Autonomous work equipment

Abstract

The utility model discloses autonomous operation equipment. The autonomous operation equipment comprises a machine body, a driving device and a control device, the base is arranged at the top of the machine body, and a first space is arranged below the base; the man-machine interaction module is arranged on the side, away from the machine body, of the base; the environment sensing module is arranged in the first space; and the moving mechanism is connected with the machine body and operably drives the machine body to move. The man-machine interaction module is convenient to operate, and the operation accuracy and efficiency are improved.

Description

Autonomous operating equipment 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 lawnmowers, whose primary function is lawn trimming, are becoming increasingly popular as they free users from complex and tedious labor. These intelligent lawnmowers can move and trim the lawn within a defined boundary line, which is typically positioned further inward than the actual lawn area to allow for some margin and prevent the machine from going directly out of bounds. In existing autonomous lawnmowers, the human-machine interface (control buttons such as the emergency stop button and control panel) is often located on the upper surface of the device or below the visual module. With the trend towards miniaturization, this fixed low position often requires operators to bend over at a large angle, which can easily increase back strain over time. When controlling the emergency stop button, this bending over can cause a delay in button press triggering, and the probability of incorrect button recognition on the control panel is also higher compared to a level view or other viewing angles. Summary of the Invention

[0003] The purpose of this invention is to provide an autonomous operating device that facilitates the operation of the human-computer interaction module and improves operational accuracy and efficiency.

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

[0005] body;

[0006] A base is disposed on the top of the body, and a first space is provided below the base;

[0007] A human-computer interaction module is disposed on the side of the base opposite to the body;

[0008] An environmental sensing module, wherein the environmental sensing module is disposed within the first space; and

[0009] A moving mechanism, which is connected to the body and can operably drive the body to move.

[0010] In one embodiment, the base is streamlined along a first direction, which is the direction in which the autonomous operating device moves forward.

[0011] In one embodiment, the base has an installation area with an installation surface, and the installation surface and the top surface of the base form a stepped difference; the human-computer interaction module is disposed on the installation surface.

[0012] In one embodiment, the human-computer interaction module includes an operation panel, a display screen, and control keys; the installation area has a key slot, and the control keys are disposed in the key slot.

[0013] In one embodiment, the control key is movably connected to the base; the control key includes: an actuating surface facing away from the mounting surface, and a lever surface facing the mounting surface;

[0014] The execution surface is higher than the mounting surface; the lever arm surface is an inclined surface, and the distance between the lever arm surface and the execution surface gradually decreases along a second direction, which is the direction from the front end of the autonomous operating device to the rear end of the autonomous operating device.

[0015] In one embodiment, the tail of the control key extends to the outside of the base along a second direction, which is the direction from the front end of the autonomous operating device to the rear end of the autonomous operating device.

[0016] In one embodiment, the first space forms a heat dissipation channel, the environmental sensing module is disposed in the heat dissipation channel, and the channel opening is located in the direction of travel of the autonomous operating device.

[0017] In one embodiment, the base includes: a horizontal support opposite to the top of the body, and a side support connected to the horizontal support and extending toward the top of the body;

[0018] The side supports and transverse supports are hollow inside and are used to accommodate the electronic components of the human-computer interaction module; the side supports and transverse supports form the channel walls of the heat dissipation channel.

[0019] In one embodiment, the side support includes: a windward side facing the front end of the autonomous operating equipment, a leeward side opposite to the windward side, and a support body connecting the windward side and the leeward side; the windward side and the forward direction of the autonomous operating equipment form a windward angle, and the windward angle and the curvature of the upper surface of the body constitute a continuous gradient curvature.

[0020] In one embodiment, the width of the first space decreases along a first direction, where the first direction is the direction in which the autonomous operating device moves. Attached Figure Description

[0021] Figure 1 is a structural schematic diagram of an autonomous operating device according to an embodiment of the present invention;

[0022] Figure 2 is a side view of an autonomous operating device according to an embodiment of the present invention;

[0023] Figure 3 is a rear view of an autonomous operating device according to an embodiment of the present invention;

[0024] Figure 4 is a schematic diagram of the structure of the control key installed on the base according to an embodiment of the present invention;

[0025] Figure 5 is a schematic diagram of the structure of the control key according to an embodiment of the present invention. Detailed Implementation

[0026] 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.

[0027] 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”.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] The embodiments of this utility model are described below with reference to the accompanying drawings.

[0033] This application relates to an autonomous operating device 100, as shown in Figure 1. 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 specifically refer to tasks that process a work surface, changing its state. This application uses a smart lawnmower as an example for detailed description. The autonomous operating device can autonomously move on the surface of the work area, and in particular, as a smart lawnmower, it can autonomously perform mowing operations on the ground.

[0034] 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. It typically includes wheeled, tracked, or half-tracked moving mechanisms, and walking moving mechanisms. In this embodiment, as shown in 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 operating equipment is achieved by the left and right drive wheels rotating in the same direction at the same speed, while turning is achieved by the left and right drive wheels rotating at different speeds in the same direction or in opposite directions. In other embodiments, the moving mechanism may further include a steering mechanism independent of the drive wheels and a steering prime mover independent of the travel prime mover. In this embodiment, the moving mechanism also includes at least one driven wheel, typically configured as a caster wheel, with the drive wheels and the driven wheels located at the front and rear ends of the autonomous operating device, respectively.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] A boundary is used to define the working area of ​​the robotic system. The boundary can be physical, typically such as a wall, fence, or railing; it can also be virtual, typically a virtual boundary signal emitted by a boundary signal generator, which is usually an electromagnetic or optical signal, or, for an autonomous operating device 100 equipped with a positioning device (such as GPS), a virtual boundary set in an electronic map, exemplarily formed by two-dimensional or three-dimensional coordinates. In this embodiment, the boundary is constructed as a closed conductor electrically connected to the boundary signal generator, which is typically located within a docking station. The docking station is typically constructed on or within the boundary for the autonomous operating device 100 to dock, and particularly for supplying energy to the autonomous operating device 100 docked at the docking station.

[0041] In one embodiment of this invention, as shown in FIG1, the autonomous operating device 100 includes: a body 1, a base 2, a human-machine interaction module 3, an environmental sensing module, and a moving mechanism 5. The base 2 is disposed on top of the body 1, and a first space 20 is provided below the base 2. The human-machine interaction module 3 is disposed on the side of the base 2 opposite to the body 1, and the environmental sensing module is disposed within the first space 20. The moving mechanism 5 is connected to the body 1 and operably drives the body 1 to move. The environmental sensing module includes a vision module, such as a camera. The moving mechanism 5 includes a front wheel 51 and a rear wheel 52.

[0042] In one embodiment, the environmental sensing module, such as the vision module, may be located directly below the human-computer interaction module 3, that is, the human-computer interaction module 3 is located at the highest point of the whole machine.

[0043] In existing autonomous operating equipment, the human-machine interface module (control keys such as the emergency stop button and the operation panel) is generally located on the upper surface of the equipment or at a low position below the vision module. With the trend of equipment miniaturization, this fixed low position often requires the operator to bend over at a large angle, which can easily increase the load on the back and waist in the long run. When controlling the emergency stop button, this bending operation may cause a delay in the emergency stop button press trigger. The probability of incorrect button recognition on the operation panel is also higher than that from a level view or other perspectives. In this embodiment, a base 2 is set, and a first space 20 is set below the base 2. The first space 20 generated by raising the human-machine interface module 3 increases the installation space on the top of the vehicle body, which can reserve space for the future expansion of other functions of the autonomous operating equipment, reduce bending operation, and prevent misoperation and trigger delay.

[0044] The implementation details of this embodiment are described below. The following content is only for ease of understanding and is not necessary for implementing this solution. In this example, the direction of the autonomous operating equipment's forward movement is defined as the first direction A, that is, the direction from the rear end to the front end of the autonomous operating equipment; the direction from the front end to the rear end of the autonomous operating equipment is defined as the second direction B. The first direction A and the second direction B are opposite.

[0045] Furthermore, the base 2 is streamlined along the first direction A.

[0046] Additionally, as shown in Figures 1, 2, and 3, the base 2 has an installation area with an installation surface 22. The installation surface 22 and the top surface 21 of the base 2 form a stepped difference. The human-computer interaction module 3 is located on the installation surface 22 to prevent accidental touch. In this embodiment, as shown, the installation surface 22 is lower than the top surface 21 of the base 2, but in other embodiments, the installation surface 22 may be higher than the top surface 21 of the base 2.

[0047] As shown in Figures 1 and 4, the human-computer interaction module 3 includes an operation panel 31, a display screen, and control keys 32. The control keys 32 can be like an emergency stop button (STOP button). The control keys 32 are installed near the leeward side 244 of the base 2, and a key groove 25 is opened in the installation area. The control keys 32 are located in the key groove 25. Specifically, an elastic element is provided between the control keys 32 and the key groove 25.

[0048] Additionally, as shown in Figures 4 and 5, the control key 32 and the base 2 are movably connected. In one embodiment, the control key 32 and the base 2 are hinged to form a lever structure. The control key 32 includes an actuating surface 321 facing away from the mounting surface 22 and a lever arm surface 322 facing the mounting surface 22. The actuating surface 321 is higher than the mounting surface 22, the lever arm surface 322 is an inclined surface, and the distance between the lever arm surface 322 and the actuating surface 321 gradually decreases along the second direction B. That is, the lever arm surface 322 extends from the end of the control key 32 near the base 2 towards the actuating surface 321, thereby making the pressing operation of the control key 32 easier.

[0049] As shown in Figure 4, the tail of the control key 32 extends along the second direction B to the outside of the base 2. Compared with the embedded buttons in the prior art (such as the emergency stop button, which is located within the mounting plate), it is easier to perceive the key position change when the control key 32 is pressed.

[0050] Furthermore, as shown in Figure 3, the first space 20 forms a heat dissipation channel, and the environmental sensing module is located in the heat dissipation channel. The channel opening is located in the direction of travel of the autonomous operating equipment, meaning that the base 2 has a heat dissipation channel that runs through the first direction A and the second direction B. With the environmental sensing module positioned along the heat dissipation channel path, airflow is concentrated through the heat dissipation channel during the operation of the autonomous operating equipment, resulting in better heat dissipation for the environmental sensing module.

[0051] Further, as shown in Figures 2 and 3, the base 2 includes: a horizontal support 23 facing away from the top of the body 1, and a side support 24 connected to the horizontal support 23 and extending toward the top of the body 1. In this embodiment, the tail of the control key 32 extends along the second direction B to the outside of the horizontal support 23. The side support 24 and the horizontal support 23 are hollow inside and are used to accommodate the electronic components of the human-machine interaction module 3. The side support 24 and the horizontal support 23 form the channel wall of the heat dissipation channel. In the prior art, the human-machine interaction module 3 is directly installed on the body 1, and the heat dissipation surface is generally only one surface of the mounting top of the body 1, which is relatively small. However, in this embodiment, by setting the base 2, there are at least six heat dissipation surfaces, namely the inner surface 232 and the outer surface 231 of the horizontal support 23 as shown in Figure 3, the inner surface 242 and the outer surface 241 on the right side of the side support 24, and the inner surface 242 and the outer surface 241 on the left side of the side support 24. The heat dissipation area is increased and the heat dissipation effect is better.

[0052] Further, as shown in Figure 2, the side support 24 includes: a windward side 243 facing the front end of the autonomous operating equipment, a leeward side 244 opposite to the windward side 243, and a support body 245 connecting the windward side 243 and the leeward side 244. The windward side 243 and the forward direction of the autonomous operating equipment form a windward angle, and the windward angle and the curvature of the upper surface of the fuselage 1 constitute a continuous gradual curvature. This allows the airflow to achieve a laminar transition from the front end of the autonomous operating equipment to the base 2, avoiding turbulence caused by abrupt changes in cross-section, thereby reducing wind resistance. In addition, as shown in Figure 2, the windward angle P is less than 90°, optionally 0-30°, preferably 15±2°. In other embodiments, the windward angle P may also be other angles such as 10° or 20°.

[0053] Additionally, as shown in Figure 4, the base 2 also includes a lower support 251, which is located below the horizontal support 23. This lower support 251 provides operating space for the control key 32, i.e., space for pressing down and rebounding. In this embodiment, the lower support 251 can be the bottom surface of the keyway 25. More notably, the width of the first space 20 decreases along the first direction A, which is the direction in which the autonomous operating equipment moves forward. This narrower front and wider rear design meets the low wind resistance requirements of aerodynamics. Furthermore, the horizontal support is designed to be lower in the front and higher in the rear, which provides better drainage.

[0054] In other implementations, a retractable base can be used, such as a retractable side support, which can adjust the support height to suit the operating height of different operators; or an angle-adjustable horizontal support, which supports the human-machine interaction module to rotate at a certain angle for easier operation. In conjunction with an ambient light sensor, the angle can be automatically adjusted according to the lighting conditions to prevent the operation panel and display screen from being difficult to see under strong light.

[0055] 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.

[0056] 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.

[0057] 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 operating device, characterized in that, include: The device body; the base, wherein the base is disposed on the top of the device body, and a first space is provided below the base; A human-computer interaction module is disposed on the side of the base opposite to the body; An environmental sensing module is installed within the first space. And a moving mechanism connected to the body, which operably drives the body to move.

2. The autonomous operating equipment according to claim 1, characterized in that, The base is streamlined along a first direction, which is the direction in which the autonomous operating device moves forward.

3. The autonomous operating equipment according to claim 1, characterized in that, The base has an installation area with an installation surface, and the installation surface and the top surface of the base form a stepped difference; the human-computer interaction module is located on the installation surface.

4. The autonomous operating equipment according to claim 3, characterized in that, The human-computer interaction module includes an operation panel, a display screen, and control keys; the installation area has a key slot, and the control keys are located in the key slot.

5. The autonomous operating equipment according to claim 4, characterized in that, The control key is movably connected to the base; the control key includes: an execution surface facing away from the mounting surface, and a lever surface facing the mounting surface; the execution surface is higher than the mounting surface; the lever surface is an inclined surface, and the distance between the lever surface and the execution surface gradually decreases along a second direction, the second direction being the direction from the front end of the autonomous operating device to the rear end of the autonomous operating device.

6. The autonomous operating equipment according to claim 4, characterized in that, The tail of the control key extends to the outside of the base along a second direction, which is from the front end of the autonomous operating device to the rear end of the autonomous operating device.

7. The autonomous operating equipment according to claim 1, characterized in that, The first space forms a heat dissipation channel, the environmental sensing module is located in the heat dissipation channel, and the channel opening is located in the direction of travel of the autonomous operating equipment.

8. The autonomous operating equipment according to claim 7, characterized in that, The base includes: a horizontal support away from the top of the body, and a side support connected to the horizontal support and extending toward the top of the body; the side support and the horizontal support are hollow inside and are used to accommodate the electronic components of the human-computer interaction module; the side support and the horizontal support form the channel wall of the heat dissipation channel.

9. The autonomous operating equipment according to claim 8, characterized in that, The side support includes: a windward side facing the front end of the autonomous operating equipment, a leeward side opposite to the windward side, and a support body connecting the windward side and the leeward side; the windward side and the forward direction of the autonomous operating equipment form a windward angle, and the windward angle and the curvature of the upper surface of the body form a continuous gradient curvature.

10. The autonomous operating equipment according to claim 7, characterized in that, The width of the first space decreases along a first direction, which is the direction in which the autonomous operating device moves.

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