Autonomous work equipment

Abstract

The utility model discloses autonomous operation equipment. In the utility model, the autonomous operation equipment comprises a machine body, and the machine body comprises a chassis, an upper cover covering the chassis, and an end cover connected with the upper cover; the end cover is arranged at one end of the chassis and is provided with a light-transmitting part; the walking mechanism is connected with the chassis; the lamp assembly comprises a lamp holder and a lamp strip, and the lamp strip is arranged in the lamp holder; the lamp holder and the lamp strip extend in the extending direction of the end of the base plate, and light of the lamp strip penetrates through the light-transmitting part.

Description

Technical Field

[0001] This utility model relates to the field of outdoor work equipment, and in particular to an autonomous work equipment. Background Technology

[0002] Autonomous operating equipment, taking intelligent lawnmowers whose main function is to trim lawns as an example, can save users from complex and mixed labor and is becoming increasingly popular. However, in existing technologies, autonomous operating equipment consists of multiple independent LED modules scattered in different locations on the machine body, such as the center and sides, and is mostly made of rigid PCB boards, resulting in dark areas and blind spots. Utility Model Content

[0003] The purpose of this invention is to provide an autonomous operating device that can solve the above-mentioned problems.

[0004] To address the aforementioned technical problems, this utility model provides an autonomous operating device, comprising:

[0005] The body includes: a chassis, an upper cover covering the chassis, and an end cover connected to the upper cover; the end cover is disposed at one end of the chassis and has a light-transmitting portion;

[0006] A walking mechanism, which is connected to the chassis; and

[0007] A lighting assembly, comprising: a lamp holder and a light strip, the light strip being disposed in the lamp holder; the lamp holder and the light strip extending along the extension direction of the end of the chassis, and the light from the light strip passing through the light-transmitting portion.

[0008] In one embodiment, one end of the chassis has a mounting groove for mounting the lamp holder;

[0009] The lamp holder has a protrusion on its side wall; the end of the chassis has a support surface, and the protrusion is operably located on the support surface.

[0010] In one embodiment, the lamp holder has a lamp strip groove for mounting the lamp strip, both the lamp strip groove and the mounting groove facing the opening of the upper cover, and the supporting surface is adjacent to the groove sidewall of the mounting groove, the supporting surface extending in a direction away from the end cover.

[0011] In one embodiment, the support surface has an electrode mounting base for mounting charging electrodes.

[0012] In one embodiment, the mounting groove has an outlet on its sidewall, and one end of the lamp holder has an opening, both of which are used for wiring the lamp strip.

[0013] In one embodiment, the light strip is a continuous light strip; the height of the light strip is not higher than the uppermost end of the light-transmitting portion.

[0014] In one embodiment, the end cap includes: a front cover connected to the upper cover, and a sealing cap connected to the front cover and the upper cover;

[0015] The front cover has the light-transmitting portion and covers the lamp assembly; the cover is located on the side of the front cover away from the chassis, and the cover covers a portion of the front cover, with the light-transmitting portion located outside the cover.

[0016] In one embodiment, the autonomous operating device further includes: a crash plate assembly, which is movably disposed at one end of the chassis and located at the same end of the chassis as the lighting assembly;

[0017] There is a gap between the impact plate assembly and the chassis, and the cover covers the gap.

[0018] In one embodiment, the front cover has a front cover body and a front cover mounting surface connected to the front cover body, and the light-transmitting portion is disposed on the front cover body; the upper cover covers the front cover mounting surface and is connected to the front cover mounting surface; the front cover mounting surface has an upper cover connecting seat for mounting the upper cover, and the cover is connected to the front cover body and covers the upper cover connecting seat.

[0019] In one embodiment, the cap has a raised edge, and the top cover has a recess that presses against the raised edge. Attached Figure Description

[0020] Figure 1 This is a structural schematic diagram of an autonomous operating device according to an embodiment of the present invention;

[0021] Figure 2 This is a schematic diagram of the structure of the upper cover according to one embodiment of the present utility model;

[0022] Figure 3 This is an exploded view of the chassis and impact plate assembly according to one embodiment of the present invention;

[0023] Figure 4 This is an exploded view of the impact plate assembly according to one embodiment of the present invention;

[0024] Figure 5 This is an exploded view of the impact plate body and the buckle plate according to one embodiment of the present utility model;

[0025] Figure 6 This is an exploded view of the end cap, cover, and lamp assembly according to one embodiment of the present utility model;

[0026] Figure 7This is a structural schematic diagram of the chassis lower cover according to one embodiment of the present utility model;

[0027] Figure 8 This is a structural schematic diagram of the chassis cover and lighting assembly according to one embodiment of the present utility model;

[0028] Figure 9 yes Figure 8 A magnified view of part B in the image;

[0029] Figure 10 This is a bottom view of the upper cover according to an embodiment of the present invention;

[0030] Figure 11 This is a structural schematic diagram showing the relative positions of the front cover and the lamp assembly according to one embodiment of the present invention;

[0031] Figure 12 This is a schematic diagram of the structure of the chassis cover according to one embodiment of the present utility model;

[0032] Figure 13 yes Figure 12 A magnified view of part C;

[0033] Figure 14 This is a cross-sectional view of the chassis cover after the flip cover is closed according to one embodiment of the present utility model;

[0034] Figure 15 yes Figure 14 A magnified view of part D;

[0035] Figure 16 This is a cross-sectional view of the chassis cover after the flip cover is opened according to one embodiment of the present invention;

[0036] Figure 17 yes Figure 16 A magnified view of part E in the image. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this utility model clearer, the various embodiments of this utility model will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been provided in the various embodiments of this utility model to facilitate a better understanding of this application. However, the technical solutions claimed in the claims of this application can be implemented even without these technical details and with various variations and modifications based on the following embodiments.

[0038] Unless the context requires otherwise, throughout the specification and claims, the word “comprising” and its variations, such as “including” and “having”, shall be understood to have an open, inclusive meaning, that is, to be interpreted as “including, but not limited to”.

[0039] The embodiments of this utility model will be described in detail below with reference to the accompanying drawings to provide a clearer understanding of the purpose, features, and advantages of this utility model. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of this utility model, but are merely illustrative of the essential spirit of the technical solution of this utility model.

[0040] Throughout this specification, references to "an embodiment" or "an embodiment" indicate that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Therefore, the appearance of "in an embodiment" or "an embodiment" in various places throughout the specification does not necessarily refer to the same embodiment. Furthermore, a particular feature, structure, or characteristic may be combined in any manner in one or more embodiments.

[0041] The singular forms “a” and “the” used in this specification and the appended claims include plural references unless otherwise expressly stated herein. It should be noted that the term “or” is generally used to mean “and / or” unless otherwise expressly stated herein.

[0042] In the following description, in order to clearly demonstrate the structure and working method of this utility model, a number of directional terms will be used. However, terms such as "front", "back", "left", "right", "outside", "inside", "outward", "inward", "up", and "down" should be understood as convenient terms and not as limiting terms.

[0043] The embodiments of this utility model are described below with reference to the accompanying drawings.

[0044] This application relates to an autonomous operating device 100, such as... Figure 1 As shown, this autonomous operating device is particularly a robot capable of autonomously moving within a preset area and performing specific tasks, typically such as a smart sweeper or vacuum cleaner for cleaning, or a smart lawnmower for mowing. The specific tasks refer specifically to tasks that treat the work surface and change its state. This application uses a smart lawnmower as an example for detailed explanation. The autonomous operating device can autonomously move on the surface of the work area, and in particular, a smart lawnmower can autonomously perform mowing operations on the ground.

[0045] The machine body typically includes a chassis and an outer shell. The chassis is used to install and house functional mechanisms and modules such as the moving mechanism, working mechanism, energy module, detection module, interaction module, and control module. The outer shell is typically constructed to at least partially cover the chassis, primarily serving to enhance the aesthetics and recognizability of the autonomous operating equipment. The moving mechanism is constructed to support the main body on the ground and drive it to move on the ground, and typically includes wheeled moving mechanisms, tracked or half-tracked moving mechanisms, and walking moving mechanisms. In this embodiment, as... Figure 1 The moving mechanism is a wheeled moving mechanism, including at least one drive wheel and at least one prime mover. The prime mover is preferably an electric motor, but in other embodiments it can also be an internal combustion engine or a machine powered by other types of energy. In this embodiment, preferably, a left drive wheel, a left prime mover driving the left drive wheel, a right drive wheel, and a right prime mover driving the right drive wheel are provided. In this embodiment, the straight-line movement of the autonomous working device is achieved by the same-direction, equal-speed rotation of the left and right drive wheels, while turning is achieved by the same-direction, differential-speed, or opposite-direction rotation of the left and right drive wheels. In other embodiments, the moving mechanism may also include a steering mechanism independent of the drive wheels and a steering prime mover independent of the prime mover. In this embodiment, the moving mechanism also includes at least one driven wheel, typically constructed as a caster wheel, with the drive wheel and the driven wheel located at the front and rear ends of the autonomous working device, respectively.

[0046] The energy module is configured to provide power for various tasks of the autonomous operating equipment. In this embodiment, the energy module includes a battery and a charging connection structure, wherein the battery is preferably a rechargeable battery, and the charging connection structure is preferably a charging electrode that can be exposed to the outside of the autonomous operating equipment.

[0047] The detection module is constructed as at least one sensor that senses environmental parameters of the autonomous operating equipment or its own operating parameters. Typically, the detection module may include sensors related to the defined working area, such as magnetic induction, impact, ultrasonic, infrared, and radio sensors, with the sensor type corresponding to the location and number of the corresponding signal generating devices. The detection module may also include sensors related to positioning and navigation, such as GPS positioning devices, laser positioning devices, electronic compasses, accelerometers, odometers, angle sensors, and geomagnetic sensors. The detection module may also include sensors related to its own operational safety, such as obstacle sensors, lift sensors, and battery pack temperature sensors. The detection module may also include sensors related to the external environment, such as ambient temperature sensors, ambient humidity sensors, light sensors, and rain sensors.

[0048] The interaction module is configured to at least receive user-input control commands, issue information that the user needs to perceive, and communicate with other systems or devices to send and receive information. In this embodiment, the interaction module includes an input device installed on the autonomous operating device for receiving user-input control commands, typically such as a control panel or emergency stop button; the interaction module also includes a display screen, indicator lights, and / or a buzzer installed on the autonomous operating device to make the information perceptible to the user through light or sound. In other embodiments, the interaction module includes a communication module installed on the autonomous operating device and a terminal device independent of the autonomous operating device, such as a mobile phone, computer, or network server; user control commands or other information can be input on the terminal device and reach the autonomous operating device via wired or wireless communication modules.

[0049] A control module typically includes at least one processor and at least one non-volatile memory. The memory stores pre-written computer programs or instruction sets, and the processor controls the execution of actions such as movement and operation of the autonomous operating equipment according to the computer programs or instruction sets. Furthermore, the control module can also control and adjust the corresponding behavior of the autonomous operating equipment and modify parameters in the memory based on signals from the detection module and / or user control commands.

[0050] The working mechanism is configured to perform specific operational tasks and includes working parts and a prime mover to drive the working parts. For example, in a smart sweeper / vacuum cleaner, the working parts include a roller brush, a suction pipe, and a dust collection chamber; in a smart lawnmower, the working parts include cutting blades or a cutting disc, and further include other components such as a height adjustment mechanism for adjusting the mowing height to optimize or adjust the mowing effect. The prime mover is preferably an electric motor, but in other embodiments it can also be an internal combustion engine or a machine powered by other types of energy. In some other embodiments, the prime mover and the driving prime mover are constructed as the same prime mover. In this example, the cutting device is at least a part of the working mechanism, and the cutting device is located at the bottom of the machine body. The cutting device includes cutting blades and an electric motor.

[0051] In one embodiment of this example, as Figure 1 and Figure 3 As shown, the autonomous operating device 100 includes: a body 1, a walking mechanism 2, a collision plate assembly 3, and a main control module. The collision plate assembly 3 is a one-piece structure, covering at least one end of the body 1 and movably connected to it. When the collision plate assembly 3 collides with the body 1, it moves towards the body 1. Both ends of the collision plate assembly 3 are equipped with first sensors, and the body 1 has second sensors that engage with the first sensors. When the collision plate assembly 3 collides with the body 1, the first and second sensors engage with each other and send a signal to the main control module.

[0052] Specifically, such as Figure 3 As shown, the impact plate assembly 3 surrounds one end of the fuselage 1, enclosing the lower side of the fuselage 1, so that the end of the impact plate assembly 3 is located between the fuselage 1 and an obstacle that may be collided with during travel. Figure 3 and Figure 12 As shown, the fuselage 1 includes a chassis 11 and a top cover 12. The chassis 11 includes a lower chassis cover 111 and a top chassis cover 112, with the top chassis cover 112 covering the lower chassis cover 111. The walking mechanism 2 is connected to the lower chassis cover 111, and the impact plate assembly 3 is movably connected to the bottom of the lower chassis cover 111. Figure 3 As shown, the chassis lower cover 111 has a second sensor that cooperates with each of the first sensors. When the impact plate assembly 3 collides, it moves toward the fuselage 1.

[0053] When the impact plate assembly 3 is hit, it will shift horizontally, either entirely or partially. Specifically, when the left end of the impact plate assembly 3 is hit, the area moves towards the body 1, and the first sensor in the impacted area also moves towards the body 1, thus being detected by the second sensor. The main control module receives the signal and can identify that the left side of the autonomous operating device 100 has hit an obstacle, and then executes the corresponding avoidance strategy (exemplarily, backward-right-forward). Similarly, when the right side of the impact plate assembly 3 is pressed by an obstacle, the main control module can identify that the right side of the autonomous operating device 100 has hit an obstacle, and then executes the corresponding avoidance strategy (exemplarily, backward-left-forward). When the middle area of ​​the impact plate assembly 3 is squeezed by an obstacle, the impact plate assembly 3 will move backward as a whole. The two first sensors set on the left and right sides will move backward relative to their corresponding second sensors at approximately the same time. Thus, the main control module can identify that the autonomous operating device 100 has collided with an obstacle in front of it, and then execute the corresponding avoidance strategy action (for example, backward-left turn or right turn-forward).

[0054] Compared to existing technologies, this autonomous operating device 100 detects collisions from the left, right, or front by using signals transmitted from the main control module to the first and second sensors of the impact plate assembly 3 after it is subjected to external force. The collision location is then determined to establish a movement plan and trajectory to avoid obstacles. Furthermore, in this embodiment, the impact plate assembly 3 is a single-piece structure, not formed by multiple plates and hinges. This allows the impact force to be dispersed more quickly to the machine body 1, reducing localized stress concentration. Simultaneously, the single-piece impact plate assembly 3 has no gaps 10, providing better sealing and preventing debris from entering the machine, thus avoiding functional failures due to obstruction. The single-piece structure is manufactured through injection molding or stamping in one step, reducing molds and assembly processes, lowering production costs and time, and improving production line assembly efficiency.

[0055] The implementation details of this embodiment are described below. The following content is only for the convenience of understanding the implementation details and is not necessary for implementing this solution.

[0056] It should be understood that although in this embodiment, the body 1 has a chassis and a top cover structure, and the second sensor is disposed on the chassis, in other embodiments, the body 1 may have other structures, and the second sensor is not limited to being disposed on the chassis; it may also be disposed on the top cover. As long as the body 1 has a second sensor that engages with the first sensor on the impact plate assembly 3, it does not depart from the scope of this application. Furthermore, the first sensor may be a Hall sensor, and the corresponding second sensor may be a permanent magnet; or the first sensor may be a permanent magnet, and the corresponding second sensor may be a Hall sensor. The above-mentioned first and second sensors are merely illustrative examples. The first and second sensors of this utility model are not limited to the aforementioned permanent magnet and Hall sensor; other sensors capable of detecting displacement of the impact plate assembly 3, such as infrared sensors, may also be used without departing from the scope of this application.

[0057] Furthermore, such as Figure 3 and Figure 4 As shown, the impact plate assembly 3 includes an impact plate body 31 and a plurality of connecting plates 32 connected to the impact plate body 31, with the plurality of connecting plates 32 arranged along the length direction of the impact plate body 31. The connecting plates 32 are movably connected to the fuselage 1, and at least one connecting plate 32 is provided with a sensor mounting position 320 for mounting a first sensor. Typically, the impact plate assembly 3 is installed at the front end of the fuselage 1 in the direction of travel. However, the impact plate assembly 3 can also be installed at the rear of the fuselage 1 in the direction of travel, or it can be installed both at the front end and the rear end of the fuselage 1 in the direction of travel.

[0058] Optionally, such as Figure 4 As shown, there are three connecting plates 32, and adjacent connecting plates 32 are spaced apart. In other embodiments, there may be one, two, or more connecting plates 32. The spacing between the connecting plates 32 helps to disperse the impact force to the fuselage 1 after an impact.

[0059] Furthermore, such as Figure 4 As shown, sensor mounting positions 320 are provided on both connecting plates 32 at both ends along the length of the impact plate body 31. Understandably, sensor mounting positions 320 can also be provided on connecting plates 32 at other locations.

[0060] In addition, such as Figure 4As shown, the impact plate assembly 3 is movably connected to the fuselage 1 via a connecting device 4. The connecting device 4 includes a first mating member 41, a second mating member 42, and an elastic member 43. The first mating member 41 is connected to the fuselage 1 and can be installed on the mounting position 117. The second mating member 42 is connected to the impact plate assembly 3. The two ends of the elastic member 43 are connected to the first mating member 41 and the second mating member 42, respectively. When the impact plate assembly 3 collides, the elastic member 43 provides a restoring force to the impact plate assembly 3 to return to its initial position. For example, when the left or right side of the impact plate assembly 3 is subjected to an external force, it will rotate backward. The elastic member 43 will provide a spring force that makes the impact plate assembly 3 tend to return to its initial position. After the external force is removed, the impact plate assembly 3 will rotate back to its initial position. When the middle area of ​​the impact plate assembly 3 is subjected to an external force, the impact plate assembly 3 will move backward as a whole. The elastic members 43 of the connecting devices 4 on both sides will provide a spring force that makes the impact plate assembly 3 tend to return to its initial position. After the external force is removed, the impact plate assembly 3 returns to its initial position. The first mating part 41 in the connecting device 4 can engage with the chassis. Therefore, during the assembly process, after the body 1 is assembled first, the second mating part 42 of the connecting device 4 is connected to the impact plate assembly 3, and then the impact plate assembly 3 connected to the connecting device 4 is engaged with the chassis through the first mating part 41, thereby realizing the installation of the impact plate assembly 3 onto the chassis lower cover 111. This structure simplifies the assembly process. The elastic part 43 can be a spring or other components with elastic properties.

[0061] Furthermore, such as Figure 4 As shown, the connecting plate 32 is provided with a mating mounting position 321. The mating mounting position 321 has a first hole 3211 and a second hole 3212. The first hole 3211 and the second hole 3212 are connected through each other. The second mating part 42 is installed in the first hole 3211, which facilitates the installation of the second mating part 42 and provides displacement space for impact, thereby achieving the effect of stress dispersion.

[0062] Furthermore, such as Figure 4 As shown, a pair of first limiting members 33 are provided on the impact plate body 31. The pair of first limiting members 33 are spaced apart along the length direction of the impact plate body 31 and located at both ends of the impact plate body 31. A pair of second limiting members 123 are provided on the fuselage 1, and the pair of second limiting members 123 respectively cooperate with the pair of first limiting members 33. When the impact plate assembly 3 rotates relative to the fuselage 1 to a preset position, at least one first limiting member 33 abuts against its corresponding second limiting member 123. The first limiting member 33 can be a limiting seat, and the second limiting member 123 can be a rotating shaft. When impacted, the impact plate and the fuselage 1 rotate relative to each other. Understandably, in other embodiments, the first limiting member 33 can be a rotating shaft, and the second limiting member 123 can be a limiting seat.

[0063] In addition, such as Figure 4As shown, the impact plate body 31 is provided with an intermediate limiting member 34, and the body 1 is provided with a limiting groove 124 for the insertion of the intermediate limiting member 34. The limiting groove 124 extends along the length direction of the body 1. The intermediate limiting member 34 is operably inserted into the limiting groove 124. The end of the limiting groove 124 facing the impact plate body 31 is a closed end. When the intermediate limiting member 34 can be operably moved along the extension direction of the limiting groove 124, and when the impact plate body 31 is in the initial position, the intermediate limiting member 34 abuts against the closed end of the limiting groove 124. That is, when the intermediate limiting member 34 abuts against the closed end of the limiting groove 124, the impact plate assembly 3 moves forward along the length direction of the body 1 to the limit position. At this time, the impact plate assembly 3 is located at the foremost position that it can reach. The intermediate limiting member 34 cooperates with the limiting groove 124 to restrict the impact plate assembly 3 to move only along the length direction of the body 1 and to the foremost position that the impact plate assembly 3 can reach. Although in this embodiment, the intermediate limiting member 34 is disposed on the top of the impact plate assembly 3 and the limiting groove 124 is disposed on the bottom of the chassis, in another embodiment, the intermediate limiting member 34 may also be disposed on the bottom of the impact plate assembly 3 and the limiting groove 124 on the top of the chassis, without departing from the scope of this application.

[0064] In addition, such as Figure 5 As shown, the impact plate assembly 3 includes a buckle plate 35 connected to the impact plate body 31, which covers the bottom surface of the impact plate body 31. The buckle plate 35 and the impact plate body 31 can be connected by bolts or by snap-fit. The impact plate body 31 also has vertically arranged reinforcing ribs, which are covered by the buckle plate 35 after it is closed.

[0065] Furthermore, the side of the impact plate assembly 3 facing away from the end of the fuselage 1 is at least partially a recessed arc surface 30. Specifically, the recessed arc surface 30 is provided on the side of the impact plate body 31 facing away from the end of the fuselage 1, and the side of the fastener 35 facing away from the end of the fuselage 1 also has a recessed arc surface 30. After the fastener 35 is placed on the impact plate body 31, it can match the impact plate body 31. Compared with the horizontal surface impact plate assembly 3, it can provide a larger deformation space during collision, effectively absorbing and dispersing the energy generated by the collision.

[0066] In addition, such as Figure 2 and Figure 6As shown, the body 1 includes an end cover 15 connected to the upper cover 12. The end cover 15 is located at one end of the chassis and has a light-transmitting portion 151. The autonomous operating equipment 100 also includes a lighting assembly 5, which includes a lamp holder 51 and a light strip 52, with the light strip 52 disposed in the lamp holder 51. The lamp holder 51 and the light strip 52 extend along the extension direction of the end of the chassis, and the light from the light strip 52 passes through the light-transmitting portion 151. Traditionally, the light strip 52 consists of multiple independent LED modules, distributed at different positions of the body 1, such as the center and both sides, and is mostly made of rigid PCB board. In this embodiment, the light strip 52 extends along the extension direction of the end of the chassis, that is, the light strip 52 covers the end of the autonomous operating equipment 100, forming a continuous light strip. The LED modules are fully wrapped, seamlessly enclosing the body 1 and fitting more closely to the body 1. The end cover 15 is seamlessly fitted to the body 1, providing a high level of protection. The continuous and uniform light from the through-type light strip 52 can assist the visual sensor in identifying boundary lines or obstacles, reduce blind spots in dark areas, and improve obstacle avoidance accuracy in complex environments.

[0067] Furthermore, such as Figure 6 and Figure 7 As shown, one end of the chassis has a mounting groove 113 for mounting a lamp holder 51. A protrusion 512 is present on the side wall of the lamp holder 51. The end of the chassis has a support surface 114, and the protrusion 512 is operably located on the support surface 114.

[0068] Furthermore, such as Figure 6 , Figure 8 , Figure 9 As shown, the lamp holder 51 has a lamp strip groove 510 for mounting the lamp strip 52. Both the lamp strip groove 510 and the mounting groove 113 face the opening of the upper cover, and the support surface 114 is adjacent to the groove sidewall of the mounting groove 113. The support surface 114 extends in a direction away from the end cover 15.

[0069] In addition, such as Figure 7 As shown, the support surface 114 has an electrode mounting base 115 for mounting the charging electrode 6. When the autonomous operating equipment 100 travels to the charging station, the charging electrode 6 connects to the charging port of the charging station for charging, and the charging electrode 6 is partially wrapped under the upper cover to prevent short circuits under physical conditions during charging, thereby improving the safety of the autonomous operating equipment 100.

[0070] Furthermore, such as Figure 6 , Figure 7 , Figure 9 As shown, the mounting groove 113 has an outlet 116 on its sidewall, and the lamp holder 51 has an opening 511 at one end. Both the outlet 116 and the opening 511 are used for wiring the light strip 52. This facilitates the installation of the light strip 52 into the lamp holder 51 and also facilitates the installation of the lamp holder 51 into the mounting groove 113.

[0071] Furthermore, such as Figure 11As shown, the light strip 52 is a continuous light strip, and the height of the light strip 52 is not higher than the top of the light-transmitting part 151, so as to ensure that the light-emitting effect is not easily blocked.

[0072] Furthermore, such as Figure 16 As shown, the end cap 15 includes: a front cover 152 connected to the upper cover 12, and a cover 153 connected to both the front cover 152 and the upper cover 12. The front cover has a light-transmitting portion 151 and covers the lamp assembly 5. The cover 153 is located on the side of the front cover 152 away from the end of the chassis 11, and the cover 153 covers a portion of the front cover 152, with the light-transmitting portion 151 located outside the cover 153.

[0073] Furthermore, such as Figure 1 and Figure 2 As shown, the impact plate assembly 3 and the lighting assembly 5 are located at the same end of the chassis 11. Figure 7 As shown, there is a gap 10 between the impact plate assembly 3 and the chassis 11, and the cover 153 covers the gap 10 to achieve the effect of sealing the body 1.

[0074] Furthermore, such as Figure 6 and Figure 10 As shown, the front cover 152 has a front cover body 1521 and a front cover mounting surface 1522 connected to the front cover body 1521, and a light-transmitting portion 151 is provided on the front cover body 1521. The upper cover 12 covers the front cover mounting surface 1522 and is connected to the front cover mounting surface 1522. The front cover mounting surface 1522 has an upper cover connecting seat 1523 for mounting the upper cover 12. The cover 153 is connected to the front cover body 1521 and covers the upper cover connecting seat 1523. The upper cover connecting seat 1523 may have a screw hole for bolt connection with the bolt post 121 of the upper cover 12. Specifically, the front cover mounting surface 1522 and the front cover body 1521 are provided with hook grooves 1524, and the upper cover 12 has a hook body 1525. The hook groove 1524 on the front cover mounting surface 1522 mates with the hook body 1525 on the upper cover 12, and the hook groove 1524 on the front cover body 1521 mates with the hook body 1526 on the cover 153. The front cover body 1521 and the cover 153 can be connected by bolts, and the cover 153 and the front cover body 1521 can also be connected by studs. While the cover 153 covers the gap 10, it also covers the hook groove 1524 on the front cover body 1521. The hollow part is located outside the cover 153, so the cover 153, the front cover 152 and the upper cover 12 are tightly connected, and the gap 10 on the body 1 is sealed to prevent weeds from entering.

[0075] In addition, such as Figure 6 and Figure 10 As shown, the cover 153 has a raised edge 1531, and the upper cover 12 has a recess 122 that presses against the raised edge 1531. In the fully installed state, the raised edge 1531 is pressed against the corresponding position of the upper cover 12, and is not only fixed by the hook body and the hook groove, making the installation more reliable.

[0076] Furthermore, such as Figure 12 , Figure 13 As shown, the body 1 also includes a flip cover 13 hinged to the chassis 11, and the upper cover 12 has a cutout area for placing the flip cover 13. The chassis 11 has an operable functional area, and the flip cover 13 is used to open or cover the functional area. The flip cover 13 closes onto the chassis 11, thus protecting the functional area. This functional area may have control buttons and a height adjustment knob. This protects the functional area from accidental operation, and ensures that the functional area is not exposed to the elements during long-term outdoor use, making it less prone to damage.

[0077] like Figure 14 , Figure 15 , Figure 16 , Figure 17 As shown, the autonomous operating device 100 also includes a stop component 7, which includes a stop block 71 and an elastic element 72. The stop block 71 is slidably disposed relative to the chassis, and one end of the elastic element 72 abuts against the stop block 71. When the flip cover 13 is flipped to a preset position, it abuts against the stop block 71, and the elastic element 72 provides a pushing force to the stop block 71 toward the flip cover 13. As shown in the figure, when the flip cover 13 is flipped open, the elastic element 72 pushes the stop block 71 to abut against the flip cover 13, thereby positioning the flip cover 13. The stop component 7 positions the flip cover 13 at any angle it is open, maintaining the open state even at small angles, solving the problem in the prior art where the flip cover 13 relies on its own weight to maintain the open state, resulting in a large opening angle for the flip cover 13. In this embodiment, both the stop component 7 and the flip cover 13 are connected to the upper cover 112 of the chassis. In other embodiments, the stop component 7 and the flip cover 13 are also connected to the lower cover 111 of the chassis. The preset position can be understood as allowing the flip cover 13 to be opened to any desired position, not limited to a specific angle.

[0078] As can be seen from the above, when the flip cover 13 is lifted, the stop component 7 can position the flip cover 13 at various angles to prevent it from falling. Unlike the method of positioning the flip cover 13 by its own weight, this method can achieve positioning of the flip cover 13 at angles less than 90 degrees. The stop component 7 also provides a tactile feedback when the flip cover 13 is lifted, improving the user's operating experience. The small-angle flip cover 13 positioning function is more adaptable to operation in narrow spaces such as bushes and corners.

[0079] Furthermore, such as Figure 14 , Figure 15 , Figure 16 , Figure 17 As shown, the flip cover 13 has a protruding first abutment portion 80 on the side facing the stop assembly 7, and the stop block 71 has a second abutment portion 711 protruding towards the flip cover 13. When flipped to a preset position, the first abutment portion 80 abuts against the second abutment portion 711.

[0080] In other embodiments, when the first abutting portion 80 abuts against the second abutting portion 711, the first abutting portion 80 and the second abutting portion 711 engage.

[0081] The surface of the second abutting part 711 that abuts against the first abutting part 80 is an engagement surface. The engagement surface has multiple locking teeth, and the height of each locking tooth between the chassis is not the same. This allows the flip cover 13 to be locked at multiple angles, and the locking teeth can be set to correspond to several commonly used angles, such as 45 degrees, 75 degrees, 90 degrees, etc.

[0082] Understandably, in some other embodiments, the surface where the second abutting part 711 abuts against the first abutting part 80 is also a convex arc surface 30 or a curved surface, or other forms. In some embodiments, an angle sensor and electric drive can be integrated to link with the intelligent system of the whole machine.

[0083] like Figure 14 , Figure 15 , Figure 16 , Figure 17 As shown, the stop assembly 7 also includes: a slide 73 disposed on the chassis 11, a stop block 71 and an elastic member 72 disposed in the slide 73, and the other end of the elastic member 72 abuts against the slide 73.

[0084] Furthermore, such as Figure 14 , Figure 15 , Figure 16 , Figure 17 As shown, the slide 73 has a limiting plate 731 at one end facing the flip cover 13, and the limiting plate 731 has an opening for the second abutment portion 711 to pass through. The stop block 71 has a stop block 71 body connected to the second abutment portion 711, one end of the elastic member 72 abuts against the stop block 71 body, and the stop block 71 abuts against the limiting plate 731 when it slides to the limit position.

[0085] In addition, such as Figure 14 , Figure 15 , Figure 16 , Figure 17 As shown, the stop block 71 has an opening groove on the side opposite to the flip cover 13, and the elastic element 72 is at least partially disposed in the opening groove.

[0086] Furthermore, such as Figure 14 , Figure 15 , Figure 16 , Figure 17 As shown, the side of the second abutting portion 711 facing the first abutting portion 80 is the first abutting surface. The first abutting surface includes: a first inclined portion 7111, a vertical portion 7112, and a second inclined portion 7113 connected in sequence. The ends of the first inclined portion 7111 and the second inclined portion 7113 away from the vertical portion 7112 both extend inclinedly toward the side where the elastic member 72 is located, so that it can be easily disengaged from the stop block 71 when the flip cover 13 is fully opened or closed.

[0087] In addition, such as Figure 13 As shown, the flip cover 13 and the chassis 11 are hinged together by a connecting shaft 81. A bushing 82 is fixedly fitted on the connecting shaft 81. The bushing 82 is disposed opposite to the stop assembly 7, and the first abutment part 80 is disposed on the bushing 82.

[0088] The preferred embodiments of the present invention have been described in detail above, but it should be understood that, if necessary, aspects of the embodiments can be modified to utilize aspects, features, and concepts from various patents, applications, and publications to provide other embodiments.

[0089] In light of the detailed description above, these and other changes can be made to the embodiments. Generally, the terminology used in the claims should not be considered limited to the specific embodiments disclosed in the specification and claims, but should be understood to include all possible embodiments together with the full scope of equivalents enjoyed by these claims.

[0090] Those skilled in the art will understand that the above embodiments are specific examples of implementing the present invention, and in practical applications, various changes can be made to them in form and detail without departing from the spirit and scope of the present invention.

Claims

1. An autonomous work apparatus characterized by comprising: include: The body includes: a chassis, an upper cover covering the chassis, and an end cover connected to the upper cover; the end cover is disposed at one end of the chassis and has a light-transmitting portion; A walking mechanism, which is connected to the chassis; and A lighting assembly, comprising: a lamp holder and a light strip, the light strip being disposed in the lamp holder; the lamp holder and the light strip extending along the extension direction of the end of the chassis, and the light from the light strip passing through the light-transmitting portion.

2. The autonomous work apparatus according to claim 1, characterized by, One end of the chassis has a mounting groove for mounting the lamp holder; The lamp holder has a protrusion on its side wall; the end of the chassis has a support surface, and the protrusion is operably located on the support surface.

3. The autonomous operating equipment according to claim 2, characterized in that, The lamp holder has a lamp strip groove for mounting the lamp strip. Both the lamp strip groove and the mounting groove face the opening of the upper cover, and the supporting surface is adjacent to the side wall of the mounting groove. The supporting surface extends in a direction away from the end cover.

4. The autonomous work apparatus according to claim 2, characterized by, The support surface has an electrode mounting base for mounting charging electrodes.

5. The autonomous work equipment of claim 2, wherein, The mounting groove has an outlet on its side wall, and one end of the lamp holder has an opening. Both the outlet and the opening are used for wiring the lamp strip.

6. The autonomous work equipment of claim 1, wherein, The light strip is a continuous light strip; the height of the light strip is not higher than the uppermost part of the light-transmitting part.

7. The autonomous work equipment of claim 1, wherein, The end cap includes: a front cover connected to the upper cover, and a sealing cap connected to the front cover and the upper cover; The front cover has the light-transmitting portion and covers the lamp assembly; the cover is located on the side of the front cover away from the chassis, and the cover covers a portion of the front cover, with the light-transmitting portion located outside the cover.

8. The autonomous work equipment of claim 7, wherein, The autonomous operating equipment also includes: a collision plate assembly, which is movably disposed at one end of the chassis and located at the same end of the chassis as the lighting assembly; There is a gap between the impact plate assembly and the chassis, and the cover covers the gap.

9. The autonomous work equipment of claim 7, wherein, The front cover has a front cover body and a front cover mounting surface connected to the front cover body, and the light-transmitting part is disposed on the front cover body; the upper cover covers the front cover mounting surface and is connected to the front cover mounting surface; the front cover mounting surface has an upper cover connecting seat for mounting the upper cover, and the cover is connected to the front cover body and covers the upper cover connecting seat.

10. The autonomous work equipment of claim 7, wherein, The cap has a raised edge, and the top cover has a recess that presses against the raised edge.

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