Outdoor work vehicle

Abstract

The utility model relates to the field of gardening tools, in particular to an outdoor operation vehicle. The outdoor work vehicle comprises a vehicle frame; the vehicle body covering part at least covers a part of the vehicle frame; the walking assembly is arranged on the frame and used for driving the vehicle to run; a work member disposed on the frame and configured to perform outdoor work; the side visual detection unit is obliquely arranged at the side part of the vehicle so as to detect environmental information of the side front part or the side rear part of the vehicle; the ratio of the distance between the side visual detection unit and the foremost end or the rearmost end of the vehicle to the total length of the vehicle is smaller than or equal to 30%. According to the outdoor operation vehicle, the lateral environment condition of the vehicle can be well detected, and the purpose of well avoiding obstacles is achieved.

Description

[TECHNICAL FIELD]

[0001] The utility model relates to the field of garden tools, especially relates to an outdoor operation vehicle. [BACKGROUND]

[0002] The outdoor operation vehicle generally utilizes various detection units to collect information about the surrounding environment to achieve the purpose of obstacle avoidance.

[0003] Especially when the detection unit is installed on the side of the vehicle, the side vision detection unit is arranged at the lateral position at the last side of the vehicle, for example, at the leftmost rear side or the rightmost rear side of the vehicle, at this time, the side of the vehicle can be almost completely captured by the side vision detection unit, and the position at this time should be the best position for arranging the side vision detection unit. However, in actual situations, the position of the side vision detection unit is limited by the shape of the operation vehicle and cannot be well arranged at the leftmost rear side or the rightmost rear side. [SUMMARY]

[0004] In view of the deficiencies of the prior art, the utility model aims to provide an outdoor operation vehicle capable of effectively detecting the environment on both sides of the vehicle.

[0005] The utility model solves the technical scheme that the prior art problem adopts: an outdoor operation vehicle, comprising:

[0006] A vehicle frame;

[0007] A vehicle body covering member covering at least part of the vehicle frame;

[0008] A traveling assembly arranged on the vehicle frame and used for driving the vehicle to travel;

[0009] An operation assembly arranged on the vehicle frame and used for performing outdoor operation;

[0010] A side vision detection unit arranged obliquely on the side of the vehicle to detect the environmental information in front of or behind the side of the vehicle;

[0011] The distance between the side vision detection unit and the front end or the rear end of the vehicle accounts for less than or equal to 30% of the total length of the vehicle.

[0012] In some embodiments, the horizontal field of view angle of the side vision detection unit is greater than or equal to 100° and less than or equal to 140°.

[0013] In some embodiments, the horizontal field of view angle of the side vision detection unit has an included angle with the first direction less than or equal to 10°, and the first direction is the front-rear direction of the vehicle.

[0014] The application further provides an outdoor operation vehicle, comprising:

[0015] A vehicle frame;

[0016] a vehicle body cover covering at least a part of the vehicle frame;

[0017] a traveling assembly configured on the vehicle frame and used for supporting the vehicle to travel, the traveling assembly comprising a front traveling wheel located at a front of the vehicle and a rear traveling wheel located at a rear of the vehicle;

[0018] a working assembly configured on the vehicle frame and used for performing outdoor work;

[0019] a side vision detection unit arranged above the front traveling wheel or the rear traveling wheel, the side vision detection unit being configured to detect an environment information of a side front or a side rear of the vehicle;

[0020] a distance between the side vision detection unit and a front end or a rear end of the vehicle accounts for less than or equal to 30% of a total length of the vehicle,

[0021] a front vision detection unit configured at a front of the vehicle frame and used for detecting a front of the vehicle, a detection range of the front vision detection unit partially overlapping with a detection range of at least one side vision detection unit.

[0022] In some embodiments, the outdoor work vehicle further comprises a laser detection unit arranged at the front of the vehicle, the laser detection unit being located directly above or directly below the front vision detection unit.

[0023] The present application also provides an outdoor work vehicle, comprising:

[0024] a vehicle frame;

[0025] a vehicle body cover covering at least a part of the vehicle frame;

[0026] a traveling assembly configured on the vehicle frame and used for driving the vehicle to travel;

[0027] a working assembly configured on the vehicle frame and used for performing outdoor work;

[0028] a side vision detection unit arranged on a side of the vehicle to detect an environment information of a side front or a side rear of the vehicle;

[0029] a distance between the side vision detection unit and a front end or a rear end of the vehicle accounts for less than or equal to 30% of a total length of the vehicle,

[0030] at least two rear vision detection units arranged at a rear of the outdoor work vehicle, each of the rear vision detection units being capable of detecting a side and a rear of the outdoor work vehicle, a detection range of the rear vision detection unit and the side vision detection unit arranged adjacently at least partially overlapping.

[0031] In some embodiments, the detection ranges of two adjacent rear vision detection units at least partially overlap at the rear of the outdoor work vehicle.

[0032] In some embodiments, the detection range of at least one side vision detection unit at least partially overlaps with the detection range of one of the rear vision detection units.

[0033] In some embodiments, a front vision detection unit is further provided at the front of the outdoor work vehicle and is configured to detect the environment in front of the vehicle, and the detection range of the front vision detection unit partially overlaps with the detection range of one of the side vision detection units.

[0034] In some embodiments, the sum of the detection ranges of the front vision detection unit, the rear vision detection unit and the side vision detection unit covers the entire angle around the outdoor work vehicle.

[0035] Compared with the prior art, the utility model has the following beneficial effects:

[0036] In the present application, by setting the proportion of the distance between the side vision detection unit and the front end or the rear end of the vehicle to the total length of the vehicle to be less than or equal to 30%, the environmental conditions on the side of the vehicle can be detected well in the case that the installation position of the side vision detection unit is reasonable, and the purpose of obstacle avoidance is achieved. [BRIEF DESCRIPTION OF DRAWINGS]

[0037] The specific embodiments of the present application will be further described in detail below with reference to the accompanying drawings:

[0038] Figure 1 is a schematic view of the three-dimensional structure of the existing outdoor work vehicle;

[0039] Figure 2 is a schematic view of the structure of the existing outdoor work vehicle after the holes (determination of the installation position) are made on the frame, the left cover, the right cover and the tail cover;

[0040] Figure 3 is a schematic view of the structure of the existing outdoor work vehicle from another angle after the holes (determination of the installation position) are made on the frame, the left cover, the right cover and the tail cover;

[0041] Figure 4 is a schematic view of the structure of the existing outdoor work vehicle after the connection assembly is installed on the frame, the left cover, the right cover and the tail cover;

[0042] Figure 5 is a schematic view of the structure of the existing outdoor work vehicle after the detection assembly is installed on the frame, the left cover, the right cover and the tail cover;

[0043] Figure 6is a perspective view of the outdoor working vehicle in the present application;

[0044] Figure 7 is a front view of the outdoor working vehicle in the present application;

[0045] Figure 8 is a left side view of the outdoor working vehicle in the present application;

[0046] Figure 9 is a right side view of the outdoor working vehicle in the present application;

[0047] Figure 10 is a structure view of the full angle coverage of the ultrasonic sensor of the outdoor working vehicle in the present application;

[0048] Figure 11 is a structure view of the full angle coverage of the vision sensor of the outdoor working vehicle in the present application;

[0049] Figure 12 is a logic block diagram of the control between the sensors and the vehicle on the outdoor working vehicle in the present application.

[0050] Figure 13 is a structure view of the installation angle and height of part of the sensors on the outdoor working vehicle in the present application;

[0051] Figure 14 is a structure view of the installation angle and height of another part of the sensors on the outdoor working vehicle in the present application;

[0052] Figure 15 is a structure view of the periscope structure on the outdoor working vehicle in the present application;

[0053] Figure 16 is a structure view of the collision detection device on the outdoor working vehicle in the present application;

[0054] Figure 17 is a structure view of the position relationship between three adjacent sensors on one side of the outdoor working vehicle in the present application;

[0055] Figure 18 is a structure view of the position relationship between the vision sensor and the vehicle body traveling direction on the outdoor working vehicle in the present application;

[0056] Figure 19 is a structure view of the connection of the ultrasonic sensor with the vehicle frame and the cover through the connecting assembly on the outdoor working vehicle in the present application;

[0057] Figure 20 is a structure view of the front part of the outdoor working vehicle in the present application;

[0058] Figure 21 is another perspective view of the front portion of the outdoor work vehicle of the present application;

[0059] Figure 22 is a perspective view of the ring mount and cover of the outdoor work vehicle of the present application;

[0060] Figure 23 is a close-up view of the cover of the outdoor work vehicle of the present application;

[0061] Figure 24 is a perspective view of the ring mount of the outdoor work vehicle of the present application;

[0062] Figure 25 is a perspective view of the cover and jig of the outdoor work vehicle of the present application;

[0063] Figure 26 is a perspective view of the cover of the outdoor work vehicle of the present application with marking points;

[0064] Figure 27 is a perspective view of the cover of the outdoor work vehicle of the present application with the holes drilled;

[0065] Figure 28 is a perspective view of the cover of the outdoor work vehicle of the present application with the connection assembly and sensors installed;

[0066] Figure 29 is a perspective view of the rear portion of the outdoor work vehicle of the present application with the sensors at least partially overlapping;

[0067] Figure 30 is a perspective view of the outdoor work vehicle of the present application with the ultrasonic sensors connected to the ultrasonic controller;

[0068] Figure 31 is a perspective view of the hand-push mower of the present application with the sensors installed;

[0069] Figure 32 is a perspective view of the all-terrain vehicle of the present application with the sensors installed. [DETAILED DESCRIPTION]

[0070] The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. For example, the words "left," "right," "front," "back," and the like as can be used in the description herein mean relative positions or locations as shown in the figures and are for convenience only and are not intended to limit the scope of the present application to any particular orientation or configuration of the devices described herein.

[0071] Please refer toFigure 1 The existing outdoor work vehicle shown in some embodiments of the present application comprises a frame 1, an operation assembly 2, a seat 3, a work assembly 4, a walking assembly 5 and an energy source system 6.

[0072] The frame 1 extends in a straight line direction, and the operation assembly 2, the seat 3, the work assembly 4, the walking assembly 5 and the energy source system 6 are arranged at different positions on the frame 1.

[0073] The operation assembly 2 comprises a left operation lever 201 arranged on the left side of the existing outdoor work vehicle and a right operation lever 202 arranged on the right side of the existing outdoor work vehicle, and an operator controls the existing outdoor work vehicle to move forward, backward or turn by operating the left operation lever 201 and the right operation lever 202. The operation assembly 2 can also be a steering wheel capable of controlling the existing outdoor work vehicle.

[0074] The seat 3 is arranged on the frame 1, and the left operation lever 201 and the right operation lever 202 are arranged close to the seat 3 and on the left and right sides of the seat 3 respectively, so that an operator sitting on the seat 3 can control the operation of the existing outdoor work vehicle by operating the left operation lever 201 and the right operation lever 202.

[0075] The work assembly 4 is a workpiece for realizing the function of a tool. In an embodiment, the existing outdoor work vehicle is a riding mower, and the work assembly 4 is a cutting assembly arranged below the frame 1. The cutting assembly is used to output power to realize the mowing function of the riding mower.

[0076] In some embodiments, the cutting assembly comprises a cutter head, a mowing element and a cutting motor. The work assembly 4 can also be detached from the existing outdoor work vehicle. It can be understood that the work assembly 4 can be replaced by other assemblies to meet the use requirements of different garden work. When the cutting assembly is replaced by a snow shoveling, snow sweeping or snow blowing functional component, the energy source system 6 of the existing outdoor work vehicle of the present application can also power the above-mentioned snow shoveling, snow sweeping or snow blowing functional components.

[0077] The walking assembly 5 comprises walking wheels arranged on the frame 1 and a walking motor 504 for driving the walking wheels. The walking wheels are arranged on both sides of the frame 1, so that the center of gravity of the existing outdoor work vehicle is kept within the frame 1, thereby reducing the probability of the existing outdoor work vehicle rolling over when walking.

[0078] In an embodiment, the number of walking wheels is set to four, including two front walking wheels and two rear walking wheels. The front walking wheels can be universal wheels, and the walking motor 504 is drivingly connected with the rear walking wheels to drive the rear walking wheels to rotate. The two rear walking wheels are matched with the walking motor 504.

[0079] The energy source system 6 is arranged at the rear side of the vehicle frame 1, and includes a plurality of battery packs, a power management device 603 configured to uniformly integrate and control the charging and discharging process of the plurality of battery packs, and a battery compartment 601 for mounting the plurality of battery packs. In some embodiments, a tail cover 602 can also be arranged on the battery compartment 601.

[0080] The existing outdoor work vehicle in the present application also includes a cover member arranged at least on the vehicle frame, and the cover member includes a left cover member 7 arranged at the left side of the vehicle and a right cover member 8 arranged at the right side of the vehicle.

[0081] As shown in Figure 1 , Figure 2 and Figure 4 , in some embodiments, the present application also provides an upgrading system applied to the existing outdoor work vehicle, and the upgrading system is at least used for upgrading the existing outdoor work vehicle without or not fully having an automatic work function into an intelligent outdoor work vehicle with a fully automatic work function. The existing outdoor work vehicle includes: a vehicle frame 1; a cover member arranged at least on part of the vehicle frame 1; a walking assembly 5 configured to support the existing outdoor work vehicle to walk; a work assembly 4 configured to perform outdoor work; an energy source system 6 at least configured to provide a power source for the existing outdoor work vehicle, and the energy source system 6 includes a battery compartment 601; and a vehicle controller 33 at least configured to control the existing outdoor work vehicle to walk and / or perform outdoor work in a predetermined direction.

[0082] As shown in Figure 4 and Figure 12 , the upgrading system includes: a connecting assembly arranged on at least one of the vehicle frame 1, the cover member, and the battery compartment 601; a detection assembly arranged on the connecting assembly, and the detection assembly is configured to detect position information of the intelligent outdoor work vehicle and / or environmental information around the vehicle; a computing power master module 31 signal connected to the vehicle controller 33 and signal connected to part of the detection assembly, and the computing power master module 31 is at least used for enabling the intelligent outdoor work vehicle to realize obstacle avoidance during driving; the detection assembly includes a first type of detection assembly and a second type of detection assembly, the computing power master module 31 obtains the position information of the intelligent outdoor work vehicle and / or the environmental information around the vehicle based on the first type of detection assembly and generates an obstacle presence signal around the vehicle, and the second type of detection assembly generates the obstacle presence signal around the vehicle based on its environmental perception around the intelligent outdoor work vehicle; the computing power master module 31 and the second type of detection assembly both send the obstacle presence signal around the intelligent outdoor work vehicle to the vehicle controller 33, and the vehicle controller 33 controls the walking assembly 5 and / or the work assembly 4 to change the output power or stop work based on the obstacle presence signal.

[0083] In the present application, the detection information of the first type of detection assembly is processed by the computing power master module 31 and then transmitted to the vehicle controller 33 for processing. In addition, the detection information of the second type of detection assembly is directly transmitted to the vehicle controller 33, realizing differentiated information processing of different types of detection assemblies according to their respective functional attributes.

[0084] In some embodiments, the second type of detection unit includes an ultrasonic emission head of an ultrasonic sensor 18, and the second type of detection controller includes an ultrasonic controller 181 that receives information from the ultrasonic emission head.

[0085] As Figure 12 In some embodiments, the working assembly 4 is a cutting unit, which includes a cutter motor 402 and a cutter controller 401 that controls the operation of the cutter motor 402. The vehicle controller 33 transmits the detection information of the detection assembly to the cutter controller 401, which in turn controls the operation of the cutter motor 402. In some embodiments, the cutter controller 401 receives power supply from the power management device 603.

[0086] As Figure 12 In some embodiments, the traveling assembly 5 further includes a traveling controller 503 and a traveling motor 504. The vehicle controller 33 transmits the detection information of the detection assembly to the traveling controller 503, which in turn controls the operation of the traveling motor 504. In some embodiments, the traveling controller 503 receives power supply from the power management device 603.

[0087] As Figure 4 As shown, in some embodiments, the computing power master module 31 is located between the seat 3 and the battery compartment 601 of the intelligent outdoor working vehicle; and / or, the computing power master module 31 is located above the seat 3 of the intelligent outdoor working vehicle.

[0088] As Figure 1 As Figure 6 It should be noted that in the present embodiment, the intelligent outdoor working vehicle is obtained by upgrading the existing outdoor working vehicle, therefore, the vehicle frames 1, operation assemblies 2, seats 3, working assemblies 4, traveling assemblies 5, energy source systems 6 and coverings (including left coverings 7, right coverings 8, battery compartments 601 and tail covers 602) and other components on the vehicles are the same, only individual mounting holes and other mounting sites are provided on the corresponding components due to installation needs, and the essential functions do not change. Therefore, for the reference numerals related to the above-mentioned components, no distinguishing marks are marked in the present application on the existing outdoor working vehicle and the intelligent outdoor working vehicle.

[0089] As Figure 3As shown in FIG. 1, in some embodiments, the frame 1 and / or the cover 2 are provided with a plurality of mounting positions with a preset height. In some embodiments, the plurality of mounting positions are at least one of the first mounting hole 9, the second mounting hole 10 and the third mounting hole 11. Of course, the mounting positions are not limited to the hole structure, but can also be a groove structure or other structures that can meet the installation of the sensor.

[0090] As shown in FIG. 1, in some embodiments, the connection assembly includes a first connection member and a second connection member, and the first connection member and the second connection member are both capable of being mounted on the plurality of mounting positions with the preset height. Figure 4 Figure 5 As shown in FIG. 1, in some embodiments, the detection assembly includes a plurality of first sensors and a plurality of second sensors, and the plurality of first sensors and the plurality of second sensors are both capable of being arranged on the first connection member or the second connection member with the preset height, and the plurality of first sensors and the plurality of second sensors both have a preset detection height and a preset detection angle.

[0091] As shown in FIG. 1, in some embodiments, the detection assembly includes a plurality of first sensors and a plurality of second sensors, and the plurality of first sensors and the plurality of second sensors are both capable of being arranged on the first connection member or the second connection member with the preset height, and the plurality of first sensors and the plurality of second sensors both have a preset detection height and a preset detection angle. Figure 5 to Figure 9 As shown in FIG. 1, in some embodiments, the detection range of the plurality of first sensors covers the full angle around the existing outdoor working vehicle. The first sensor is an ultrasonic sensor 18.

[0092] Figure 10 As shown in FIG. 1, in some embodiments, the detection direction of the first sensor is arranged at a first preset angle relative to the horizontal plane, and the detection direction of the second sensor is arranged at a second preset angle relative to the horizontal plane. In some embodiments, the first preset angle ranges from 10° to 20°, and in some embodiments, the first preset angle is 10°, 15° or 20°. The second preset angle ranges from -15° to 5°, and in some embodiments, the second preset angle is -15°, -11°, -9°, 0° or 5°.

[0093] As shown in FIG. 1, in some embodiments, the height range of the first sensor is 250mm to 280mm, and the height range of the second sensor is 400mm to 680mm. In some embodiments, the first sensor includes an ultrasonic sensor 18, and the second sensor includes a monocular camera 19, a multi-view camera or a depth camera. The multi-view camera can be a binocular camera 20 or a trinocular camera. Figure 13 As shown in FIG. 1, in some embodiments, the height range of the first sensor is 250mm to 280mm, and the height range of the second sensor is 400mm to 680mm. In some embodiments, the first sensor includes an ultrasonic sensor 18, and the second sensor includes a monocular camera 19, a multi-view camera or a depth camera. The multi-view camera can be a binocular camera 20 or a trinocular camera.

[0094] Figure 13 As shown in FIG. 1, in some embodiments, the height range of the first sensor is 250mm to 280mm, and the height range of the second sensor is 400mm to 680mm. In some embodiments, the first sensor includes an ultrasonic sensor 18, and the second sensor includes a monocular camera 19, a multi-view camera or a depth camera. The multi-view camera can be a binocular camera 20 or a trinocular camera.

[0095] As shown in FIG. 1, in some embodiments, the height range of the first sensor is 250mm to 280mm, and the height range of the second sensor is 400mm to 680mm. In some embodiments, the first sensor includes an ultrasonic sensor 18, and the second sensor includes a monocular camera 19, a multi-view camera or a depth camera. The multi-view camera can be a binocular camera 20 or a trinocular camera. Figure 6 Figure 8 As shown in FIG. 1, in some embodiments, the height range of the first sensor is 250mm to 280mm, and the height range of the second sensor is 400mm to 680mm. In some embodiments, the first sensor includes an ultrasonic sensor 18, and the second sensor includes a monocular camera 19, a multi-view camera or a depth camera. The multi-view camera can be a binocular camera 20 or a trinocular camera. Figure 13 ​​​​In some embodiments, the first sensor is an ultrasonic sensor 18. In the present application, three ultrasonic sensors 18 are arranged on the front side of the existing outdoor work vehicle. The installation height H1 of the three ultrasonic sensors 18 is 373 mm, and the installation angle a1 relative to the horizontal plane is 15°.

[0096] Please refer to Figure 7 and Figure 13 , three ultrasonic sensors 18 are arranged on the left and right sides of the intelligent outdoor work vehicle. The installation height H2 of the three ultrasonic sensors 18 arranged on the left side of the existing outdoor work vehicle is 373 mm, and the installation angle a2 relative to the horizontal plane is 15°. The installation height H2 of the three ultrasonic sensors 18 arranged on the right side of the existing outdoor work vehicle is 373 mm, and the installation angle a2 relative to the horizontal plane is 15°.

[0097] Please refer to Figure 9 and Figure 14 , four ultrasonic sensors 18 are arranged on the rear side of the intelligent outdoor work vehicle. The height H3 of the four ultrasonic sensors 18 is 346.8 mm, and the installation angle a3 relative to the horizontal plane is 15°.

[0098] As shown in Figure 10 , the above, the front side, the left side, the right side and the rear side of the intelligent outdoor work vehicle are provided with 13 ultrasonic sensors 18. Among the 13 ultrasonic sensors 18, the detection ranges of any two adjacent ultrasonic sensors 18 at least partially overlap, so that the combination of the 13 ultrasonic sensors 18 covers the entire angle around the existing outdoor work vehicle.

[0099] It should be understood that, relative to the horizontal plane, the angle size of the preset angle upward is a positive value, and the angle size of the preset angle downward is a negative value. The following angle description is also applicable.

[0100] As shown in Figure 13 , in some embodiments, the second sensor is a visual sensor. One visual sensor is arranged on the front side of the intelligent outdoor work vehicle. The installation height H4 of the one visual sensor is 585 mm, and the angle a4 relative to the horizontal plane is 0°.

[0101] As shown in Figure 14 , one visual sensor is arranged on the left and right sides of the existing outdoor work vehicle. The installation height H5 of the one visual sensor arranged on the left side of the intelligent outdoor work vehicle is 640 mm, and the installation angle a5 relative to the horizontal plane is -11°. The installation height H5 of the one visual sensor arranged on the right side of the intelligent outdoor work vehicle is 640 mm, and the installation angle a5 relative to the horizontal plane is -11°.

[0102] As shown in Figure 9 andFigure 14 Two visual sensors are arranged at the rear side of the existing outdoor working vehicle, the installation height H6 of the two visual sensors is 475 mm, and the angle a6 relative to the horizontal plane is -9°.

[0103] As shown in Figure 13 , in some embodiments, in the direction of travel of the intelligent outdoor working vehicle of the present application, the arrangement of the visual sensor located at the front side of the intelligent outdoor working vehicle is arranged at the front of the intelligent outdoor working vehicle, and the included angle with the direction of travel of the intelligent outdoor working vehicle is 0°.

[0104] In combination with Figure 11 and Figure 18 , the included angle a7 of the visual sensors located at the left and right sides of the intelligent outdoor working vehicle with the direction of travel of the existing outdoor working vehicle ranges from 60° to 70°. In some embodiments, the included angle a7 of the visual sensors located at the left and right sides of the intelligent outdoor working vehicle with the direction of travel of the intelligent outdoor working vehicle is 60°, 64° or 70°.

[0105] In combination with Figure 11 and Figure 18 , the included angle a8 of the two visual sensors located at the rear of the intelligent outdoor working vehicle with the direction of travel of the intelligent outdoor working vehicle ranges from 25° to 35°. In some embodiments, the included angle a8 of the two visual sensors located at the rear of the intelligent outdoor working vehicle with the direction of travel of the intelligent outdoor working vehicle is 25°, 30° or 35°.

[0106] As shown in Figure 6 and Figure 11 , further, the upgrading system of the present application includes one monocular camera 19 located at the front side of the vehicle, one binocular camera 20 located at each of the left and right sides of the existing outdoor working vehicle, and two monocular cameras 19 located at the rear side of the intelligent outdoor working vehicle.

[0107] In some embodiments, the third sensor is arranged at a third preset angle relative to the horizontal plane. In some embodiments, the third sensor is a laser radar 21.

[0108] As shown in Figure 13 , in some embodiments, the third preset angle a9 of the laser radar 21 relative to the horizontal plane ranges from 0° to 5°. In some embodiments, the third preset angle a9 of the laser radar 21 relative to the horizontal plane is 0°, 3° or 5°.

[0109] As shown in Figure 13 , in some embodiments, the installation height H7 of the laser radar 21 ranges from 615 mm to 635 mm, and in some embodiments, the installation height H7 of the laser radar 21 is 615 mm, 625 mm or 635 mm.

[0110] As shown in Figure 6 , Figure 8 and Figure 9 , in some embodiments, the existing outdoor working vehicle of the present application can also use the RTK system 32 for position positioning. The RTK system 32 includes a satellite positioning receiving antenna 22, a satellite positioning mobile station and an RTK base station. The satellite positioning receiving antenna 22 and the satellite positioning mobile station are used to be installed on the movable working vehicle, and the RTK base station is used to be fixed at a certain position in the working area.

[0111] As shown in Figure 6 and Figure 7 , in some embodiments, the satellite positioning receiving antenna 22 is provided with two, and the distance between the two satellite positioning receiving antennas 22 is 260mm-1300mm. In some embodiments, the distance between the two satellite positioning receiving antennas 22 is 260mm, 380mm or 1300mm. In some embodiments, the height between the two satellite positioning receiving antennas 22 is different.

[0112] As shown in Figure 8 , in some embodiments, the two satellite positioning receiving antennas 22 are not collinearly arranged in parallel or perpendicular to the direction of travel of the existing outdoor working vehicle. The satellite positioning receiving antenna 22 can be installed at the front side, rear side or other installable position of the existing outdoor working vehicle. Further, the satellite positioning receiving antenna 22 can be directly installed on the vehicle frame 1, the seat 3 or the battery compartment 601.

[0113] As shown in Figure 12 , in some embodiments, the upgrading system of the present application further includes an IMU sensor. The IMU sensor can measure linear acceleration and rotational angular rate from three directions by means of built-in acceleration sensor and gyroscope, and obtain information such as attitude, speed and displacement of the carrier through calculation. And the above-mentioned information such as attitude, speed and displacement of the carrier obtained after being processed by the computing power main control module 31 is transmitted to the vehicle controller 33 (VCU), and the vehicle controller 33 (VCU) controls the operation of the walking assembly 5 and the working assembly 4 according to the information processed by the computing power main control module 31. For example, control the deceleration or stop of the vehicle, control the working assembly 4 to reduce power or stop running, etc.

[0114] As shown in Figure 12As shown, in some embodiments, the upgrading system of the present application further comprises an Odo sensor, which calculates the driving mileage of the outdoor working vehicle and transmits the corresponding information to the vehicle controller 33 (VCU) after being processed by the computing power master module 31, and the vehicle controller 33 (VCU) controls the operation of the walking assembly 5 and the working assembly 4 according to the information processed by the computing power master module 31. For example, control the deceleration, turning and U-turn of the vehicle, control the working assembly 4 to reduce power or stop running, etc.

[0115] As shown in the Figure 2 to Figure 6 application, an upgrading method of an outdoor working vehicle is also disclosed, which is used to upgrade an existing outdoor working vehicle without or not fully with automatic working function into an intelligent outdoor working vehicle with fully automatic working function. The upgrading method comprises the following steps: determining installation positions on at least the frame 1 and / or the cover of the existing outdoor working vehicle; installing the connecting assembly on the installation positions; installing the detection assembly on the connecting assembly; assembling the computing power master module 31 on the existing outdoor working vehicle, and signal connecting the computing power master module 31 with the vehicle controller 33 and at least with part of the detection assembly.

[0116] As shown in the Figure 26 , in some embodiments, determining the installation positions on the existing outdoor working vehicle comprises: positioning and marking at multiple positions on the frame 1 and / or the cover of the existing outdoor working vehicle with a positioning device to form multiple to-be-processed marking points 801; processing the multiple to-be-processed marking points 801 on the frame 1 and / or the cover with a processing device to form multiple installation positions.

[0117] As shown in the Figure 25 , in some embodiments, the positioning device comprises a plurality of jigs 37 with holes 371, each jig 37 is adapted to the shape of the position on the frame 1 and / or the cover where the connecting assembly needs to be installed;

[0118] Positioning and marking at multiple positions on the frame 1 and / or the cover of the existing outdoor working vehicle with a positioning device to form multiple to-be-processed marking points 801 comprises:

[0119] As shown in the Figure 25 and Figure 26 , respectively, each jig 37 is fitted with the position on the frame 1 and / or the cover where the connecting assembly needs to be installed, and the holes 371 on the frame 1 and / or the cover are marked by a marking tool to form multiple to-be-processed marking points 801; the multiple to-be-processed marking points 801 on the frame 1 and / or the cover are processed by a processing device to form multiple installation positions.

[0120] As shown in the Figure 25It is shown that, in some embodiments, it is necessary to note that, due to the different installation positions of the detection assembly on the existing outdoor work vehicle (the to-be-processed marking points 801 described above), the heights of the different positions of the frame 1 and the cover of the existing outdoor work vehicle are different, and the structures of the different positions of the frame 1 and the cover are different, so the specific structure of each jig 37 is also different corresponding to the different positions of the frame 1 or the cover, but each jig 37 should meet the setting of the frame 1 or the cover.

[0121] In some embodiments, the positioning process and marking of multiple positions on the frame 1 and / or the cover of the existing outdoor work vehicle by the positioning device to form multiple to-be-processed marking points 801 includes: preliminary positioning of multiple point positions on the frame 1 and / or the cover by the positioning device according to the height required when the connecting assembly is installed; adjusting the height of the output end of the positioning device to adjust the multiple preliminary positioning point positions on the frame 1 and / or the cover to multiple determined positioning points, and marking the multiple determined positioning points to form multiple to-be-processed marking points 801.

[0122] As Figure 2 , Figure 3 and Figure 25 , in some embodiments, the processing of the multiple to-be-processed marking points 801 on the frame 1 and / or the cover by the processing device to form multiple installation positions includes: processing of the multiple to-be-processed marking points 801 on the frame 1 and / or the cover by the processing device according to a preset height to form multiple installation positions for installing the connecting assembly with a preset height.

[0123] In some embodiments, the processing device includes a drilling device, and the processing includes drilling of the multiple to-be-processed marking points 801 by the drilling device.

[0124] As Figure 24 , in some embodiments, the connecting assembly includes a first connecting piece and a second connecting piece matched with the shapes of the multiple installation positions, and the first connecting piece and the second connecting piece are both provided with a connecting position 121 for connecting the detection assembly, the first connecting piece and the connecting position 121 thereon form a preset angle, and the second connecting piece and the connecting position 121 thereon form a preset angle.

[0125] In some embodiments, the installation of the connecting assembly at the installation position includes: setting a first connecting piece or a second connecting piece matched with the shape of the installation position at each of the multiple installation positions with a preset height, so that the first connecting piece or the second connecting piece is set on the corresponding installation position according to the preset height and the preset angle, and the connecting position 121 with the preset height and the preset angle is formed on the first connecting piece and / or the second connecting piece.

[0126] As Figure 28The mounting of the detection assembly on the connecting assembly comprises: arranging at least one of the ultrasonic sensor 18, the visual sensor and the laser radar 21 on the connecting position 121 of the first connecting piece and / or the connecting position 121 of the second connecting piece in a preset height and a preset angle as required, so that the mounted at least one of the ultrasonic sensor 18, the visual sensor and the laser radar 21 has a preset height and angle.

[0127] As shown in Figure 5 to Figure 8 In some embodiments, the laser radar 21 can also be arranged on the second connecting piece for mounting the visual sensor on the front side of the vehicle frame 1, so that the laser radar 21 and the visual sensor are arranged one above the other on the same second connecting piece. Such arrangement improves the fitting degree of the detection information when the visual sensor and the laser radar 21 fit the respective detected information, thereby improving the accuracy of judging the front obstacle and accurately obtaining the category of the obstacle.

[0128] As shown in Figure 5 to Figure 8 In some embodiments, the second connecting piece further comprises a sixth mounting frame 17 connected between the left cross beam and the right cross beam of the vehicle frame 1.

[0129] As shown in Figure 12 The computing power master module 31 is mounted on the existing outdoor working vehicle, and the computing power master module 31 is connected with the detection assembly and the vehicle controller 33 of the existing outdoor working vehicle.

[0130] As shown in Figure 12 The computing power master module 31 in the present application is configured to partially or entirely receive and process the information of the detection assembly, and transmit the processed information to the vehicle controller 33, and the vehicle controller 33 is configured to control the operation of the intelligent outdoor working vehicle with the upgraded fully automatic working function according to the information transmitted by the computing power master module 31.

[0131] As shown in Figure 12 In some embodiments, part of the information of the detection assembly is transmitted to the computing power master module 31 for processing, and another part of the information of the detection assembly is transmitted to the vehicle controller 33 for processing.

[0132] As shown in Figure 12 In some embodiments, the ultrasonic sensor 18 of the present application is signal connected with the vehicle controller 33, and the vehicle controller 33 controls the operation of the walking assembly 5 and the cutting assembly according to the signal of the ultrasonic sensor 18. Specifically, the vehicle controller 33 controls the braking or turning of the walking assembly 5 according to the signal of the ultrasonic sensor 18, and the vehicle controller 33 controls the speed reduction or stop of the cutting assembly according to the signal of the ultrasonic sensor 18.

[0133] As shown in Figure 12As shown, in some embodiments, the visual sensors (monocular camera 19 and binocular camera 20) and LiDAR 21 of this application are both signal-connected to the computing power control module 31. The computing power control module 31 performs algorithm processing (including AI large model processing) based on the signals from the visual sensors and LiDAR 21, and then transmits the processed signals to the vehicle controller 33. The vehicle controller 33 then performs corresponding actions such as controlling the walking component 5 to brake or turn, and controlling the cutting component to decelerate or stop. In some embodiments, the brakes in this application are electronically controlled brakes.

[0134] like Figure 15 As shown, in some embodiments, to further improve the fitting degree of the detection information between the visual sensor and the lidar 21, the upgraded method of this application further includes: providing a periscope structure 30, by setting one end of the periscope structure 30 on the mask 2101 of the lidar 21, and connecting the other end of the periscope structure 30 to the camera of the visual sensor, so that the periscope structure 30 transmits the information acquired by it on the mask 2101 of the lidar 21 to the visual sensor. In this way, by physically aligning them, the distance between the laser emitting end 2102 of the lidar 21 and the lens of the periscope structure 30 is minimized as much as possible. The periscope structure 30 then transmits the information entering the periscope structure 30 tube to the visual sensor, thus making the light-collecting point distance between the lidar 21 and the visual sensor closer, further improving the fitting degree of their detection information.

[0135] like Figure 6 to Figure 9 As shown, in some embodiments, the existing outdoor work vehicles of this application can also utilize the RTK system 32 for location positioning. The RTK system 32 includes a satellite positioning receiving antenna 22, a satellite positioning mobile station, and an RTK base station. The satellite positioning receiving antenna 22 and the satellite positioning mobile station are used to be installed on a mobile work vehicle, while the RTK base station is used to be fixed at a certain location in the work area.

[0136] like Figure 7 As shown, in some embodiments, two satellite positioning receiving antennas 22 are provided, and the distance between the two satellite positioning receiving antennas 22 ranges from 260mm to 1300mm. In some embodiments, the distance between the two satellite positioning receiving antennas 22 is 260mm, 380mm, 650mm or 1300mm.

[0137] like Figure 8 As shown, in some embodiments, the two satellite positioning receiving antennas 22 are not collinear, either parallel or perpendicular to the travel direction of the existing outdoor work vehicle. The satellite positioning receiving antennas 22 can be installed at the front, rear, or other suitable locations on the existing outdoor work vehicle.

[0138] In some embodiments, the satellite positioning receiving antenna 22 can be directly installed on the vehicle frame 1, the seat 3 or the battery compartment 601. In some embodiments, the satellite positioning receiving antenna 22 can also be directly or indirectly installed on the sixth mounting bracket 17.

[0139] As shown in Figure 31 and Figure 32 It can be understood that the existing outdoor work vehicle can also be other vehicles walking outdoors, such as an all-terrain vehicle, and can also be a beach car, a farmer's car, and a golf car, etc. The existing outdoor work vehicle can also be an agricultural machinery vehicle, such as a harvester, a pesticide spraying vehicle, etc. Because the length, width and height of different outdoor work vehicles are different, the number, height and angle of the sensors installed on each kind of outdoor work vehicle are different when upgrading different kinds of outdoor work vehicles. But the general installation idea generally uses the above-mentioned upgrading system and upgrading method.

[0140] In some embodiments, the number of ultrasonic sensors 18 installed on the all-terrain vehicle can be 12 or 16, and the number of ultrasonic sensors 18 installed on the snow shovel, snow sweeper and snow blower can be 4 or 6.

[0141] As shown in Figure 6 and Figure 10 In some embodiments, the present application also provides an intelligent outdoor work vehicle obtained by the above-mentioned upgrading system and upgrading method, the intelligent outdoor work vehicle comprising: a walking assembly 5 configured to support the intelligent outdoor work vehicle to walk, the walking assembly 5 comprising: a first walking wheel 501 capable of rotating about a first axis 28; a second walking wheel 502 capable of rotating about a second axis 29; a work assembly 4 configured to perform outdoor work; a plurality of sensors configured to support the intelligent outdoor work vehicle to automatically travel in the work area, the number Y of sensors provided on the intelligent outdoor work vehicle is calculated according to the following formula:

[0142]

[0143] Wherein, L is the distance between the first axis 28 and the second axis 29, 1.5m≥L≥1m; X is the work amplitude of the work assembly 4 in the direction of travel of the intelligent outdoor work vehicle, 60inch≥X≥30inch; represents the floor operation, represents the ceiling operation.

[0144] In some embodiments, when L is 1.2m and X is 42inch, the number Y of sensors provided around the intelligent outdoor work vehicle is 11, 12 or 13.

[0145] In some embodiments, the walking assembly 5 comprises a first walking wheel 501 rotatable about a first axis 28 and a second walking wheel 502 rotatable about a second axis 29, the first walking wheel 501 having a larger diameter than the second walking wheel 502; in the direction of travel of the intelligent outdoor working vehicle, the first walking wheel 501 is provided with a sensor at each end thereof; the detection range between the sensor at one end of the first walking wheel 501 and the sensor at the other end of the first walking wheel 501 at least partially overlaps. In the case of the first walking wheel 501 having a larger diameter, the sensors are arranged at both ends of the first walking wheel 501, which helps to reduce the blind area of the sensors and improve the accuracy of the sensors.

[0146] In some embodiments, the intelligent outdoor working vehicle of the present application further comprises a computing power master module 31 in signal connection with the plurality of sensors and a vehicle controller 33 on the intelligent outdoor working vehicle, the computing power master module 31 being configured to process sensing information of the plurality of sensors and transmit the processed information to the vehicle controller 33, the vehicle controller 33 being configured to control the operation of the walking assembly 5 and / or the working assembly 4 according to the information.

[0147] As shown in Figure 7 In some embodiments, the present application further provides an intelligent outdoor working vehicle, which is obtained through the upgrading system and the upgrading method described above. The intelligent outdoor working vehicle comprises: an energy source system 6 configured to supply energy to the intelligent outdoor working vehicle, the energy source system 6 comprising at least one of a first type of battery pack and a second type of battery pack, at least one of the first type of battery pack and the second type of battery pack being detachably mounted to the intelligent outdoor working vehicle and being used to supply power to a handheld electric tool after being detached; a working assembly 4 configured to perform outdoor work; a walking assembly 5 configured to support the intelligent outdoor working vehicle to walk, the walking assembly 5 comprising a first walking wheel 501 rotatable about a first axis 28 and a second walking wheel 502 rotatable about a second axis 29, the first walking wheel 501 having a larger diameter than the second walking wheel 502; a plurality of ultrasonic sensors 18 arranged on the intelligent outdoor working vehicle, in the direction of travel of the intelligent outdoor working vehicle, the plurality of ultrasonic sensors 18 being arranged outside both ends of the first walking wheel 501.

[0148] As shown in Figure 10 In some embodiments, in the direction of travel of the intelligent outdoor working vehicle, the detection range between the ultrasonic sensor 18 at one end of the first walking wheel 501 and the ultrasonic sensor 18 at the other end of the first walking wheel 501 at least partially overlaps.

[0149] In some embodiments, a visual sensor is further included, and the visual sensor is located above the first traveling wheel 501 and between the two ends of the first traveling wheel 501 in the direction of travel of the intelligent outdoor working vehicle. In the case where the ultrasonic sensors 18 are arranged at the front and rear ends of the first traveling wheel 501, arranging the visual sensor above the first traveling wheel 501 is advantageous to reduce the detection blind area near the first traveling wheel 501, expand the detection range, and improve the detection accuracy.

[0150] As shown in FIG. 1, Figure 17 In some embodiments, the intelligent outdoor working vehicle of the present application is obtained through the upgrading system and the upgrading method described above, and the intelligent outdoor working vehicle comprises: a traveling assembly 5 configured to support the intelligent outdoor working vehicle to travel; a working assembly 4 configured to perform outdoor work; an energy source system 6 configured to supply energy to the intelligent outdoor working vehicle, the energy source system 6 comprising at least one of a first type of battery pack and a second type of battery pack having different capacitances; a plurality of sensors, each sensor comprising an axis 27 in the signal emission direction in the overhead direction of the intelligent outdoor working vehicle; in the three adjacent sensors of at least one side of the front side, the rear side, the left side and the right side of the intelligent outdoor working vehicle, the intersection of the axis 27 of the middle sensor and the axis 27 of one of its adjacent sensors is a first intersection 25, and the intersection of the axis 27 of the middle sensor and the axis 27 of the other of its adjacent sensors is a second intersection 26, and the first intersection 25 and the second intersection 26 are respectively located on both sides of the three adjacent sensors.

[0151] In some embodiments, referring to FIG. 2, Figure 17 In the direction of travel of the intelligent outdoor working vehicle, the first intersection 25 of the axes 27 of the two sensors closer to the rear of the vehicle in the three adjacent sensors is located on one side of the three adjacent sensors, and the distance between the two sensors is set to be closer, so that the detection blind area between the two sensors and close to the outer contour of the vehicle is smaller. The second intersection 26 of the axes 27 of the two sensors closer to the front of the vehicle in the three adjacent sensors is located on the other side of the three adjacent sensors, and the detection edges of the two sensors are close to the outer contour of the vehicle, thereby reducing the detection blind area between the two sensors and close to the outer contour of the vehicle.

[0152] As shown in FIG. 1, Figure 12 In some embodiments, the present application further comprises a computing power master module 31 for receiving and processing information of the sensors, and a vehicle controller 33 for controlling the intelligent outdoor working vehicle to travel in a predetermined direction and / or perform outdoor work, the vehicle controller 33 being capable of controlling the operation of the traveling assembly 5 and / or the working assembly 4 according to the information received by the computing power master module 31.

[0153] As shown in FIG. 1, Figure 6 and Figure 7As shown, in some embodiments, the present application also provides a smart outdoor working vehicle with a collision detection device, which is obtained through the upgrading system and the upgrading method described above. The smart outdoor working vehicle comprises: a vehicle frame 1, wherein an energy source system 6 is arranged on the vehicle frame 1, the energy source system 6 is configured to supply energy for the smart outdoor working vehicle, the energy source system 6 comprises a battery compartment 601 and a first type battery pack and / or a second type battery pack which are detachably installed in the battery compartment 601, the first type battery pack and the second type battery pack have different electric capacities, and at least one of the first type battery pack and the second type battery pack can be used to supply power for a handheld electric tool after being detached; a working assembly 4 configured to perform vegetation cutting; a walking assembly 5 configured to support the smart outdoor working vehicle to walk; a seat 3 configured to allow a user to sit; a vehicle controller 33 configured to control at least one of the working assembly 4 and the walking assembly 5 to operate; and a collision detection device 23 in signal connection with the vehicle controller 33, and the vehicle controller 33 is further configured to control at least one of the working assembly 4 and the walking assembly 5 to operate according to collision information of the collision detection device 23.

[0154] As shown in the drawings, Figure 16 In some embodiments, the collision detection device 23 comprises a collision strip 2301, the collision strip 2301 has a first contact surface 23013 capable of contacting an obstacle; and a bumper beam (not shown in the drawings) is arranged on the smart outdoor working vehicle, and is generally arranged on the front side of the vehicle and closer to the rear side of the smart outdoor working vehicle than the collision strip 2301, the bumper beam has a second contact surface capable of contacting an obstacle. In the horizontal direction, the distance between the first contact surface 23013 and the second contact surface ranges from 6 mm to 12 mm. In some embodiments, the distance between the first contact surface 23013 and the second contact surface is 6 mm, 10 mm or 12 mm. The distance between the first contact surface 23013 and the second contact surface is related to the braking distance of the smart outdoor working vehicle. In the case of brake failure, the bumper beam acts as a barrier for the smart outdoor working vehicle, which stops the running vehicle and maximizes the reduction of damage caused by the impact on the vehicle.

[0155] When the collision detection device 23 collides with an obstacle, the outside of the collision strip 2301 first contacts the obstacle, then the collision strip 2301 deforms and extrudes the first conductive body 2303 to run close to the second conductive body 2304, when the first conductive body 2303 and the second conductive body 2304 contact, a collision signal is triggered, the collision signal is transmitted to the vehicle controller 33, and the vehicle controller 33 sends corresponding instructions to stop the running smart outdoor working vehicle from walking or working.

[0156] As shown in the drawings, Figure 16As shown, in some embodiments, the collision strip 2301 has a receiving cavity 23012, and the first conductor 2303 and the second conductor 2304 are located in the receiving cavity 23012.

[0157] In some embodiments, the collision detection device 23 includes a collision strip 2301, the height of which is between 300mm and 400mm from the ground. In some embodiments, the height of the collision strip 2301 from the ground is 300mm, 350mm, or 400mm. This allows the collision strip 2301 to contact relatively low obstacles, ensuring that the collision detection device 23 has a large detection range and avoiding missed detection of low-height obstacles.

[0158] like Figure 16 As shown, in some embodiments, the collision detection device 23 includes a collision strip 2301 and a mounting base 2302. The collision strip 2301 is provided with a first mounting portion, and the mounting base 2302 is provided with a second mounting portion that slides with the first mounting portion. In some embodiments, the first mounting portion is a slider 23011, and the second mounting portion is a groove 23021.

[0159] like Figure 7 and Figure 13 As shown, in some embodiments, the intelligent outdoor work vehicle also includes a headlight 24, and the distance between the headlight 24 and the collision strip 2301 in the direction of travel of the intelligent outdoor work vehicle is 100mm to 150mm.

[0160] like Figure 7 and Figure 13 As shown, in some embodiments, the intelligent outdoor work vehicle also includes headlights 24, which are higher than the height of the collision detection device 23. With this arrangement, when encountering a relatively low obstacle, the collision detection device 23 will contact the obstacle first, and the intelligent outdoor work vehicle can brake in a timely manner based on the detection of the collision detection device 23, thereby reducing the damage to the headlights 24 caused by the collision.

[0161] It should be noted that all descriptions of height in this application are based on the ground as the reference point.

[0162] like Figure 7 As shown, in the horizontal direction, the distance between the headlight 24 and the seat 3 is less than the distance between the collision detection device 23 and the seat 3. Furthermore, in the horizontal direction (or the front-to-back direction of outdoor operations), the position of the collision detection device 23 is further forward than the position of the headlight 24. This arrangement is also to ensure that in the event of a collision, the collision detection device 23 will contact the obstacle first, and the intelligent outdoor operation vehicle will brake in a timely manner according to the detection situation of the collision detection device 23, reducing the possibility of damage to the headlight 24 due to the collision.

[0163] In some embodiments, the operating assembly 2 is further arranged on the frame 1, and the operating assembly 2 is configured to control the forward movement, the backward movement or the turning of the intelligent outdoor working vehicle. The user can operate the intelligent outdoor working vehicle.

[0164] As shown in Figure 6 some embodiments, the walking assembly 5 includes a first walking wheel 501 rotatable about a first axis 28 and a second walking wheel 502 rotatable about a second axis 29, and the distance between the first axis 28 and the second axis 29 is 900 mm to 1500 mm. In some embodiments, the distance between the first axis 28 and the second axis 29 is 900 mm, 1000 mm, 1200 mm or 1500 mm.

[0165] As shown in Figure 22 and Figure 23 In some embodiments, the present application discloses an intelligent outdoor working vehicle, which can be obtained by the upgrading system and the upgrading method described above, and the intelligent outdoor working vehicle comprises: a frame 1; a battery compartment 601 arranged at the rear of the frame 1; a covering member covering at least part of the frame 1; at least one of the battery compartment 601 and the covering member has a non-zero curvature outer contour structure; a detection assembly for detecting position information of the intelligent outdoor working vehicle and / or surrounding environment information; and a connecting assembly capable of connecting the detection assembly to the outer contour structure, and the connecting assembly is at least partially adapted to the shape of the outer contour structure.

[0166] Since the outer contour structures at different positions of the frame 1 or the covering member of the intelligent outdoor working vehicle are different, when we select the connecting assembly to install the different outer contour structures, we will select the connecting assembly that matches the shape of the corresponding outer contour structure.

[0167] As shown in Figure 22 , Figure 23 and Figure 24 In some embodiments, in the horizontal direction, the outer contour structure includes at least a first contour surface 701 and a second contour surface 702 with different heights, and the connecting assembly includes a first connecting member, which includes at least a first adapting surface 122 and a second adapting surface 123 with different heights; when the first connecting member is installed on the outer contour structure, the first contour surface 701 and the first adapting surface 122 are correspondingly arranged in spatial position, and the second contour surface 702 and the second adapting surface 123 are correspondingly arranged in spatial position. Further, the first contour surface 701 and the first adapting surface 122 can be arranged in spatial position in close contact, and the second contour surface 702 and the second adapting surface 123 can be arranged in spatial position in close contact. In this way, the first connecting member and the outer contour structure can be installed more stably.

[0168] In some embodiments, the application also provides an intelligent outdoor working vehicle, comprising a vehicle frame 1; a battery compartment 601 arranged at the rear of the vehicle frame 1; a cover comprising a left cover 7 and a right cover 8, the left cover 7 and the right cover 8 covering at least part of the vehicle frame 1; at least one of the battery compartment 601, the left cover 7 and the right cover 8 has a non-zero curvature outer contour structure; at least two detection assemblies for detecting environmental information around the intelligent outdoor working vehicle; a connecting assembly comprising a plurality of connecting pieces, at least one connecting piece being adapted to the shape of the outer contour structure, and at least one connecting piece being adapted to the shape of the vehicle frame. Such a design enables stable installation of the detection assemblies installed at various positions of the intelligent outdoor working vehicle, so that the detection range of the surrounding environment of the intelligent outdoor working vehicle during travel can be kept within a predetermined range, and the stable installation of the detection assemblies also ensures the accuracy of the detection of the surrounding environment.

[0169] In some embodiments, the detection assemblies are provided in plurality, and the height difference between adjacent two detection assemblies in the vertical direction is 5-12 mm. The height difference between adjacent two detection assemblies is set to be small in order to make the error of the detection information smaller when adjacent two detection assemblies detect the same obstacle, thereby improving the accuracy of obstacle detection.

[0170] When installing sensors on an outdoor working vehicle, especially when multiple sensors need to be installed, such as ultrasonic sensors 18, visual sensors and laser radars 21, and the number of each ultrasonic sensor 18, visual sensor and laser radar 21 installed on the vehicle is different, if they are installed one by one, and then disassembled one by one during maintenance and disassembly, it is time-consuming and laborious.

[0171] As Figure 20 and Figure 21 In some embodiments, an intelligent outdoor working vehicle comprises: a vehicle frame 1; a walking assembly 5 arranged on the vehicle frame 1 for driving the intelligent outdoor working vehicle to travel; a working assembly 4 arranged on the vehicle frame 1 for performing outdoor work; a vehicle lamp 24 assembly arranged on the vehicle frame 1, at least for producing a lighting effect on the front of the intelligent outdoor working vehicle; a front detection assembly arranged at the front of the vehicle to detect environmental information in front of the vehicle; the front detection assembly comprises at least two detection units and a mounting assembly for mounting the at least two detection units to the vehicle frame 1, wherein at least one detection unit is higher than the vehicle lamp assembly.

[0172] The above-mentioned two or more detection units are integrated on the mounting assembly, and then the mounting assembly with the detection units mounted thereon is modularly mounted on the vehicle frame 1, which improves the efficiency of mounting the front detection assembly on the vehicle, simplifies the mounting steps, and is also convenient for disassembly and maintenance.

[0173] In some embodiments, the two detection units can be a combination of any two of the ultrasonic sensor 18, the visual sensor, and the laser radar 21.

[0174] In some embodiments, the two detection units can be two ultrasonic sensors 18 or two visual sensors or two laser radars 21.

[0175] In some embodiments, the mounting assembly comprises a support 171 connected to the vehicle frame 1 and a mounting member 172 located on the support 171.

[0176] In some embodiments, the mounting member 172 is provided with at least two mounting positions for mounting the detection units. In some embodiments, the mounting member 172 is provided with three mounting positions, two of which are for mounting two sensors, and the other is for mounting the satellite positioning receiving antenna 22. In some embodiments, the mounting member 172 is provided with four mounting positions, three of which are for mounting three sensors, which can be the ultrasonic sensor 18, the visual sensor, and the laser radar 21 respectively, and the other is for mounting the satellite positioning receiving antenna 22, which is used to receive signals sent by satellites for satellite positioning of the intelligent outdoor working vehicle.

[0177] In some embodiments, the vehicle frame 1 comprises two longitudinal beams and a cross beam connected between the two longitudinal beams, and the support 171 is detachably mounted on the longitudinal beams or the cross beam. The longitudinal beams or the cross beam serve as mounting supports for the support 171, thereby achieving mounting and fixation of the entire front detection assembly on the vehicle frame 1.

[0178] Further, the support 171 comprises a connecting portion configured to be connected to the vehicle frame 1 and a mounting portion configured to be connected to the mounting member 172, and the height of the mounting portion is higher than that of the vehicle lamp assembly. The mounting member 172 is used to mount the detection units, and mounting the mounting member on the mounting portion with a height higher than that of the vehicle lamp assembly is to prevent the detection units from interfering with the illumination of the vehicle lamp assembly, thereby ensuring the illumination effect of the vehicle lamp assembly.

[0179] Please also refer to Figure 6 , Figure 20 and Figure 21In some embodiments, the application also provides an intelligent outdoor working vehicle, comprising: a vehicle frame 1; a walking assembly 5 for supporting the intelligent outdoor working vehicle to travel, the walking assembly 5 comprising front walking wheels and rear walking wheels, the front walking wheels being arranged at the front of the vehicle frame 1, and the rear walking wheels being arranged at the rear of the vehicle frame 1; a working assembly 4 connected to the vehicle frame 1, the working assembly 4 being used to perform outdoor work; a vehicle controller 33 configured to at least control the travel of the intelligent outdoor working vehicle and perform outdoor work; a front detection assembly 6 detachably mounted on the vehicle frame 1, the front detection assembly 6 being arranged at the front of the vehicle to detect environmental information in front of the vehicle, the front detection assembly 6 comprising at least two detection units and a mounting assembly for mounting the at least two detection units to the vehicle frame 1; wherein the at least two detection units have different detection functions; and a computing power master module 31 capable of being signal-connected with the vehicle controller 33 and the front detection assembly 6, respectively, the computing power master module 31 being capable of receiving information of the front detection assembly 6 and capable of sending the received information to the vehicle controller 33 after processing, by integrating the detection units with at least two different detection functions on the mounting assembly and then modularly mounting the detection units with at least two different detection functions to the vehicle frame 1 through the mounting assembly, the efficiency of mounting the front detection assembly on the vehicle is improved, the mounting steps are simplified, and disassembly and maintenance are facilitated.

[0180] In some embodiments, the mounting assembly comprises a support 171 and an assembly part 172, the support 171 being detachably connected to the vehicle frame 1, the assembly part 172 being located on the support 171, and the detection units being arranged on the assembly part 172, in the application, the support 171 is connected to the vehicle frame 1, the assembly part 172 is mounted on the support 171, and then the detection units are arranged on the assembly part 172, so as to fix the detection units to the vehicle frame 1.

[0181] In some embodiments, the detection units comprise any one of a visual sensor and a laser radar 21, the detection information of the surrounding environment of the visual sensor and the laser radar 21 needs to be transmitted to the computing power master module 31 first, the computing power master module 31 is capable of sending the received information from the visual sensor and the laser radar 21 to the vehicle controller after processing, and the vehicle controller 33 is capable of judging whether to adjust the travel path of the vehicle or adjust the height of the working assembly 4 or start / stop the working assembly 4 according to the information transmitted by the computing power master module 31, so as to achieve the purpose of obstacle avoidance.

[0182] In some optional embodiments, the side vision detection unit is arranged at a lateral position at the rear of the vehicle, for example, at the leftmost rear or the rightmost rear of the vehicle, in which case the side of the vehicle can be almost completely captured by the side vision detection unit, and this is the optimal position for arranging the side vision detection unit. However, in actual situations, the position of the side vision detection unit is limited by the shape of the working vehicle, and it may not be arranged at the leftmost rear or the rightmost rear. The side vision detection unit can be arranged within a range of 30% of the front end or the rear end of the vehicle, and this can achieve a relatively good detection of the environment on the side of the vehicle. Therefore, the distance between the side vision detection unit and the front end or the rear end of the vehicle accounts for less than or equal to 30% of the total length of the vehicle.

[0183] In some more specific embodiments, reference is made to the accompanying drawings Figure 18 In some more specific embodiments, reference is made to the accompanying drawings

[0184] In some optional embodiments, the distance between the side vision detection unit and the front end or the rear end of the vehicle accounts for less than or equal to 30% of the total length of the vehicle, and the front vision detection unit is arranged at the front of the vehicle frame and is used to detect the front of the vehicle. The detection range of the front vision detection unit partially overlaps with that of at least one side vision detection unit. Through the overlapping arrangement of the detection ranges of the front vision detection unit and the side vision detection unit, multi-angle detection of the side and the front of the vehicle can be achieved, and the situation of missed detection can be reduced.

[0185] The outdoor working vehicle further comprises a laser detection unit arranged at the front of the vehicle, and the laser detection unit is arranged above or below the front vision detection unit.

[0186] In some optional embodiments, the distance between the side vision detection unit and the front end or the rear end of the vehicle accounts for less than or equal to 30% of the total length of the vehicle, and at least two rear vision detection units are arranged at the rear of the outdoor working vehicle. Each rear vision detection unit can detect the side and the rear of the outdoor working vehicle, and the detection ranges of the adjacent rear vision detection units and the side vision detection unit at least partially overlap. Through the overlapping arrangement of the detection ranges of the rear vision detection unit and the side vision detection unit, multi-angle detection of the side and the rear of the vehicle can be achieved, and the situation of missed detection can be reduced.

[0187] In some optional embodiments, the detection ranges of two adjacent rear vision detection units at least partially overlap at the rear of the outdoor work vehicle.

[0188] In some optional embodiments, the application further includes a front vision detection unit disposed in front of the outdoor work vehicle and used to detect the front of the vehicle, the detection range of the front vision detection unit partially overlapping with the detection range of one of the side vision detection units. Further, the sum of the detection ranges of the front vision detection unit, the rear vision detection unit, and the side vision detection units provides full-angle coverage around the outdoor work vehicle.

[0189] In some optional embodiments, the horizontal field of view of the side vision detection unit is greater than or equal to 100° and less than or equal to 140°. In this embodiment, the side vision detection unit is a binocular camera 20, which is a camera structure configured with two camera units, capable of combining and removing distortion from the images captured by the two camera units. The horizontal field of view of each camera unit should be no less than 140°, and the two camera units are set at an angle to each other. The side vision detection unit includes a unit processing module. The equivalent field of view of the image obtained after combining and removing distortion from the images captured by the two camera units should meet the above-mentioned requirement of being greater than or equal to 100° and less than or equal to 140°. For example, in some optional embodiments, the horizontal field of view of the side vision detection unit is 120°. (Refer to the appendix.) Figure 29 The figures S2 and S3 illustrate the detection range of the two side vision detection units. S2 includes the edge lines of two horizontal field of view angles. One of the edge lines is marked as d in the figure. In this embodiment, the angle between line segment d and the other edge line is approximately 120°.

[0190] In some optional embodiments, the angle between one edge line of the horizontal field of view of the side vision detection unit and a first direction is less than or equal to 10°, where the first direction is the vehicle's longitudinal direction. (See attached diagram.) Figure 29 The line segment d shown in the figure is one of the edge lines of the horizontal field of view of the side vision detection unit. Its angle with the first direction is small, which enables it to detect obstacles that are relatively close to the vehicle body from the side, ensuring that the detection results are more reliable.

[0191] In some optional embodiments, the outdoor work vehicle also includes a front vision detection unit disposed at the front of the vehicle. The front vision detection unit is mainly used to detect the environment in front of the vehicle. The front vision detection unit is oriented almost horizontally towards the front of the vehicle. Specifically, the front vision detection unit includes a front camera unit, which is oriented almost horizontally towards the front of the vehicle to minimize distortion of the images it captures.

[0192] In some optional embodiments, the outdoor working vehicle further comprises a rear vision detection unit arranged at the rear of the vehicle, which is mainly used for detecting the environment behind the vehicle.

[0193] Referring to the accompanying drawings again, Figure 29 The shadowed sectors in the figure show the detection ranges of the corresponding vision detection units. Specifically, S1 shows the detection range of the front vision detection unit, S2 and S3 respectively show the detection ranges of the right and left side vision detection units, and S4 and S5 respectively show the detection ranges of the two rear vision detection units.

[0194] In some optional embodiments, the detection range of the front vision detection unit at least partially overlaps with the detection range of one of the side vision detection units. As shown in Figure 29 S1 and S2 partially overlap, and S1 and S3 also partially overlap. The partially overlapping arrangement avoids the existence of a detection blind area. When there is an obstacle in the overlapping area, the two vision detection units can jointly detect the images on both sides of the obstacle, which can better help the user or the vehicle to identify the specific information of the obstacle.

[0195] In some optional embodiments, the outdoor working vehicle further comprises a laser detection unit arranged at the front of the vehicle. The laser detection unit has a longer detection distance, which can assist the front vision detection unit in effectively identifying a more distant obstacle. It should be noted that the laser detection unit described in this application is the aforementioned laser radar 2121.

[0196] In some optional embodiments, the laser detection unit is arranged above or below the front vision detection unit. The vision detection unit and the laser detection unit ultimately show images to the user. If there is a positional difference in the left-right direction between the two, it will cause the images output by the two to have a relatively obvious difference. Conversely, the present embodiment arranges the two in an up-down manner, which can reduce the difference between the images output by the two, and facilitate the user or the controller to comprehensively judge the environmental situation based on the images output by the two.

[0197] In some optional embodiments, the outdoor working vehicle further comprises at least two rear vision detection units arranged at the rear of the vehicle, and the two rear vision detection units are respectively arranged to be inclined towards the outside of the rear. This can detect the environment on both sides of the rear of the vehicle.

[0198] Further, in some optional embodiments, the detection ranges of the two rear vision detection units at least partially overlap. Referring to the accompanying drawings again, Figure 29S4 and S5 respectively show the detection range of the two rear vision detection units. S4 and S5 partially overlap, not only having the technical effect of observing the obstacles in the overlapping area from both sides, but also being able to identify the distance of the obstacles in the overlapping area by combining the two images, that is, the two rear vision detection units form a depth of field identification effect.

[0199] Further, in some optional embodiments, the detectable range of at least one side detection unit at least partially overlaps with the detectable range of one of the rear vision detection units. As shown in FIG. 4, S2 and S4 have a partial overlap, and S3 and S5 also have a partial overlap. The partial overlap between each other avoids the existence of a detection blind area. When there is an obstacle in the overlapping area, the two vision detection units can better identify the specific information of the obstacle by jointly detecting the images of both sides of the obstacle. Figure 29

[0200] In some optional embodiments, the present specification also discloses an outdoor work vehicle, which comprises a vehicle frame 1, a battery compartment 601, a cover, a traveling assembly 5, a work assembly 4, a vehicle controller 33, and a detection assembly.

[0201] The battery compartment 601 is located at the rear of the vehicle frame 1, and a detachable battery pack is arranged in the battery compartment 601, so that the user can freely take out or place the battery pack.

[0202] The cover comprises a left cover 7 and a right cover 8, and the left cover 7 and the right cover 8 at least cover part of the vehicle frame 1.

[0203] The traveling assembly 5 is arranged on the vehicle frame 1 and is used to drive the vehicle to travel; and the work assembly 4 is arranged on the vehicle frame 1 and is used to perform outdoor work.

[0204] The vehicle controller 33 is signal-connected to the traveling assembly 5 and / or the work assembly 4, and is used to control the traveling assembly 5 and / or the work assembly 4, so as to achieve the purpose of driving the vehicle to travel and / or performing work.

[0205] The detection assembly is used to detect the position information of the vehicle and / or the surrounding environment information of the vehicle. Further, the detection assembly comprises a plurality of detector units, a control module, and a connection line system.

[0206] The detector units are arranged on the vehicle frame 1 or the left cover 7 or the right cover 8 or the battery compartment 601, so as to detect the position information of the vehicle and / or the surrounding environment information of the vehicle based on any of the above positions.

[0207] The control module generates the position information of the vehicle and / or the surrounding environment information of the vehicle based on the received detector signals.​

[0208] The connection line system connects each of the detector units and the control module, so that the signals of the detector units can be transmitted to the control module, and the control module can also transmit control signals to the detector units through the connection line system, for example, to control the opening and closing of the detector units.

[0209] In some optional embodiments, the detector units are detachably connected to the connection line system, facilitating assembly and maintenance.

[0210] In some optional embodiments, the control module is detachably connected to the connection line system, facilitating assembly and maintenance.

[0211] In some optional embodiments, the control module is an ultrasonic ECU 34, and the detector module is an ultrasonic detector, and the connection line system connects each of the ultrasonic detectors and the ultrasonic ECU 34.

[0212] In some optional embodiments, the control module is a vision ECU, and the detector module is a vision detection unit, and the connection line system connects each of the vision detection units and the vision ECU.

[0213] In some optional embodiments, the outdoor working vehicle includes a positioning system for obtaining positioning data of the vehicle, the positioning data including satellite positioning data and / or indoor positioning data based on wireless communication technology (such as Wi-Fi, Bluetooth Low Energy (BLE), ZigBee, Ultra-Wideband (UWB), etc.). The control module is a positioning control module, and the detector module is a positioning unit for receiving positioning signals, and the connection line system connects each of the positioning units and the positioning control module. For example, the positioning system can use a device for satellite positioning based on RTK (Real-time kinematic) carrier phase difference technology. Specifically, the positioning control module is an RTK mobile station, and the positioning unit is an RTK antenna for receiving base station positioning signals and satellite positioning signals, and the positioning unit transmits the received positioning signals to the RTK mobile station, and the RTK mobile station calculates the accurate position of the RTK antenna according to the differential positioning signals received by the positioning unit, and then determines the orientation of the vehicle in combination with the actual positions of the RTK antennas on the vehicle body. In the stopped state of the vehicle, the arrangement of two or more RTK antennas enables the RTK mobile station to quickly determine the orientation of the vehicle, i.e., the driving direction of the vehicle at the moment of starting.

[0214] It is additionally explained that the outdoor working vehicle further includes an inertial sensor IMU and an odometer Odo, the inertial sensor being configured to obtain signals related to position and attitude during the working process of the vehicle, and the odometer being configured to obtain data signals related to the driving distance during the working process.

[0215] In some optional embodiments, the connection line system comprises a first terminal for connecting the control module, a plurality of second terminals for connecting the respective detector units, and a wire assembly for connecting the first terminal and the plurality of second terminals.

[0216] In some optional embodiments, the control module comprises a third terminal for forming a detachable connection with the first terminal.

[0217] In some optional embodiments, the detector unit comprises a fourth terminal for forming a detachable connection with the second terminal.

[0218] In some optional embodiments, the control module is arranged below the seat 3, and in this embodiment, the projection of the control module on the ground at least partially coincides with the projection of the seat 3 on the ground. Since the seat 3 is located near the middle of the vehicle, the distances between the respective detector units and the control module are approximately equal, the time lengths for the respective detector units to send signals to the control module are approximately equal, so that the control module can collect the signals generated by the detector units at the same time in the shortest time and generate corresponding control signals. That is, the control module reacts to the signals detected by the respective detector units with the lowest delay.

[0219] For example, in some optional embodiments, with reference to the accompanying drawings Figure 30 , the control module is an ultrasonic ECU 34, the connection line system is an ultrasonic connection line system 35, and the detector unit is an ultrasonic detector unit 36. The ultrasonic ECU 34 comprises an ECU body 341 and an ECU third terminal 342; the ultrasonic connection line system 35 comprises a wire connection first terminal 351, a wire connection second terminal 352, and an ultrasonic wire assembly 353, the ultrasonic wire assembly 353 connects the wire connection first terminal 351 and the plurality of wire connection second terminals 352; the ultrasonic detector unit 36 comprises an ultrasonic detector body 361 and a detector fourth terminal 362. The wire connection first terminal 351 forms a detachable connection with the ECU third terminal 342, and the wire connection second terminal 352 forms a detachable connection with the detector fourth terminal 362.

[0220] In some optional embodiments, the control module is arranged at the left cover 7 or the right cover 8, that is, the left cover or the right cover 8 also forms a covering and protection effect on the control module. In this embodiment, the projection of the control module on the ground coincides with the projection of the left cover 7 or the right cover 8 on the ground.

[0221] In some optional embodiments, the outdoor working vehicle further comprises a power management module, which has a control effect on the power supply system of the vehicle, specifically, controls the energy source supply of the vehicle. In some embodiments, the power management module is functionally equivalent to the power management device 603 described above. The control module and the power management module at least partially coincide in the ground projection or have a distance in the ground projection of less than or equal to 10 cm. Since the power management module communicates with the vehicle controller 33 more frequently, and the control module in this embodiment also needs to communicate with the vehicle controller 33 frequently, therefore, the control module and the power management module are close to each other in this embodiment, so that they can share the same communication bus to communicate with the vehicle controller 33. For example, the control module first sends a signal to the power management module, and the power management module then forwards the signal of the control module to the vehicle controller 33. It needs to be additionally explained that the power management module here can preprocess the signal of the control module or not process it directly and send it to the vehicle controller 33; finally, the vehicle controller 33 controls the vehicle based on the signal sent by the control module.

[0222] In some embodiments, the sum of the detection ranges of the detector units covers the full angle around the outdoor working vehicle, as shown in the figure, the detector units in this application comprise ultrasonic sensors, and the sum of the detection ranges of the ultrasonic sensors covers the full angle around the outdoor working vehicle. Figure 10

[0223] In some embodiments, the installation height of the detector units on the outdoor working vehicle is 345 mm to 380 mm, further, the installation height of the detector units on the outdoor working vehicle is 345 mm, 360 mm or 380 mm.

[0224] In some embodiments, the preset angle range of the detector units relative to the horizontal plane is 10° to 20°. In some embodiments, the preset angle range of the detector units relative to the horizontal plane is 10°, 15° or 20°.

[0225] In some embodiments, the control module is signal connected with the vehicle controller 33, and the vehicle controller 33 can adjust the driving path and / or working state of the vehicle according to the signal transmitted by the control module, which is for the purpose of obstacle avoidance of the outdoor working vehicle during working.

[0226] The application is not limited to the above specific embodiments. Those skilled in the art can easily understand that the application has many alternatives without departing from the principles and scope of the application. The protection scope of the application is subject to the contents of the claims.​

Claims

1. An outdoor work vehicle, characterized in that, include: Frame; Body panels, covering at least a portion of the vehicle frame; A walking assembly, configured on the vehicle frame and used to drive the vehicle; A work component, configured on the vehicle frame and used for performing outdoor operations; Side vision detection unit, tilted and positioned on the side of the vehicle to detect environmental information in front of or behind the vehicle. The distance between the side vision detection unit and the frontmost or rearmost end of the vehicle is less than or equal to 30% of the total length of the vehicle.

2. The outdoor work vehicle according to claim 1, characterized in that: The horizontal field of view of the side vision detection unit is greater than or equal to 100° and less than or equal to 140°.

3. The outdoor work vehicle according to claim 1, characterized in that: The angle between one edge line of the horizontal field of view of the side vision detection unit and the first direction is less than or equal to 10°, where the first direction is the front-rear direction of the vehicle.

4. An outdoor work vehicle, characterized in that, include: Frame; Body panels, covering at least a portion of the vehicle frame; A running gear assembly, configured on the frame and used to support the vehicle's movement, the running gear assembly including a front running wheel located at the front of the vehicle and a rear running wheel located at the rear of the vehicle; A work component, configured on the vehicle frame and used for performing outdoor operations; A side vision detection unit is disposed above the front or rear wheel, and the side vision detection unit is configured to detect the front or rear side of the vehicle. The distance between the side vision detection unit and the frontmost or rearmost end of the vehicle is less than or equal to 30% of the total length of the vehicle. The front vision detection unit is located at the front of the vehicle frame and is used to detect the front of the vehicle. The detection range of the front vision detection unit partially overlaps with the detection range of at least one side vision detection unit.

5. The outdoor work vehicle according to claim 4, characterized in that: The outdoor work vehicle also includes a laser detection unit located at the front of the vehicle, which is positioned directly above or below the front vision detection unit.

6. The outdoor work vehicle according to claim 4, characterized in that: It also includes a rear vision detection unit located behind the outdoor work vehicle and used to detect the rear of the vehicle, the detection range of which partially overlaps with the detection range of one of the side vision detection units.

7. An outdoor work vehicle, characterized in that, include: Frame; Body panels, covering at least a portion of the vehicle frame; A walking assembly, configured on the vehicle frame and used to drive the vehicle; A work component, configured on the vehicle frame and used for performing outdoor operations; Side vision detection unit, tilted and positioned on the side of the vehicle to detect environmental information in front of or behind the vehicle. The distance between the side vision detection unit and the front or rear end of the vehicle is less than or equal to 30% of the total length of the vehicle. At least two rear vision detection units are located at the rear of the outdoor work vehicle. Each rear vision detection unit is capable of detecting the side and rear of the outdoor work vehicle. The detection ranges of adjacent rear vision detection units and side vision detection units at least partially overlap.

8. The outdoor work vehicle according to claim 7, characterized in that: The detection ranges of two adjacent rear vision detection units at least partially overlap at the rear of the outdoor work vehicle.

9. The outdoor work vehicle according to claim 7, characterized in that: It also includes a front vision detection unit located in front of the outdoor work vehicle and used to detect the front of the vehicle, the detection range of which partially overlaps with the detection range of one of the side vision detection units.

10. The outdoor work vehicle according to claim 9, characterized in that: The combined detection range of the front vision detection unit, the rear vision detection unit, and the side vision detection unit provides full-angle coverage around the outdoor work vehicle.

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