.

[0127] As shown in the drawings, Figure 19 The drainage port is opened on the upper cover of the chassis 131. The opening of the shell of the heat load device 9 is opened upwards, and the area of the upper cover of the chassis 131 corresponding to the heat load device 9 is provided with a drainage port.

[0128] Further, as shown in the drawings, Figure 11 , Figure 19 The top cover is a flip cover 8, which is hingedly connected to the machine body and is used for opening or covering the functional area. The flip cover 8 is positioned on the machine body by magnetic attraction 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.

[0129] Further, as shown in the drawings, 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 machine body, and the free side can rotate around the hinged side. The flip cover 8 has a first magnet 81 away from the side hingedly connected to the machine body, and the free side is provided with a first magnet 81. The machine body has a second magnet 82, and the first magnet 81 and the second magnet 82 are used to magnetically attract each other when the flip cover 8 is closed on the machine body.

[0130] Further, as shown in Figure 23 , Figure 24 , a damping pad 83 is arranged on the first magnet 81 and / or the second magnet 82 to reduce the impact and noise when the magnetic attraction is closed.

[0131] 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 accommodating cavity 840 for accommodating the first magnet 81, and a pressing block 85 is arranged in the accommodating cavity 840 to position the first magnet 81. Since the surface of the flip cover 8 is inclined, the bottom of the accommodating cavity may be non-planar, so the installation stability of the first magnet 81 in the first magnet seat 84 can be enhanced by adding the pressing block 85. The corresponding position of the body 1 is provided with a second magnet seat 19, and the second magnet 82 is arranged on the second magnet seat 19.

[0132] Further, as shown in Figure 27 , Figure 28 , Figure 29 , 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 a recess 86, and the body has a protrusion 16 extending into the recess, which is used to insert 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 on the one hand to form a handle, and on the other hand to reduce the gap between the flip cover and the body after closing. If the recess is directly designed to abut against the body, the surface of the body may not be flat, the fit may not be good, and the machining precision requirement is high. If the precision is not enough, it may also cause the magnets on both sides to not be reliably attracted. Therefore, in this embodiment, a protrusion is designed on the body, and the protrusion 16 abuts against the side end of the recess 86 to 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 requirement is not high, the blocking effect is good, and it will not affect the attraction of the magnets on both sides. In addition, since the front of the protrusion 16 is the operation panel, the upper cover is an arc surface, and the operation panel has a height difference, it is also possible to accumulate water without the protrusion 16.

[0133] In addition, as shown in Figure 29 , the protrusion 16 abuts against the side wall 861 of the recess 86.

[0134] 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.

[0135] Further, asFigure 24 As shown, the two corner ends of the free side of the flip cover 8 are provided with the first magnets 81, that is, the two corner ends of the side of the flip cover 8 away from the hinge with the body are provided with the first magnets 81, and the body is provided with a pair of second magnets 82 corresponding to the first magnets 81. The protrusion 16 is located between the pair of second magnets 82.

[0136] 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 second magnets 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, and the moment generated by the gravity drives the flip cover to rotate around the shaft to the stable position, so as to rely on the self weight to offset the closing trend, and realize the continuous open state maintenance without external force assistance. In other embodiments, the flip cover 8 is connected with the body through the rotating shaft, and the rotating shaft is in interference fit with the flip cover 8. When the flip cover is opened, the opening state is locked through the friction moment. 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 rotating shaft toward the second magnets 82, and the flip cover 8 is kept open by relying on the friction resistance between the rotating shaft and the flip cover 8, overcoming the self weight and magnetic attraction. Compared with the existing technology that the hinge shaft and the spring are used to realize the opening of the flip cover, the number of parts and the cost can be reduced, and the installation difficulty can be reduced. The spring is prone to aging, and is susceptible to metal fatigue, low-temperature embrittlement and other problems.

[0137] Further, as shown in Figure 1 and Figure 30 , the autonomous working device comprises a moving mechanism 101 and a front collision protection structure 102. The moving mechanism 101 is arranged at the bottom of the body. The front collision protection structure 102 is connected with the body and extends toward the bottom of the body, covers the front end of the body, and shields at least part of the cutting device 6 and the front wheel 1011 of the moving mechanism 101 toward the side of the front end of the 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.

[0138] Further, as shown in Figure 1 , the body further comprises a mounting cover 17 connected with the body 11. In this 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 comprises a plurality of protrusions 1021 connected with the end of the mounting cover 17 toward the bottom of the body.

[0139] Preferably, the protrusions 1021 are integrally formed with the mounting cover 17. In other embodiments, the protrusions 1021 can also not be integrally formed with the mounting cover 17. 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.

[0140] Further, as shown in Figure 31 , the protrusions 1021 extend towards the bottom of the machine body by a length L that is greater than or equal to 2mm.

[0141] 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 in height, and the device cannot pass over ordinary obstacles on the path, such as stones, etc.

[0142] In addition, as shown in Figure 32 , the plurality of protrusions 1021 are arranged from the front end of the machine body to the sides of the machine body.

[0143] Preferably, as shown in Figure 32 , the plurality of protrusions 1021 are arranged in a sawtooth structure along the circumferential direction of the mounting cover 17. The sawtooth structure can increase the contact friction with the child's feet, and facilitate the sensor to identify and avoid.

[0144] 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 machine body to the rear end of the machine body. The machine body further includes a decorative side cover 18 arranged on the side of the machine 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 towards the rear end of the machine body. The plurality of protrusions are arranged on the front section 171 of the mounting cover 17, which is the area from line P to the front end of the machine body in the figure, that is, the area surrounded by arrow A-A.

[0145] In addition, as shown in Figure 1 and Figure 32 , the plurality of protrusions 1021 are arranged to extend by a length that covers at least half the circumference of the front section 171 of the mounting cover 17, so that the coverage range of the front collision protection structure 102 of the device during operation can fully achieve the protection effect.

[0146] In another embodiment, the autonomous working device is substantially the same as the above, and the main difference is 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 35As shown, the visual 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 comprises a cleaning arm 3221 provided with the cleaning body 31, and a first connecting rod body 3222 connected to the cleaning arm 3221 and the second connecting rod 323. The cleaning body 31 can be a brush or a silica gel strip. In other embodiments, the first connecting rod body 3222 can also be fixedly connected to the cleaning arm 3221, and only connected to the second connecting rod 323.

[0147] The cleaning arm 3221 and the first connecting rod body 3222 have a first included angle, and the first connecting rod body 3222 and the second connecting rod 323 have a second included angle. The cleaning body 31 is used to clean the lens 21.

[0148] Specifically, as shown, Figure 34 the connecting end of the first connecting rod body 3222 and the second connecting rod 323 is provided with a hinge seat 326, and the first connecting rod body 3222 is connected to the hinge seat 326 through a screw. The cleaning arm 3221 and the second connecting rod 323 are connected to the first connecting rod body 3222 through a screw. The screw is a letter screw, and the included angle between the first included angle and the second included angle can be changed when the cleaning element is attached to the lens 21 for cleaning.

[0149] In addition, as shown, Figure 35 the cleaning structure 3 further comprises a control module 35 arranged in the base 12, and the control module 35 is electrically connected to the first driving element 33. The control module 35 comprises a circuit board, and controls the first driving element 33.

[0150] In addition, as shown, Figure 35 the first connecting rod body 3222 and the second connecting rod 323 each have a cavity 320, and each cavity 320 has a connecting seat 324. The two ends of the elastic element 321 are respectively connected to the connecting seats 324 in the first connecting rod body 3222 and the second connecting rod 323, and the elastic body of the elastic element 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 can have 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 element can be connected can be provided.

[0151] 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 element, 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.

[0152] Further, in the embodiment, as shown, Figure 36 andFigure 37 As shown in the drawings, the cleaning arm 3221 is provided with an open slot 3220 on the side facing the vision 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.

[0153] As shown in the drawings, the open slot 3220 has a first slot part 32201 and a second slot part 32202 connected with the first slot part 32201, the first slot part 32201 and the second slot part 32202 are connected in the direction from the side of the cleaning arm 3221 facing the vision module 2 to the side of the cleaning arm 3221 away from the vision module 2, that is, connected in the left-to-right direction in the drawings, and the width of the first slot part 32201 is smaller than the width of the second slot part 32202, and the insertion part 310 matches the shape of the open slot 3220. The insertion part 310 is T-shaped, which has lower requirements for processing precision compared to a rectangular long strip, and is not easy to fall off during long-term use. If it is designed as a rectangular long strip, it needs to be tightly matched, such as interference fit, which makes the installation relatively difficult. Figure 36 Figure 37 As shown in the drawings, the open slot 3220 has a first slot part 32201 and a second slot part 32202 connected with the first slot part 32201, the first slot part 32201 and the second slot part 32202 are connected in the direction from the side of the cleaning arm 3221 facing the vision module 2 to the side of the cleaning arm 3221 away from the vision module 2, that is, connected in the left-to-right direction in the drawings, and the width of the first slot part 32201 is smaller than the width of the second slot part 32202, and the insertion part 310 matches the shape of the open slot 3220. The insertion part 310 is T-shaped, which has lower requirements for processing precision compared to a rectangular long strip, and is not easy to fall off during long-term use. If it is designed as a rectangular long strip, it needs to be tightly matched, such as interference fit, which makes the installation relatively difficult. Figure 37

[0154] Specifically, the cleaning body 31 is slidably inserted into the open slot 3220 to realize installation and disassembly. As shown in the drawings, in 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, the lower end surface of the open slot 3220 is a closed end. Figure 35 Figure 35 The bottom of the open slot 3220 is a closed end, that is, the end of the open slot 3220 facing the second connecting rod 322 is a closed end, and the closed end, that is, the bottom of the open slot 3220, is not connected to the side facing the lens, which can be understood as fully closed or semi-closed. Fully closed means that there is no through hole in the bottom of the open slot 3220 as shown in the drawings, and semi-closed means that there is a through hole in the bottom of the open slot 3220, but it is not directly communicated from the bottom to the side of the open slot facing the lens. Figure 35 Figure 33 Figure 35 When installing, the insertion part 310 is slid into the open slot 3220 from the top, and this structure facilitates replacement of the cleaning body 31. Further, as shown in the drawings, the connecting rod assembly 32 extends downward to allow the cleaning body 31 to be close to the lens 21, and in this structure, the base 12 and the main body of the first driving member 33 are filled with sealant 43, which fully meets the waterproof requirement of IPX4 level, and the connecting short rod 3231 of the connecting rod assembly 32 is sleeved with a sealing ring 42, and the sealing ring 42 abuts against the inner wall of the connecting hole.

[0155] ​​​​​Since the first embodiment and the present embodiment correspond to each other, 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.

[0156] 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.

[0157] In view of the above detailed description, these and other changes can be made to the embodiments. In general, the terms used in the claims should not be considered limited to the specific embodiments disclosed in the specification and claims, but should be understood to include all possible embodiments together with the full scope of equivalents to which these claims are entitled.

[0158] Those skilled in the art can understand that the above-mentioned embodiments are specific embodiments for realizing the present application, and in actual application, various changes can be made in form and details without departing from the spirit and scope of the present application.

Claims

1. An autonomous work apparatus characterized by comprising: The utility model relates to a cutting device, a height-adjusting knob structure and a self-operated equipment, and relates to the technical field of cutting device. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment.

2. The autonomous work apparatus according to claim 1, characterized by, The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment.

3. The autonomous work apparatus according to claim 2, characterized by, The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment.

4. The autonomous work apparatus according to claim 3, characterized by, The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment.

5. The autonomous work equipment of claim 4, wherein, The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment.

6. The autonomous work equipment of claim 5, wherein, The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment.

7. The autonomous work equipment of claim 4, wherein, The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment.

8. The autonomous work equipment of claim 4, wherein, The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment.

9. The autonomous work equipment of claim 1, wherein, The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment.

10. The autonomous work equipment of claim 9, wherein, The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. 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The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob structure and a self-operated equipment. The utility model discloses a cutting device, a height-adjusting knob

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