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 moving mechanism is arranged at the bottom of the machine body, and the moving mechanism comprises wheels, a moving driving device for driving the wheels to rotate, and a moving control unit electrically connected with the moving driving device; the mobile control unit is arranged on the mobile driving device, and the wheels, the mobile driving device and the mobile control unit form an integral module which is detachably connected with the machine body; and the mainboard is arranged in the machine body and is electrically connected with the mobile control unit. And the moving mechanism is more convenient to mount and dismount.

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, with their primary function being lawn trimming, are becoming increasingly popular as they free users from complex and tedious labor. These intelligent lawnmowers can move and trim lawns within a defined boundary line, which is typically set further inward than the actual lawn area to allow for some margin and prevent the machine from going out of bounds. Autonomous lawnmowers primarily rely on a moving mechanism for movement. This mechanism is connected to a wheel control board via multiple communication cables, which in turn connect to the mainboard inside the machine body. Currently, the wheel control board is located inside the machine body. If the moving mechanism needs maintenance, the cables connecting it to the wheel control board and mainboard must be disconnected, which is cumbersome. If the control hardware needs maintenance, not only must the moving mechanism be disassembled, but the outer casing must also be removed before the wheel control board can be taken out, further complicating repairs. Furthermore, assembly efficiency is limited during initial production. Summary of the Invention

[0003] The purpose of this invention is to provide an autonomous operating device that makes the installation and disassembly of the mobile mechanism more convenient.

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

[0005] body;

[0006] A moving mechanism, disposed at the bottom of the machine body, includes: wheels, a moving drive device for driving the wheels to rotate, and a moving control unit electrically connected to the moving drive device; the moving control unit is disposed on the moving drive device, and the wheels, the moving drive device, and the moving control unit constitute an integral module detachably connected to the machine body; and

[0007] The motherboard is located inside the body and is electrically connected to the mobile control unit.

[0008] In one embodiment, the mobile drive device includes: a wheel frame connected to the wheel, a mounting housing connected to the wheel frame, a transmission assembly mounted inside the mounting housing, and a mounting base disposed on the top of the mounting housing; the mobile control unit is disposed on the mounting base.

[0009] In one embodiment, the mounting base has a base and a rim surrounding the outer periphery of the base, the motion control unit is placed on the rim, and the motion control unit has at least a partial gap with the base.

[0010] In one embodiment, a mounting post for connecting the mobile control unit is provided on the base.

[0011] In one embodiment, the mounting housing includes: an outer shell, a top cover disposed on the top of the outer shell, and the mounting base connected to the top cover;

[0012] The mounting base has a lower support connected to the base bottom, the lower support extending toward the upper cover and surrounding the upper cover; the lower support forms a mounting area around the base bottom and at least a portion of the upper cover;

[0013] The transmission assembly includes: a steering motor, a drive wheel connected to the main shaft of the steering motor, a driven wheel meshing with the drive wheel, and a rotating shaft connected to the driven wheel;

[0014] The upper cover has a first cover hole and a second cover hole; the rotating shaft passes through the first cover hole, and the main shaft of the steering motor passes through the second cover hole; the driving wheel and the driven wheel are arranged in the mounting area.

[0015] In one embodiment, the base has a first clearance hole corresponding to the first cover hole and a second clearance hole corresponding to the second cover hole; the shaft end of the steering motor at least partially passes through the second clearance hole and through the movement control unit.

[0016] In one embodiment, the upper cover is further provided with heat dissipation holes, and the heat dissipation holes are located around the second cover hole.

[0017] In one embodiment, the mounting housing includes: an outer shell, a top cover disposed on the top of the outer shell, and a base disposed on the bottom of the outer shell; the mounting base is connected to the top cover, and the base has a surrounding portion that surrounds the outer shell and is connected to the body.

[0018] In one embodiment, the surrounding portion has an annular groove that surrounds the outer casing, and a sealing ring that abuts against the body is embedded in the annular groove.

[0019] In one embodiment, the mobile control unit includes: a multi-layer circuit board module, wherein at least one layer of circuit board module is a base module disposed on the mounting base, and the remaining circuit board modules are connected to the base module; a wiring harness connecting the mobile drive device and the mobile control unit extends from the top of the mounting housing. Attached Figure Description

[0020] Figure 1 is a structural schematic diagram of the autonomous operation equipment according to the prior art of this utility model;

[0021] Figure 2 is a schematic diagram of the moving mechanism according to the prior art of this utility model;

[0022] Figure 3 is a structural schematic diagram of an autonomous operating device according to an embodiment of the present invention;

[0023] Figure 4 is a schematic diagram of the bottom structure of an autonomous operating device according to an embodiment of the present invention;

[0024] Figure 5 is a structural schematic diagram of the moving mechanism according to an embodiment of the present utility model;

[0025] Figure 6 is an exploded view of the moving mechanism according to an embodiment of the present invention;

[0026] Figure 7 is a cross-sectional view of the moving mechanism according to an embodiment of the present invention;

[0027] Figure 8 is a structural schematic diagram of the mounting base according to an embodiment of the present invention;

[0028] Figure 9 is a schematic diagram of the structure of the upper cover according to an embodiment of the present invention. Detailed Implementation

[0029] 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.

[0030] 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”.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] The embodiments of this utility model are described below with reference to the accompanying drawings.

[0036] This application relates to an autonomous operating device 100, as shown in Figure 3. 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] In one embodiment of this invention, as shown in FIG3, the autonomous operating device 100 includes: a body 1, a moving mechanism 2, and a main board 6. The moving mechanism 2 can be located on the front side of the body 1 as a front wheel mechanism, or on the rear side of the body 1 as a rear wheel mechanism, or placed on the side of the body 1. The moving mechanism 2 is located at the bottom of the body 1, and the moving mechanism 2 includes: wheels 3, a moving drive device 4 for driving the wheels 3 to rotate, and a moving control unit 5 electrically connected to the moving drive device 4.

[0045] Figure 1 shows an existing autonomous operating device. As shown in Figures 1 and 2, the existing autonomous operating device includes a mobile mechanism comprising a mobile drive unit 1A and a mobile control unit 5A. Multiple communication harnesses (such as motherboard connection cable 3A, motor control cable 3A, steering control cable 3A, etc.) connect the mobile drive unit 1A, the mobile control unit 5A, and the mainboard 6A. The mobile drive unit 1A requires three harnesses to connect to the mobile control unit 5A. The mobile control unit 5A is then connected to the mainboard 6A located at the front of the device via another harness. The mobile control unit 5A is housed within the main cavity of the device, atop the wheels 3. A support base 2A is located on the chassis, and the device is mounted on the support base 2A and cannot be removed from the rear wheel hub mounting port. To connect the three harnesses to the mobile control unit 5A, two harnesses extend from the top of the mobile drive unit 1A, and the third extends from the side of the mobile drive unit 1A, requiring external wiring to connect to the mobile control unit 5A. If the moving mechanism 2 requires maintenance, removing the wheels necessitates disconnecting the wiring harness between them and the moving control unit 5A and the main board 6A, which is quite cumbersome. If the wheel control hardware requires maintenance, not only the wheels but also the moving control unit 5A must be removed. The moving control unit 5A is often installed inside the machine body. Some wheels are relatively small (such as the steering rear wheel of autonomous operating equipment), and their installation space is narrow. Even if the wheels can be removed independently, removing the moving control unit 5A still requires removing the equipment casing, making maintenance even more complicated. Furthermore, assembly efficiency will be limited during early production. The wiring harness 3A connecting the moving drive device 1A and the moving control unit 5A is shown as three wires, but this can be adjusted according to the implementation.

[0046] This embodiment takes the rear wheel of the autonomous operating device 100 as an example. As shown in Figures 3 and 5, the mobile control unit 5 is mounted on the mobile drive device 4. The wheel 3, the mobile drive device 4, and the mobile control unit 5 form an integral module that is detachably connected to the body 1. The mobile control unit 5 is equipped with an angle sensor and a control module, etc. The main board 6 is located inside the body 1 and is electrically connected to the mobile control unit 5. By setting the wheel 3, the mobile drive device 4, and the mobile control unit 5 as an integral module, the multiple wire harnesses connecting the mobile drive device 4 and the mobile control unit 5 are routed inside the mobile drive device 4 and directly connected to the mobile control unit 5. There is no need to route the wires outside the mobile drive device 4; only the wire harness connected to the main board 6 is needed externally. When the mobile mechanism 2 needs to be repaired, the entire mobile mechanism 2 can be removed from the body 1 for quick disassembly. The wire harness between the mobile control unit 5 and the main board 6 can be disconnected, and the mobile mechanism 2 can then be repaired.

[0047] Further, as shown in Figures 5 and 6, the mobile drive device 4 includes: a wheel frame 31 connected to the wheel 3, a mounting housing 32 connected to the wheel frame 31, a transmission assembly 33 installed in the mounting housing 32, a mounting base 34 disposed on the top of the mounting housing 32, and a mobile control unit 5 disposed on the mounting base 34.

[0048] Additionally, as shown in Figures 5, 6, and 7, the mobile control unit 5 includes a multi-layer circuit board module 51, with at least one layer of the circuit board module 51 serving as a base module mounted on the mounting base 34. The remaining circuit board modules 51 are connected to the base module, and the wiring harness connecting the mobile drive device 4 and the mobile control unit 5 extends from the top of the mounting housing 32. In this embodiment, taking a double-layer circuit board module 51 as an example, the form of the double-layer circuit board module 51 is reduced to a size that can be arranged together. The double-layer circuit board modules 51 can be placed together in the mounting base 34 at the top of the mounting housing 32, realizing the integration of the mobile control unit 5, the mobile drive device 4, and the wheel 3, without the need to set up a seat in the main cavity to install a larger mobile control unit as in the prior art. In other embodiments, the number of layers of the circuit board module can be changed according to the actual situation.

[0049] Additionally, as shown in Figures 5, 6, and 7, the mounting base 34 has a base 341 and a base rim 342 surrounding the base 341. The motion control unit 5 is placed on the base rim 342, and the motion control unit 5 has at least a gap 50 between itself and the base 341 to facilitate heat dissipation.

[0050] Furthermore, as shown in Figures 5, 6, and 7, a mounting post 35 for connecting the mobile control unit 5 is provided on the base 341. When installing the mobile control unit 5, the mounting post 35 passes through the mobile control unit and is locked onto the mounting post 35 by screws 36, thereby achieving fixed positioning of the mobile control unit 5.

[0051] Additionally, as shown in Figures 5, 6, and 7, the mounting housing 32 includes: an outer shell 321, an upper cover 322 disposed on the top of the outer shell 321, and a mounting base 34 connected to the upper cover 322. The mounting base 34 has a lower support 343 connected to the base 341, which extends toward the upper cover 322 and surrounds the upper cover 322. The lower support 343 forms a mounting area around the base 341 and at least part of the upper cover 322, and some components on the motion control unit 5 can protrude from the mounting area. The upper cover 322 has an upwardly extending connecting post 3223, and the mounting base 34 has a downwardly extending sleeve 346, which is fitted onto the connecting post 3223 to connect the upper cover 322 and the mounting base 34. In other embodiments, the upper cover 322 and the mounting base 34 can also be connected and fixed by other structures, such as bolts or hooks. The transmission assembly 33 includes: a steering motor 331, a drive wheel 332 connected to the main shaft of the steering motor 331, a driven wheel 333 meshing with the drive wheel 332, and a rotating shaft 334 connected to the driven wheel 333. As shown in Figures 8 and 9, the upper cover 322 has a first cover hole 3221 and a second cover hole 3222. The rotating shaft 334 passes through the first cover hole 3221, and the main shaft of the steering motor 331 passes through the second cover hole 3222; the drive wheel 332 and the driven wheel 333 are arranged in the mounting area. In this embodiment, the motor rotates, causing the drive wheel 332 to rotate, which in turn drives the driven wheel 333 to rotate, which in turn drives the rotating shaft 334 to rotate, and the rotating shaft 334 causes the wheel 3 to deflect. In other embodiments, the motor can also drive the wheel 3 to rotate and move.

[0052] Furthermore, as shown in Figures 8 and 9, the base 341 has a first clearance hole 344 corresponding to the first cover hole 3221 and a second clearance hole 345 corresponding to the second cover hole 3222. The shaft end of the steering motor 331 at least partially passes through the second clearance hole 345 and through the movement control unit 5. The first clearance hole 344 and the second clearance hole 345 facilitate the installation and heat dissipation of the transmission assembly 33.

[0053] Additionally, as shown in Figure 9, a heat dissipation hole 3224 is provided on the upper cover 322, and the heat dissipation hole 3224 is located around the second cover hole 3222. As shown in Figure 6, a heat dissipation hole 3210 can also be provided on the side wall of the outer casing 321 for heat dissipation.

[0054] Further, as shown in Figures 4, 5, 6, and 7, the mounting housing 32 includes a base 37 disposed at the bottom of the housing 321. A mounting base 34 is connected to the top cover 322. The base 37 has a surrounding portion 371 that surrounds the housing 321 and is connected to the body 1. Thus, during installation, the housing 321 is inserted into the body 1, and the base 37 covers the mounting opening 11 of the body 1, thus being fixedly connected to the body 1. The base 37 and the body 1 can be connected by bolts or connecting posts. The base 37 and the housing 321 can be a single integral piece or two separately assembled components.

[0055] In addition, as shown in Figures 6 and 7, an annular groove 71 surrounding the outer shell 321 is provided in the surrounding part 371. A sealing ring 72 that abuts against the body 1 is embedded in the annular groove 71. By setting the sealing ring 72, water can be prevented from entering the body 1.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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: body; A moving mechanism is disposed at the bottom of the body, and the moving mechanism includes: wheels, a moving drive device for driving the wheels to rotate, and a moving control unit electrically connected to the moving drive device; The mobile control unit is mounted on the mobile drive device, and the wheels, the mobile drive device, and the mobile control unit constitute an integral module that is detachably connected to the body; and the motherboard is mounted inside the body and electrically connected to the mobile control unit.

2. The autonomous operating equipment according to claim 1, characterized in that, The mobile drive device includes: a wheel frame connected to the wheel, a mounting housing connected to the wheel frame, a transmission assembly installed inside the mounting housing, and a mounting base disposed on the top of the mounting housing; the mobile control unit is disposed on the mounting base.

3. The autonomous operating equipment according to claim 2, characterized in that, The mounting base has a base and a rim surrounding the outer periphery of the base, the motion control unit is placed on the rim, and there is at least a gap between the motion control unit and the base.

4. The autonomous operating equipment according to claim 3, characterized in that, The base is provided with a mounting post for connecting the mobile control unit.

5. The autonomous operating equipment according to claim 3, characterized in that, The mounting housing includes: an outer shell, an upper cover disposed on the top of the outer shell, and a mounting base connected to the upper cover; the mounting base has a lower support connected to the base bottom, the lower support extending toward the upper cover and surrounding the upper cover; the lower support forms a mounting area around the base bottom and at least a portion of the upper cover; the transmission assembly includes: a steering motor, a drive wheel connected to the main shaft of the steering motor, a driven wheel meshing with the drive wheel, and a rotating shaft connected to the driven wheel; the upper cover has a first cover hole and a second cover hole; the rotating shaft passes through the first cover hole, and the main shaft of the steering motor passes through the second cover hole; the drive wheel and the driven wheel are disposed within the mounting area.

6. The autonomous operating equipment according to claim 5, characterized in that, The base is provided with a first clearance hole corresponding to the first cover hole and a second clearance hole corresponding to the second cover hole; the shaft end of the steering motor passes through the second clearance hole at least partially and passes through the movement control unit.

7. The autonomous operating equipment according to claim 5, characterized in that, The upper cover is also provided with heat dissipation holes, which are located around the second cover hole.

8. The autonomous operating equipment according to claim 3, characterized in that, The mounting housing includes: an outer shell, a top cover disposed on the top of the outer shell, and a base disposed on the bottom of the outer shell; the mounting base is connected to the top cover, and the base has a surrounding portion that surrounds the outer shell and is connected to the body.

9. The autonomous operating equipment according to claim 8, characterized in that, The surrounding part has an annular groove that surrounds the outer shell, and a sealing ring that abuts against the body is embedded in the annular groove.

10. The autonomous operating equipment according to claim 2, characterized in that, The mobile control unit includes: a multi-layer circuit board module, wherein at least one layer of circuit board module is a base module disposed on the mounting base, and the remaining circuit board modules are connected to the base module; the wiring harness connecting the mobile drive device and the mobile control unit extends from the top of the mounting housing.

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