Autonomous work device

Abstract

The utility model discloses an autonomous work equipment. The utility model discloses an autonomous work equipment, include: fuselage, cutting device, cutting device sets up at the bottom of fuselage, moving mechanism, moving mechanism sets up at the bottom of fuselage and front collision protection structure, and front collision protection structure is connected with the fuselage, and extends to the bottom direction of fuselage, covers to the front end of fuselage, and blocks at least part cutting device and the front wheel of moving mechanism towards the one side of the front end of fuselage, and front collision protection structure is separated from ground. Make autonomous work equipment use more safe.

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 lawnmowers, whose primary function is lawn trimming, are becoming increasingly popular as they free users from complex and tedious labor. However, existing autonomous lawnmowers have a risk of accidental injury to personnel due to their cutting mechanisms. Utility Model Content

[0003] The purpose of this invention is to provide an autonomous operating device that makes its use safer.

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

[0005] body;

[0006] A cutting device, wherein the cutting device is disposed at the bottom of the machine body;

[0007] A moving mechanism, wherein the moving mechanism is disposed at the bottom of the body; and

[0008] A front collision protection structure is connected to the fuselage and extends toward the bottom of the fuselage, covering the front end of the fuselage and shielding at least part of the front wheels of the cutting device and the moving mechanism from the front end of the fuselage; the front collision protection structure is separated from the ground.

[0009] In one embodiment, the fuselage includes: a fuselage body and a mounting cover connected to the fuselage body;

[0010] The front collision protection structure includes multiple protrusions, which are connected to one end of the mounting cover facing the bottom of the fuselage.

[0011] In one embodiment, the protrusion is integrally formed with the mounting cover.

[0012] In one embodiment, the protrusion extends toward the bottom of the body with a length greater than or equal to 2 mm.

[0013] In one embodiment, the distance between the protrusion and the ground is not less than half the height of the front wheel.

[0014] In one embodiment, a plurality of the protrusions are arranged from the front end of the fuselage toward both sides of the fuselage.

[0015] In one embodiment, the plurality of protrusions are arranged in a serrated structure along the circumferential direction of the mounting cover.

[0016] In one embodiment, the mounting cover includes a front section and a rear section connected sequentially from the front end of the fuselage to the rear end of the fuselage; the fuselage further includes a decorative side cover disposed on the side of the fuselage body, wherein the connection between the front section and the rear section of the mounting cover is located at one end of the decorative side cover facing the rear end of the fuselage.

[0017] Multiple protrusions are provided at the front of the mounting cover.

[0018] In one embodiment, the plurality of protrusions extend to cover at least half of the front circumference of the mounting cover.

[0019] In one embodiment, the mounting cover is a decorative cover. 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 cleaning structure according to one embodiment of the present invention;

[0022] Figure 3 yes Figure 2 A magnified view of a portion of P;

[0023] Figure 4 This is a cross-sectional view of the fuselage according to one embodiment of the present invention;

[0024] Figure 5 yes Figure 4 A magnified view of part A in the image;

[0025] Figure 6 yes Figure 4 A magnified view of part B in the image;

[0026] Figure 7 yes Figure 6 A structural schematic diagram from another sectional view;

[0027] Figure 8 This is a structural schematic diagram of the main body of the visual housing according to an embodiment of the present invention;

[0028] Figure 9 This is an exploded view of the cable sealing assembly according to one embodiment of the present invention;

[0029] Figure 10 This is a schematic diagram of the structure of the cable sealing assembly according to one embodiment of the present invention;

[0030] Figure 11This is a schematic diagram of the structure of the autonomous operating device with its flip cover opened according to one embodiment of the present invention;

[0031] Figure 12 This is a schematic diagram showing the separation of the knob base and the transmission component in an embodiment of the height adjustment knob structure according to the present utility model.

[0032] Figure 13 This is an exploded view of the knob seat according to one embodiment of the present invention;

[0033] Figure 14 This is a bottom schematic diagram of an exploded view of a knob seat according to an embodiment of the present invention;

[0034] Figure 15 This is a schematic diagram of the structure of the handle opening according to one embodiment of the present invention;

[0035] Figure 16 yes Figure 15 A magnified view of part C;

[0036] Figure 17 This is a schematic diagram of the structure in which the handle is stored according to an embodiment of the present invention;

[0037] Figure 18 yes Figure 17 A magnified view of part D;

[0038] Figure 19 This is a cross-sectional view of an autonomous operating device according to an embodiment of the present invention;

[0039] Figure 20 yes Figure 19 A magnified view of a portion of G;

[0040] Figure 21 This is an exploded view of the chassis of the autonomous operating equipment according to one embodiment of the present invention;

[0041] Figure 22 This is a structural schematic diagram of the pressure relief port according to one embodiment of the present invention;

[0042] Figure 23 This is another cross-sectional view of the autonomous operating equipment according to one embodiment of the present invention;

[0043] Figure 24 yes Figure 23 A magnified view of part of H;

[0044] Figure 25 This is a schematic diagram of the flip cover structure according to one embodiment of the present utility model;

[0045] Figure 26 yes Figure 25 A magnified view of a portion of the L-shape;

[0046] Figure 27 This is a schematic diagram of the structure of the autonomous operating device without a flip cover according to one embodiment of the present utility model;

[0047] Figure 28 This is a sectional perspective view of an autonomous operating device according to an embodiment of the present invention;

[0048] Figure 29 yes Figure 28 A magnified view of part M;

[0049] Figure 30 yes Figure 1 A magnified view of part E in the image;

[0050] Figure 31 yes Figure 19 A magnified view of part of F;

[0051] Figure 32 This is a bottom view of an autonomous operating device according to an embodiment of the present invention;

[0052] Figure 33 This is a structural schematic diagram of an autonomous operating device according to another embodiment of the present invention;

[0053] Figure 34 yes Figure 33 A magnified view of N in the middle;

[0054] Figure 35 This is a cross-sectional view of the cleaning structure according to another embodiment of the present invention;

[0055] Figure 36 This is a schematic diagram of the cleaning structure according to another embodiment of the present invention;

[0056] Figure 37 yes Figure 36 A magnified view of a portion of Q. Detailed Implementation

[0057] 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.

[0058] 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”.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] The embodiments of this utility model are described below with reference to the accompanying drawings.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] In one embodiment of this example, as Figure 1 As shown, the autonomous operating device 100 includes: a body 1, a vision module 2, and a cleaning structure 3. The vision module 2 is mounted on the body 1, and the cleaning structure 3 is mounted on the body 1 for cleaning the lens 21 of the vision module 2.

[0072] Furthermore, such as Figure 1 As shown, the camera body 1 includes a main body 11 and a base 12 connected to the main body 11. The base 12 is connected to the vision module 2 and is used to support the vision module 2, which is mounted on top of the base 12. The vision module 2 can be a camera or a shooting device, etc.

[0073] Furthermore, such as Figure 1-4 As shown, the cleaning structure 3 includes: a cleaning body 31 for cleaning the lens 21 of the vision module 2, a connecting rod assembly 32, and a first driving member 33 for driving the cleaning body 31. The first driving member 33 can be a power component such as a motor. The connecting rod assembly 32 includes an elastic member 321, which can be a tension spring or a spring sheet, etc. The elastic member 321 provides a restoring force to allow the cleaning body 31 to come close to the lens 21. The first driving member 33 can drive the cleaning body 31 to clean the lens 21, preventing water vapor, humid air, dust, etc. from contaminating the surface of the lens 21 in outdoor working environments and affecting the information acquisition effect of the vision module 2.

[0074] Furthermore, such as Figure 2 As shown, the linkage assembly 32 includes a first linkage 322 connected to the cleaning body 31, and a second linkage 323 connected to the first drive member 33. The first linkage 322 and the second linkage 323 are hinged together, and the two ends of the elastic member 321 are respectively connected to the first linkage 322 and the second linkage 323.

[0075] In addition, such as Figure 2 As shown, the cleaning body 31 is fixedly connected to the first connecting rod 322. The cleaning body 31 can be a cleaning rubber strip, brush bristles, etc.

[0076] Furthermore, such as Figure 2 As shown, both the first link 322 and the second link 323 have cavities 320, and each cavity 320 contains a connecting seat 324. The two ends of the elastic element 321 are connected to the connecting seats 324 in the first link 322 and the second link 323, respectively. The elastic body of the elastic element 321 is located within the cavity 320 of the first link 322. This design facilitates installation and replacement, and also allows for adjustment of the elastic element's angle. If the elastic element's deformation recovery force decreases after repeated use, the angle between the first and second links can be reduced by squeezing the elastic element, ensuring that the cleaning body 31 remains firmly attached to the lens. Simultaneously, this non-enclosed cavity also reduces the accumulation of rainwater within the link.

[0077] In other embodiments, the elastic body may also be located within the cavity, or there may be only one cavity in the first connection 322 and the second link 323, in which case the elastic body is located within the cavity. Additionally, the connecting seat may be optional; simply providing areas on the first link 322 and the second link 323 for the elastic element to connect to is sufficient.

[0078] Furthermore, the side of cavity 320 facing the vision module 2 is open, facilitating the installation and replacement of the elastic component. The vision module also provides a shielding effect on the open side, preventing debris and rainwater from entering. In other embodiments, cavity 320 may also be open in other directions, and is not limited to the solution in this embodiment.

[0079] Furthermore, such as Figure 2 and Figure 3 As shown, the first link 322 has an opening slot 3220 on the side facing the vision module 2. The opening slot 3220 extends along the length direction of the first link 322, and the cleaning body 31 has an insertion part 310 that is embedded in the opening slot 3220.

[0080] like Figure 2 and Figure 3 As shown, the opening slot 3220 has a first slot portion 32201 and a second slot portion 32202 connected to the first slot portion 32201. The first slot portion 32201 and the second slot portion 32202 are connected along the direction from the side of the first connecting rod 322 toward the visual module 2 to the side of the first connecting rod 322 away from the visual module 2, i.e. Figure 3 The grooves are connected from left to right, and the width of the first groove 32201 is smaller than the width of the second groove 32202. The shape of the insertion part 310 matches that of the opening groove 3220. The insertion part 310 is T-shaped, which requires less machining precision than a rectangular strip. It is also less likely to fall off during long-term use when scraped from side to side. If it were designed as a rectangular strip, the insertion part and the opening groove would need to fit tightly, such as with an interference fit, which would make installation relatively difficult.

[0081] The end of the opening groove 3220 facing away from the second connecting rod 323 is the open side, meaning the top of the opening groove 3220 is connected to the side of the opening groove 3220 facing the lens. The bottom of the opening groove 3220 is the closed end, meaning the end of the opening groove 3220 facing the second connecting rod 322 is the closed end. The closed end means the bottom of the opening groove 3220 is not connected to the side facing the lens. This closed end can be understood as fully closed or semi-closed. Fully closed means there is no through hole at the bottom of the opening groove 3220, and semi-closed means there is a through hole at the bottom of the opening groove 3220, but it does not directly connect to the side of the opening groove facing the lens from the bottom. During installation, the insertion part 310 is slid into the opening groove 3220 from the top. This structure facilitates the replacement of the cleaning body 31.

[0082] The autonomous operating equipment also includes a waterproof cleaning structure for sealing the connection between the cleaning structure 3 and the body. This cleaning structure 3 can be a windshield wiper or other cleanable component. The waterproof cleaning structure prevents rainwater and dew from entering the body. The waterproof cleaning structure forms a multi-layered waterproof barrier between the cleaning structure and the body 1.

[0083] Furthermore, the base 12 has a connection hole, and the cleaning body 31 is connected to the first drive member 33 via a connecting rod assembly 32, which passes through the connection hole. A waterproof cleaning structure is used to seal the cleaning structure 3 and the base 12. The connecting rod assembly 32 extends upward to allow the cleaning body 31 to be attached to the lens 21. The waterproof cleaning structure includes a first-level waterproofing and a second-level waterproofing, both of which seal the gap between the connection hole and the connecting rod assembly 32.

[0084] Furthermore, such as Figure 2 As shown, the first level of waterproofing includes: a splash-proof component 41, which is disposed between the connecting hole and the connecting rod assembly 32.

[0085] Furthermore, such as Figure 2 , Figure 4 and Figure 5 As shown, the splash guard 41 is arranged around the outer periphery of the connecting rod assembly 32 and protrudes from the outside of the connecting rod assembly 32, forming a protruding partition that isolates the interior and exterior of the base. The inner wall of the connecting hole has a first groove 121 for the splash guard 41 to be inserted. The splash guard 41 can be integrally formed with the connecting short rod 3231 of the second connecting rod 323 in the connecting assembly, or it can be a protective gasket sleeved and fixed on the connecting short rod 3231.

[0086] Furthermore, such as Figure 2 , Figure 4 and Figure 5 As shown, the second level of waterproofing is closer to the inside of the base 12 than the first level of waterproofing. The second level of waterproofing also includes a sealing ring 42, which is sleeved on the connecting rod assembly 32 and abuts against the inner wall of the connecting hole.

[0087] Furthermore, such as Figure 2 , Figure 4 and Figure 5 As shown, the inner wall of the connecting hole has a second groove 120 for the insertion of the sealing ring 42. The sealing ring 42 is closer to the interior of the base 12 than the splash guard 41.

[0088] The cleaning of the waterproof structure includes: third-level waterproofing, and third-level waterproofing sealing of the connection between the output end of the first drive component 33 and the connecting rod assembly 32.

[0089] In addition, such as Figure 2 , Figure 4 and Figure 5 As shown, the third level of waterproofing includes: sealant 43, and the end of the connecting rod assembly 32 away from the cleaning body 31 has a mounting groove 325 for the insertion of the output shaft of the first drive member 33, and the inner wall of the mounting groove 325 and the output shaft of the first drive member 33 are filled with sealant 43.

[0090] The cleaning of the waterproof structure includes: fourth-level waterproofing, and fourth-level waterproofing sealing of the installation gap between the first drive component 33 and the base 12.

[0091] In addition, such as Figure 2 , Figure 4 and Figure 5As shown, the fourth level of waterproofing includes: a sealing gasket 44. The cleaning structure 3 also includes: a bracket 34 disposed in the base 12. The output shaft of the first drive member 33 passes through the bracket 34. The sealing gasket 44 is clamped between the end of the connecting rod assembly 32 away from the cleaning body 31 and the bracket 34.

[0092] Furthermore, the cleaning and waterproofing structure also includes a fifth level of waterproofing, which is filled between the inner wall of the bracket 34 and the first drive member 33. The fifth level of waterproofing may include sealant.

[0093] Furthermore, due to the heat generated by the internal electronic components, the temperature difference between the inside and outside of the vision module 2 easily causes liquefied water droplets to form on the inner side of the lens, contaminating the inner cavity of the vision module 2 and affecting the sensitivity of visual information acquisition. The autonomous operating equipment also includes a waterproof vision structure, which seals the inner cavity of the vision housing 22 and isolates the main cavity 110 of the main body from the inner cavity of the vision housing 22. Isolating the inner cavity of the vision module 2 from the main cavity 110 of the main body reduces external water ingress while isolating heat from the main cavity 110, preventing water vapor formation. The waterproof vision structure is at least a three-level waterproof structure, including a first-level waterproof, a second-level waterproof, and a third-level waterproof. The first and second-level waterproof seals the gap between the vision housing 22 and the outside, while the third-level waterproof isolates the inner cavity of the vision housing 22 from the main cavity of the main body 1.

[0094] Furthermore, such as Figure 4 and Figure 6 As shown, the first level of visual waterproofing includes: a lens sealing ring 51, which is sleeved on the lens 21 and clamped between the lens 21 and the inner wall of the visual housing 22.

[0095] Furthermore, such as Figure 4 and Figure 7 As shown, the vision housing 22 includes a main body 221 and a rear cover 222. The vision second-level waterproofing includes a rear cover sealing ring 53 sandwiched between the rear cover 222 and the main body 221.

[0096] In addition, such as Figure 6 As shown, due to the relatively long length of the ribbon cable 103, extending into the main cavity 110 of the fuselage 1, the lower end face of the vision housing 22 is provided with an outlet 220 for the ribbon cable to pass through. To improve the sealing performance of the vision housing 22, while ensuring the sealing of this outlet 220, it is also necessary to avoid folding or deforming the ribbon cable 103. The third level of waterproofing for vision includes a ribbon cable sealing assembly 52 sealed at the outlet 220, and the ribbon cable sealing assembly 52 is connected to the vision housing 22. The ribbon cable 103 passes through the ribbon cable sealing assembly 52 and enters the main cavity 110 of the fuselage.

[0097] In addition, such as Figure 7As shown, the ribbon cable sealing assembly 52 includes an upper assembly 521 and a lower assembly 522 stacked and connected to the upper assembly 521. One of the upper assembly 521 and the lower assembly 522 has a through groove 5221, and the other has a protrusion 5211 for insertion into the through groove 5211. The ribbon cable is used to insert between the protrusion 5211 and the inner wall of the through groove 5221. More specifically, the ribbon cable may be a MIPI cable.

[0098] Specifically, such as Figure 8 , Figure 9 and Figure 10 As shown, the ribbon cable itself is very thin. During assembly, the ribbon cable passes through the through groove 5221 and fits against the inner wall of the through groove 5221. The protrusion 5211 on the upper assembly 521 is pressed into the through groove 5221. At this point, the ribbon cable 103 is clamped between the outer wall of the protrusion 5211 and the inner wall of the through groove 5221. The ribbon cable extends out from the outlet 220. In order to accommodate the ribbon cable and avoid compression deformation, the protrusion 5211 and the through groove 5221 are fitted with a clearance fit. The upper assembly 521 and the lower assembly 522 are also provided with screw holes 523. There are matching screw holes 223 near the position of the outlet 220. By passing screws through the screw holes 223, this ribbon cable sealing assembly 52 is installed and fixed to the vision housing 22. The upper assembly 521 has an insertion port 5212, which is located along one side of the protrusion 5211, allowing the ribbon cable to be inserted between the protrusion 5211 and the through slot 5221, such as... Figure 8 The insertion port 5212 is an open opening facing one side wall of the upper assembly 521, which facilitates installation and provides good fit with the ribbon cable, minimizing gaps. In other embodiments, the insertion port 5212 may also be a slot that does not open towards one side wall of the upper assembly 521, allowing the ribbon cable to pass through. Alternatively, the insertion port 5212 may not exist, and the protrusion 5211 may be directly provided along one side wall of the upper assembly 521, with the side wall surface of the protrusion 5211 adjacent to the ribbon cable being a part of the side wall surface of the upper assembly 521.

[0099] In addition, such as Figure 9 As shown, the upper assembly 521 and the lower assembly 522 are made of elastic materials, such as silicone or rubber, to further prevent the ribbon cable from deforming.

[0100] Furthermore, such as Figure 9As shown, the outer peripheral surface of the protrusion 5211 and the inner wall of the through groove 5221 are both inclined surfaces, which have the effect of stress dispersion. The normal force generated by the included angle of the inclined surfaces can be decomposed into horizontal and vertical components, so that the clamping force is more evenly distributed on the surface of the cable and avoids single-point stress concentration caused by the vertical contact surface. The inclined surface increases the contact area, which can reduce the pressure of the inner wall on the cable per unit area and reduce the deformation rate of the conductor on the surface of the cable. The machining accuracy requirement is low, the assembly tolerance of the inclined surface is larger, and axial assembly error is allowed. The specific error depends on the inclination angle and length of the inclined surface. In addition, the inclined surface also has the effect of preventing loosening.

[0101] In addition, the outer peripheral surface of the protrusion 5211 is textured. Preferably, it can be annular textured to increase the friction between the surface of the protrusion 5211 and the inner wall of the through groove 5221, resulting in a tighter fit.

[0102] Furthermore, such as Figure 9 As shown, the lower assembly 522 has a boss 5222 for inserting an outlet, and a through groove 5221 is formed on the boss 5222.

[0103] Furthermore, the autonomous operating equipment also includes a cutting device 6 and a height adjustment knob structure 7. The cutting device 6 is located below the machine body, and the height adjustment knob structure 7 is connected to the cutting device 6. The height adjustment knob structure 7 is used to adjust the height of the cutting device 6. The height adjustment knob structure 7 includes a knob base 71 mounted on the machine body and a handle 72 hinged to the knob base 71. The handle 72 can be flipped towards or away from the top surface of the knob base 71. By providing the handle 72, the operation of the height adjustment knob structure 7 is facilitated, making it more convenient to use. When the height adjustment knob structure 7 is not needed, the handle 72 can be flipped so that it is laid flat in the knob base 71 for storage, which helps to save space above the knob base 71.

[0104] Furthermore, Figure 11 , Figure 12 , Figure 13 As shown, the knob base 71 is provided with a receiving area 710, and the handle 72 can be operably flipped towards the top surface of the knob base 71 into the receiving area 710. The autonomous operating device 100 also includes a top cover movably connected to the body 1. The top cover may be a flip cover 8 hinged to the body 1, and the top cover operably covers the knob base 71. In other embodiments, the top cover may also be a removable cover. After the handle 72 is flipped into the receiving area 710, the height adjustment knob structure 7 can be covered by the top cover, and the upper surface of the height adjustment knob structure 7 does not have any protrusions that would obstruct the closing of the top cover, which helps to save space.

[0105] In addition, such as Figure 13As shown, the handle 72 includes an operating section 721 and a pair of hinged sections 722. The pair of hinged sections 722 are respectively disposed at both ends of the operating section 721 and are hingedly connected to the knob seat 71. The knob seat 71 is provided with a hinge area 711 for accommodating the hinged sections 722, and the hinged sections 722 can be operably rotated within the hinge area 711. The hinge area 711 is part of the accommodating area, and the hinged sections 722 have a stop member, while the hinge area 711 has a stop engagement member. When the handle 72 is in a preset position, the stop member engages with the stop engagement member.

[0106] Furthermore, such as Figure 13 As shown, the hinge section 722 is connected to the knob seat 71 via a hinge shaft. The hinge area 711 may have multiple gear slots, which constitute a gear engagement component. These slots are spaced apart along the flipping trajectory of the hinge section 722. The gear engagement component is a stop 723 disposed on the hinge section 722. When the handle 72 is flipped to a preset position, the stop 723 engages in the corresponding gear slot. Understandably, in other embodiments, the gear engagement component may be a stop 723, and the gear engagement component may consist of multiple gear slots. This provides damping and gear feel, thereby enhancing user feedback and control during operation, making the switching process smoother and more reliable.

[0107] In addition, such as Figure 13 As shown, a sliding surface 713, which is curved, connects two adjacent gear slots. The hinge segment 722 slides along the sliding surface 713. The sliding surface 713 provides a pushing force to push the handle 72 toward the knob seat 71 and at the same time provides damping for the sliding of the hinge segment 722 on the sliding surface 713.

[0108] In addition, such as Figure 13 As shown, when the stop block 723 is inserted into one of the multiple gear slots, the operating section 721 is located in the receiving area 710, and the handle 72 is in the non-operating position. When the stop block 723 is inserted into another of the multiple gear slots, the operating section 721 leaves the receiving area 710, and the handle 72 is in the operating position.

[0109] Specifically, such as Figure 13 As shown, in this embodiment, the handle 72 has two adjustable positions. The position slots have two positions: a first position slot 712A and a second position slot 712B. A sliding surface 713 is provided between the first position slot 712A and the second position slot 712B. The two positions correspond to the operating and non-operating states of the height adjustment knob structure 7, respectively. Figure 14 and Figure 15 As shown, when the stop block 723 slides into the first stop slot 712A, the handle 72 opens and leaves the receiving area 710, and is in the operating position; as Figure 16 and Figure 17As shown, when the stop block 723 slides into the second stop groove 712B, the handle 72 is housed within the receiving area 710 of the knob seat 71, in a non-operating position. When the stop block 723 is in the first stop groove 712A, the handle 72 forms a 90-degree angle with the upper surface of the knob seat 71; when the stop block 723 is in the second stop groove 712B, the handle 72 forms a 0-degree angle with the upper surface of the knob seat 71. In other embodiments, in the operating state, the angle between the handle 72 and the upper surface of the knob seat 71 can be other angles, not limited to a perpendicular state. Understandably, even when the handle 72 is in the non-operating position, the angle between the handle 72 and the upper surface of the knob seat 71 can be other angles.

[0110] In addition, such as Figure 13 As shown, the sliding surface 713 has a hollow area 714. This gives the sliding surface 713 a certain amount of deformability, while also providing a reset pressure for the handle 72 to switch gears.

[0111] Furthermore, such as Figure 13 As shown, the hinge section 722 is connected to the knob seat 71 via the hinge shaft 74. The hinge shaft 74 is provided with an elastic element, which provides a pushing force to push the handle 72 toward the knob seat 71 to rotate, thereby providing a reset spring force for the gear switching of the handle 72.

[0112] In addition, such as Figure 14 As shown, the operating section 721 of the handle 72 has a protruding ridge 724 on the side facing the knob seat 71.

[0113] Furthermore, such as Figure 14 As shown, the knob base 71 is connected to the cutting device 6 via a transmission assembly 73. The transmission assembly 73 has a first slot 731, and the lower surface of the knob base 71 has a first insert 715 that inserts into the first slot 731. The knob base 71 has an insert cutout 7150, and the first insert 715 extends from the insert cutout 7150 toward the transmission assembly 73. The knob base 71 and the transmission assembly 73 are connected by the engagement of the first insert 715 with the first slot 731. While the first insert 715 engages with the first slot 731, it reduces stress concentration at the root, making it less susceptible to breakage from lateral shear forces. The transmission assembly 73 converts the rotational motion of the knob into the up-and-down movement of the cutting device 6, enabling the height adjustment knob structure 7 to adjust the height of the cutting device 6. Specifically, this transmission assembly 73 can be a gear-type component, such as a component with a gear and rack.

[0114] In addition, such as Figure 14 As shown, the knob base 71 includes: a base body 716, and a knob cover 717 connected to the base body 716. The knob cover 717 covers the insert with a perforation 7150 to prevent water ingress. The lower surface of the knob cover 717 is provided with a second insert 718, and the knob base 71 is provided with a second slot 719, which engages with the second insert 718.

[0115] Furthermore, Figure 21 As shown, the machine body 1 includes: a chassis 13 having a main cavity 110 and a pressure balancing assembly. The chassis 13 has a pressure relief port 130 communicating with the main cavity 110, and the pressure relief port 130 is equipped with a pressure balancing assembly. The cutting device 6 is connected to the chassis 13.

[0116] Furthermore, Figure 19 , Figure 20 and Figure 21 As shown, the pressure balancing assembly includes a waterproof and breathable membrane 14 covering the pressure relief port. When the internal pressure and humidity of the main chamber 110 are high, water vapor will diffuse outward through the waterproof and breathable membrane 14, effectively ensuring the pressure balance inside and outside the equipment, making the internal components of the machine less prone to damage, and making the equipment safer to use and extending its service life.

[0117] Furthermore, Figure 19 , Figure 20 and Figure 21 As shown, the pressure balancing assembly also includes a support cover 15 disposed in the pressure relief port 130, the support cover 15 having a vent hole 150 communicating with the pressure relief port 130, and the support cover 15 being used to support the waterproof and breathable membrane 14.

[0118] Furthermore, Figure 19 , Figure 20 and Figure 21 As shown, the chassis 13 has an upper chassis cover 131 and a lower chassis cover 132, which together form the main cavity 110. A pressure discharge port is provided on the upper chassis cover 131. The upper chassis cover 131 has a drainage surface 1311 and a drainage channel 1312. The drainage surface 1311 is an inclined surface that slopes towards the drainage channel 1312, which facilitates the guidance of rainwater from the autonomous operating equipment to the drainage channel 1312. A pressure discharge port 130 is provided on the drainage surface 1311.

[0119] In addition, such as Figure 19 , Figure 20 and Figure 21 As shown, the chassis cover 131 has a flange 1313, which protrudes from the chassis cover 131 and surrounds the opening end of the pressure relief port 130. This prevents rainwater from the chassis cover 131 from flowing into the drainage channel 1312 and covering the pressure relief port, thus avoiding excessive external pressure and internal pressure relief.

[0120] Furthermore, in this embodiment, as Figure 19 , Figure 20 and Figure 21As shown, there are two pressure relief ports 130: a first pressure relief port 130A located at the front of the chassis and a second pressure relief port 130B located at the rear of the chassis. Both the first pressure relief port 130A and the second pressure relief port 130B are equipped with pressure balancing components. That is, there are pressure relief ports between the vertical line of the chassis and the front end of the chassis, and between the vertical line of the chassis and the rear end of the chassis. The autonomous operating equipment also includes a vision module 2 and a cleaning structure 3 for the cleaning vision module 2, both mounted on the chassis cover 131. The pressure relief port located between the vision module 2 and the front end of the chassis is the first pressure relief port 130A, and the pressure balancing component located in the first pressure relief port 130A is the first pressure balancing component. The upper surface of the pressure balancing component is lower than the top surface 1314 of the chassis cover 131. Since the cleaning structure 3 is located at the front of the chassis cover 131 and needs to handle more drainage, this design reduces the impact of the first pressure relief port 130A on the drainage of the chassis cover 131. In other embodiments, there may be one or more pressure relief ports. The reason for providing pressure relief ports at the front and rear of the machine body is that, in order to balance the weight of the equipment, the control panel, motor, and other heat-generating devices are often distributed at the front and rear of the machine body. Therefore, the purpose of setting the pressure relief ports at the front and rear of the machine body is to place them above the heat-generating devices, so as to achieve higher pressure relief efficiency.

[0121] Furthermore, such as Figure 21 As shown, the drainage surface 1311 has a recessed area 1315 adjacent to the drainage channel 1312. A first pressure outlet 130A is formed in the recessed area 1315. The bottom surface of the recessed area 1315 is lower than the top surface 1314 of the chassis cover 131 and higher than the bottom of the drainage channel 1312. At least one side of the recessed area 1315 extends to connect with the drainage channel 1312. The top surface 1314 of the chassis cover 131 is the surface outside the recessed area 1315.

[0122] In addition, the autonomous operating equipment also includes a heat load device 9 installed in the main cavity 110. The heat load device provides a power source for the autonomous equipment or controls the operation of the autonomous equipment. The heat load device 9 will dissipate heat during operation. A pressure relief port is provided in the area of ​​the chassis cover 131 opposite to the position of the heat load device 9.

[0123] The heat load device 9 includes an energy module 92, which has a housing 91. The housing 91 has an opening 910 that communicates with the main cavity 110 and faces the pressure outlet for airflow exchange. The energy module 92 supplies power to the drive motor 61 of the vision module 2 and the cutting device 6. The housing 91 is an open, non-sealed housing. Specifically, a chassis cover 132 is provided below the heat load device 9. During installation, the chassis cover 132 is opened to install the energy module. The heat generated by the heat load device 9 can be dissipated through the opening, enabling communication with the main cavity 110. The opening also provides wiring space between the heat load device 9 and the external control board.

[0124] like Figure 19 As shown, the pressure relief port is located on the chassis cover 131. The opening of the outer casing of the heat load device 9 faces upward, and the pressure relief port is located in the area of ​​the chassis cover 131 corresponding to the heat load device 9.

[0125] Furthermore, such as Figure 11 , Figure 19 As shown, the top cover, or flip cover 8, is hinged to the body and used to open or cover the functional area. The flip cover 8 is magnetically secured to the body, thus protecting the functional area, which may include control buttons and a height adjustment knob structure 7. 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.

[0126] Furthermore, such as Figure 23 , Figure 24 , Figure 25 As shown, the flip cover includes a hinged side and a free side. The hinged side is hinged to the body, and the free side can rotate around the hinged side. A first magnet 81 is located on the side of the flip cover 8 opposite to the hinged side, and the first magnet 81 is also located on the free side. A second magnet 82 is located on the body, and the first magnet 81 and the second magnet 82 are used to magnetically attract each other when the flip cover 8 is closed onto the body.

[0127] Furthermore, such as Figure 23 , Figure 24 As shown, the first magnet 81 and / or the second magnet 82 are provided with shock-absorbing pads 83 to reduce the impact and noise when the magnetic attraction closes.

[0128] In addition, such as Figure 23 , Figure 24 , Figure 25 and Figure 26 As shown, the flip cover 8 is provided with a first magnet seat 84 for accommodating a first magnet 81. The first magnet seat 84 has a receiving cavity 840 for accommodating the first magnet 81, and a pressure block 85 is provided in the receiving cavity 840 to position the first magnet 81. Since the surface of the flip cover 8 is inclined, the bottom of the receiving cavity may be non-planar. Therefore, adding the pressure block 85 can enhance the installation stability of the first magnet 81 in the first magnet seat 84. A second magnet seat 19 is provided at a corresponding position on the body 1, and a second magnet 82 is installed on the second magnet seat 19.

[0129] Furthermore, such as Figure 27 , Figure 28 , Figure 29As shown, the free side of the flip cover 8 has a recessed portion 86, that is, the side of the flip cover 8 away from its hinge to the body has a recessed portion 86. The body has a protrusion 16 extending toward the recessed portion. The protrusion 16 is used to insert into the recessed portion 86 after the flip cover 8 is closed. When the flip cover 8 is closed, the protrusion 16 closes the gap between the recessed portion 86 and the body, and the protrusion 16 abuts against the side wall of the recessed portion 86. The recessed portion 86 serves two purposes: to form a handle and to reduce the gap between the flip cover and the body when closed. However, if the recessed portion were designed to directly abut against the body, the uneven surface of the body would result in poor adhesion. Furthermore, given the high precision requirements, insufficient precision could prevent the magnets on both sides from reliably engaging. Therefore, in this embodiment, a protrusion 16 is designed on the body. This protrusion 16 abuts against the side of the recessed portion 86, effectively blocking the gap between the recessed portion and the body when the flip cover is closed. This provides waterproofing and protects the control panel (functional area). The precision requirements are not high, the blocking effect is good, and it does not affect the engagement of the magnets on both sides. Additionally, since the control panel is directly in front of the protrusion 16, and the top cover has a curved surface with a height difference in the control panel, water could accumulate even without the protrusion 16.

[0130] In addition, such as Figure 29 As shown, the protrusion 16 abuts against the sidewall 861 of the recess 86.

[0131] Furthermore, such as Figure 29 As shown, the flip cover 8 has a flange 87 extending to the recessed area 86 to form a handle, which facilitates the opening and closing of the flip cover 8.

[0132] Furthermore, such as Figure 24 As shown, each of the two corners on the free side of the flip cover 8 has a first magnet 81, that is, each of the two corners on the side of the flip cover 8 away from its hinge to the body has a first magnet 81. The body has a pair of spaced-apart second magnets 82, which are arranged one-to-one with the first magnets 81. The protrusion 16 is located between the pair of second magnets 82.

[0133] Furthermore, when the flip cover 8 is in the fully open state, its center of gravity is located on the side opposite to the second magnet 82, where the rotation axis of the flip cover 8 and the body is. This means the flip cover 8 can maintain its open state by its own weight. In the fully open state, the flip cover reaches its maximum open angle, and the torque generated by gravity drives the flip cover to rotate around the axis to a stable position. This counteracts the closing tendency by its own weight, achieving a continuous open state without external force. In other embodiments, the flip cover 8 is connected to the body via a rotation axis with an interference fit. When the flip cover is open, the open state is locked by frictional torque. Preferably, when the flip cover 8 is in the open state, its center of gravity can be located on the side of the rotation axis facing the second magnet 82. The frictional resistance between the rotation axis and the flip cover keeps the flip cover open, overcoming its own weight and magnetic attraction. Compared to the existing solution of using a hinge and spring to open the flip cover, this embodiment reduces parts and costs, lowers installation difficulty, and addresses the issues of spring aging and metal fatigue and low-temperature embrittlement.

[0134] Furthermore, such as Figure 1 and Figure 30 As shown, the autonomous operating equipment includes a moving mechanism 101 and a front collision protection structure 102. The moving mechanism 101 is located at the bottom of the machine body. The front collision protection structure 102 is connected to the machine body and extends towards the bottom of the machine body, covering the front end of the machine body and shielding at least part of the cutting device 6 and the front wheel 1011 of the moving mechanism 101 facing the front end of the machine body. The front collision protection structure 102 is separated from the ground. By setting the front collision protection structure 102, it prevents adults and children's feet from accidentally contacting the cutting device 6 and the front wheel under the equipment. Children's feet are lower than adults', and traditional adult foot protection is insufficient to meet the safety standards for children's feet.

[0135] Furthermore, such as Figure 1 As shown, the fuselage also includes a mounting cover 17 connected to the fuselage body 11. In this embodiment, the mounting cover 17 is a decorative cover; in other embodiments, the mounting cover 17 may be a functional cover. The front collision protection structure 102 includes a plurality of protrusions 1021, which are connected to one end of the mounting cover 17 facing the bottom of the fuselage.

[0136] Preferably, the protrusion 1021 and the mounting cover 17 are integrally formed. In other embodiments, the protrusion 1021 and the mounting cover 17 may not be integrally formed. In addition, the protrusion 1021 may be made of the same material as the mounting cover, or it may be made of other materials that can have greater friction, such as rubber.

[0137] Furthermore, such as Figure 31 As shown, the extension length L of the protrusion 1021 toward the bottom of the fuselage is greater than or equal to 2mm.

[0138] Furthermore, such as Figure 31 As shown, the distance between the protrusion 1021 and the ground is not less than half the height of the front wheel 1011, such as Figure 31 As shown, H≥R can prevent the bottom height of the equipment from being too low, so that the equipment cannot cross common obstacles such as stones during the working process.

[0139] In addition, such as Figure 32 As shown, multiple protrusions 1021 are arranged from the front of the fuselage to both sides of the fuselage.

[0140] Priority, such as Figure 32 As shown, multiple protrusions 1021 are arranged in a serrated structure along the circumferential direction of the mounting cover 17. The serrated structure can increase the contact friction with the child's foot, making it easier for the sensor to identify and avoid it.

[0141] In addition, such as Figure 1 and Figure 32 As shown, the mounting cover 17 includes a front section 171 and a rear section 172 connected sequentially from the front end to the rear end of the fuselage. The fuselage also includes a decorative side cover 18 disposed on the side of the fuselage body 11. The front section 171 of the mounting cover 17 has a connection point with the rear cover of the mounting cover 17, which is located at the end O of the decorative side cover 18 facing the rear end of the fuselage. Multiple protrusions are provided on the front section 171 of the mounting cover 17, which is the area from line P to the front end of the fuselage in the figure, that is, the area surrounded by arrow AA.

[0142] In addition, such as Figure 1 and Figure 32 As shown, the multiple protrusions 1021 are arranged in an extended length that covers at least half of the circumference of the front section 171 of the mounting cover 17, ensuring that the coverage of the front collision protection structure 102 can fully achieve the protection effect during the movement of the equipment.

[0143] In another embodiment, the autonomous operating device is largely the same as described above, with the main difference being the different mounting positions of the base 12 and the cleaning structure 3 relative to the vision module 2. In this embodiment, as... Figure 33 , Figure 34 and Figure 35 As shown, the vision module 2 is disposed between the base 12 and the main body 11. The cleaning body 31 is connected to the first link 322. Further, the first link 322 includes: a cleaning arm 3221 on which the cleaning body 31 is disposed, and a first link body 3222 hingedly connected to the cleaning arm 3221 and the second link 323. The cleaning body 31 may be a brush bristle or a silicone strip, etc. In other embodiments, the first link body 3222 may also be fixedly connected to the cleaning arm 3221 and only hinged to the second link 323.

[0144] The cleaning arm 3221 has a first angle with the first connecting rod body 3222, and the first connecting rod body 3222 has a second angle with the second connecting rod 323. The cleaning body 31 is used to clean the lens 21.

[0145] Specifically, such as Figure 34 As shown, a hinge seat 326 is provided at the connection end between the first connecting rod body 3222 and the second connecting rod 323. The first connecting rod body 3222 is connected to the hinge seat 326 by screws. The cleaning arm 3221 and the second connecting rod 323 are connected to the first connecting rod body 3222 by screws. The screws are letter screws. The angle between the first included angle and the second included angle can be changed when the cleaning part is attached to the lens 21 for cleaning.

[0146] In addition, such as Figure 35 As shown, the cleaning structure 3 also includes a control module 35 disposed within the base 12, which is electrically connected to the first driving element 33. The control module 35 includes a circuit board and controls the first driving element 33.

[0147] In addition, such as Figure 35 As shown, both the first connecting rod body 3222 and the second connecting rod 323 have cavities 320, and each cavity 320 has a connecting seat 324. The two ends of the elastic element 321 are respectively connected to the connecting seats 324 in the first connecting rod body 3222 and the second connecting rod 323, and the elastic body of the elastic element 321 is located within the cavity of the second connecting rod 323. In other embodiments, the elastic body may also be located within the cavity, or there may be only one cavity in the first connecting rod body 3222 and the second connecting rod 323, in which case the elastic body is located within the cavity. Furthermore, the connecting seat may be optional; simply providing a region on the first connecting rod body 3222 and the second connecting rod 323 for the elastic element to connect to is sufficient.

[0148] Furthermore, the side of cavity 320 facing the vision module 2 is open, facilitating the installation and replacement of the elastic component. The vision module also provides a shielding effect on the open side, preventing debris and rainwater from entering. In other embodiments, cavity 320 may also be open in other directions, and is not limited to the solution in this embodiment.

[0149] Furthermore, in this embodiment, as Figure 36 and Figure 37 As shown, the cleaning arm 3221 has an opening slot 3220 on the side facing the vision module. The opening slot 3220 extends along the length direction of the cleaning arm 3221. The cleaning body 31 has an insertion part 310 that is embedded in the opening slot 3220.

[0150] like Figure 36 and Figure 37As shown, the opening slot 3220 has a first slot portion 32201 and a second slot portion 32202 connected to the first slot portion 32201. The first slot portion 32201 and the second slot portion 32202 are connected along the side of the cleaning arm 3221 facing the vision module 2 to the side of the cleaning arm 3221 away from the vision module 2, i.e. Figure 37 The grooves are connected from left to right, and the width of the first groove 32201 is smaller than the width of the second groove 32202. The shape of the insertion part 310 matches that of the opening groove 3220. The insertion part 310 is T-shaped, which requires less machining precision than a rectangular strip. It is also less likely to fall off during long-term use when scraped from side to side. If it were designed as a rectangular strip, the insertion part and the opening groove would need to fit tightly, such as with an interference fit, which would make installation relatively difficult.

[0151] Specifically, the cleaning body 31 can be slidably inserted into the opening slot 3220 to achieve installation and disassembly. For example... Figure 35 In the middle, along the extending direction of the cleaning arm 3221, the top of the opening groove is open, and the bottom of the opening groove 3220 is closed, that is... Figure 35 The lower end face of the central opening groove 3220 is a closed end. The bottom of the opening groove 3220 is a closed end, meaning the end of the opening groove 3220 facing the second connecting rod 322 is a closed end. This closed end means the bottom of the opening groove 3220 is not connected to the side facing the lens. This closed end can be understood as fully closed or semi-closed; fully closed means... Figure 35 The opening groove 3220 shown has no through hole at the bottom; it is semi-closed, meaning the opening groove 3220 has a through hole at the bottom, but it does not directly extend from the bottom to the side of the opening groove facing the lens. During installation, the insertion part 310 is slid into the opening groove 3220 from the top. This structure facilitates the replacement of the cleaning body 31. Furthermore, as... Figure 33 , Figure 35 As shown, the connecting rod assembly 32 extends downward, allowing the cleaning body 31 to be close to the lens 21. In this structure, the base 12 and the body of the first driving member 33 are filled with sealant 43, which fully meets the IPX4 level waterproof requirement. A sealing ring 42 is fitted on the connecting short rod 3231 of the connecting rod assembly 32, and the sealing ring 42 abuts against the inner wall of the connecting hole.

[0152] Since the first embodiment corresponds to this embodiment, this embodiment can be implemented in conjunction with the first embodiment. The relevant technical details mentioned in the first embodiment remain valid in this embodiment, and the technical effects achievable in the first embodiment can also be achieved in this embodiment. To reduce repetition, they will not be repeated here. Correspondingly, the relevant technical details mentioned in this embodiment can also be applied to the first embodiment.

[0153] 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.

[0154] 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.

[0155] 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 cutting device, wherein the cutting device is disposed at the bottom of the machine body; A moving mechanism is disposed at the bottom of the body; as well as A front collision protection structure is connected to the fuselage and extends toward the bottom of the fuselage, covering the front end of the fuselage and blocking at least part of the front wheels of the cutting device and the moving mechanism from the front end of the fuselage. The front collision protection structure is separated from the ground; the fuselage includes: a fuselage body and a mounting cover connected to the fuselage body; The front collision protection structure includes multiple protrusions, which are connected to one end of the mounting cover facing the bottom of the fuselage.

2. The autonomous operating equipment according to claim 1, characterized in that, The protrusion is integrally formed with the mounting cover.

3. The autonomous operating equipment according to claim 1, characterized in that, The protrusion extends toward the bottom of the fuselage with a length greater than or equal to 2 mm.

4. The autonomous operating equipment according to claim 1, characterized in that, The distance between the protrusion and the ground is not less than half the height of the front wheel.

5. The autonomous operating equipment according to claim 1, characterized in that, The protrusions are arranged from the front end of the fuselage to both sides of the fuselage.

6. The autonomous operating equipment according to claim 5, characterized in that, The plurality of protrusions are arranged in a serrated structure along the circumferential direction of the mounting cover.

7. The autonomous operating equipment according to claim 5, characterized in that, The mounting cover includes a front section and a rear section connected sequentially from the front end of the fuselage to the rear end of the fuselage; the fuselage also includes a decorative side cover disposed on the side of the fuselage body, wherein the connection between the front section and the rear section of the mounting cover is located at the end of the decorative side cover facing the rear end of the fuselage. Multiple protrusions are provided at the front of the mounting cover.

8. The autonomous operating equipment according to claim 4, characterized in that, The plurality of protrusions are arranged in an extended length that covers at least half of the front circumference of the mounting cover.

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