Autonomous operation device and method for mounting visual module of autonomous operation device

Abstract

An autonomous operation device, comprising: a body (1); a cutting apparatus (2) connected to the body; a visual module (3) arranged on the top of the body; a supporting apparatus (4) connected to the body and the visual module; the supporting apparatus and the visual module surrounding the body to form at least one airflow channel (5) extending through from front to back; and a control module electrically connected to the cutting apparatus and the visual module, the control module being configured to control the autonomous operation device to travel autonomously and operate autonomously. The arrangement of the supporting apparatus improves the stability of the visual module. Further disclosed is a method for mounting a visual module.

Description

Installation method of autonomous operation equipment and its vision module Technical Field

[0001] This invention relates to the field of outdoor work equipment, and particularly to autonomous work equipment and its vision module installation method. Background Technology

[0002] Autonomous lawnmowers, with their primary function of trimming lawns, are becoming increasingly popular as they free users from complex and tedious labor. Intelligent lawnmowers include a vision module, which comprises cameras and other accessories for automatically identifying the work area. However, due to the complex working environment of intelligent lawnmowers, the existing installation structure of the vision module still needs improvement. Summary of the Invention

[0003] The purpose of this invention is to provide an autonomous operating device and a method for installing its vision module, thereby improving the installation structure of the vision module in at least one aspect.

[0004] To address the aforementioned technical problems, embodiments of the present invention provide an autonomous operating device, comprising:

[0005] body;

[0006] A cutting device, which is connected to the machine body;

[0007] A vision module is located on the top of the fuselage;

[0008] A support device, connected to the fuselage and the vision module; the support device and the vision module form at least one through-flow airflow channel around the fuselage; and

[0009] A control module is electrically connected to the cutting device and the vision module; the control module is used to control the autonomous operating equipment to move and operate autonomously.

[0010] In one embodiment, the support device has a first support member and a second support member, both of which are connected to the fuselage body; and the vision module is clamped between the first support member and the second support member.

[0011] The first support member and the vision module form the airflow channel around the fuselage, and / or the second support member and the vision module form the airflow channel around the fuselage.

[0012] In one embodiment, the distance between the first support and the second support gradually increases from the inlet side of the airflow channel to the outlet side of the airflow channel.

[0013] In one embodiment, the first support member and the second support member are disposed opposite to each other along the width direction of the fuselage; the airflow channel extends toward the length direction of the fuselage.

[0014] In one embodiment, the extension line of the first support member toward the front end of the fuselage intersects the extension line of the second support member toward the front end of the fuselage at the front end of the fuselage.

[0015] In one embodiment, the angle between the extension line of the first support member toward the front end of the fuselage and the extension line of the second support member toward the front end of the fuselage is in the range of 20° to 30°.

[0016] In one embodiment, the vision module has a visual functional surface facing the front end of the fuselage and a visual back surface disposed opposite to the visual functional surface; the visual functional surface and the visual back surface are disposed opposite to each other along the length direction of the fuselage; the first support member and the second support member are connected to the side wall surface between the visual functional surface and the visual back surface.

[0017] In one embodiment, the fuselage includes: a fuselage body and a base disposed on the fuselage body, wherein the base supports the vision module; the cutting device and the supporting device are connected to the fuselage body; the supporting device and the vision module form the airflow channel around the base and the fuselage body.

[0018] In one embodiment, the autonomous operating device further includes a cleaning component disposed on the base for cleaning the lens of the vision module; the cleaning component includes a cleaning body and a first driving member for driving the cleaning body; the first driving member is electrically connected to the control module, and the first driving member is disposed in the base and connected to the base.

[0019] In one embodiment, the output axis of the first driving member is parallel to the main optical axis of the vision module, and both are tilted forward and downward.

[0020] In one embodiment, the angle between the output axis of the first drive and the main optical axis of the vision module and the horizontal plane is both in the range of 10° to 30°.

[0021] In one embodiment, the cleaning component further includes: a bracket sleeved on the output side of the first drive member, and a first fixing member connecting the bracket and the base; the bracket has a first mounting hole; the first fixing member passes through the first mounting hole from bottom to top and is inserted into the first connecting hole of the base.

[0022] In one embodiment, the vision module includes: a mounting housing having a mounting opening, an imaging element disposed in the mounting housing, a housing cover closing the mounting opening, and a second fixing member;

[0023] The second fastener connects the mounting shell and the base from top to bottom; the vertical axis of the second fastener passes through the mounting opening; before the shell cover is placed on the mounting shell, there are no obstructions in the area from the second fastener to the mounting opening along the vertical axis of the second fastener.

[0024] In one embodiment, the top of the base is provided with a first wire-passing hole, and the outer periphery of the first wire-passing hole is provided with a first flange; the bottom of the vision module is provided with a second wire-passing hole, and the outer periphery of the second wire-passing hole is provided with a second protruding ring.

[0025] The first flange is sealed and connected to the second convex ring, and the second wire passage hole is disposed opposite to and communicates with the first wire passage hole;

[0026] The base has a second connecting hole in the area surrounded by the first flange, and the bottom of the vision module has a second mounting hole in the area surrounded by the second convex ring. The second fastener is inserted into the second connecting hole and the second mounting hole.

[0027] In one embodiment, a first mating member is further provided on the top of the base, and the first mating member is located on the side of the first flange facing the front end of the fuselage;

[0028] The bottom of the vision module is also provided with a second mating component, which is connected to the first mating component.

[0029] In one embodiment, the cover is a heat dissipation component, and the mounting opening is an open opening of the mounting shell facing the rear end of the fuselage; a sealing component is clamped between the cover and the mounting shell, and the support device is connected to the mounting shell.

[0030] In one embodiment, the support device has a first support member and a second support member, both of which are connected to the fuselage body; and the vision module and the base are sandwiched between the first support member and the second support member.

[0031] The first support member and the vision module form the airflow channel around the fuselage body and the base, and / or the second support member and the vision module form the airflow channel around the fuselage body and the base; the airflow channel extends along the length direction of the fuselage.

[0032] Embodiments of the present invention also provide a method for installing a vision module in an autonomous operating device, the autonomous operating device comprising:

[0033] The fuselage includes: a fuselage body and a base disposed on the top of the fuselage body;

[0034] A cutting device, which is connected to the machine body;

[0035] A vision module is provided, and the base supports the vision module. The vision module includes: a mounting shell with a mounting opening, an imaging element disposed in the mounting shell, a shell cover that closes the mounting opening, and a second fixing member; the second fixing member connects the mounting shell and the base from top to bottom.

[0036] A support device, connected to the body and the mounting housing, supports the vision module; and

[0037] A control module is electrically connected to the cutting device and the vision module; the control module is used to control the autonomous operating equipment to move and operate autonomously.

[0038] The method for installing the vision module includes:

[0039] Connect the mounting shell to the support device;

[0040] The mounting shell with the support device is fixedly connected to the base, and the support device is installed on the fuselage body;

[0041] Install the cover onto the mounting shell to seal the mounting opening. Attached Figure Description

[0042] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0043] Figure 1 is a schematic diagram of the structure of an autonomous operating device according to an embodiment of the present invention;

[0044] Figure 2 is a top view of an autonomous operating device according to an embodiment of the present invention;

[0045] Figure 3 is an exploded view of the vision module, support device, and cleaning components on the machine body according to an embodiment of the present invention;

[0046] Figure 4 is a schematic diagram of the structure of a vision module according to an embodiment of the present invention;

[0047] Figure 5 is an enlarged view of the base of the autonomous operating device according to an embodiment of the present invention;

[0048] Figure 6 is an exploded view of the cleaning component according to an embodiment of the present invention;

[0049] Figure 7 is a top view of an autonomous operating device according to an embodiment of the present invention;

[0050] Figure 8 is a cross-sectional view of X1-X1 in Figure 7;

[0051] Figure 9 is a magnified view of part A in Figure 8;

[0052] Figure 10 is a cross-sectional view along X2-X2 in Figure 7;

[0053] Figure 11 is a magnified view of part B in Figure 10;

[0054] Figure 12 is a cross-sectional view along line X3-X3 in Figure 7. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the various embodiments of the present invention 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 presented in the various embodiments of the present invention to enable the reader to better understand this application. However, the technical solutions claimed in this application can be implemented even without these technical details and various changes and modifications based on the following embodiments.

[0056] In the following description, certain specific details are set forth for the purpose of illustrating various disclosed embodiments in order to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the art will recognize that embodiments may be practiced without one or more of these specific details. In other instances, well-known apparatuses, structures, and techniques associated with this application may not have been shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

[0057] 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”.

[0058] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings to provide a clearer understanding of the purpose, features, and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are merely illustrative of the essential spirit of the technical solution of the present invention.

[0059] 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.

[0060] 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.

[0061] In the following description, in order to clearly demonstrate the structure and working method of the present invention, 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.

[0062] Embodiments of the present invention are described below with reference to the accompanying drawings.

[0063] One embodiment of the present invention relates to an autonomous working device 100. This autonomous working device 100 is particularly a robot capable of autonomously moving within a preset area and performing specific tasks, typically such as an intelligent lawnmower performing grass-cutting operations. The specific tasks specifically refer to operations that process the work surface, changing its state. The present invention will be described in detail using an intelligent lawnmower as an example. The autonomous working device 100 can autonomously move on the surface of the work area, and in particular, as an intelligent lawnmower, it can autonomously perform grass-cutting operations on the ground.

[0064] As shown in Figures 1-3, the autonomous operating equipment 100 includes a body 1, a cutting device 2, a vision module 3, and a control module.

[0065] The body 1 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 100. The moving mechanism 7 is constructed to support the main body on the ground and drive the main body to move on the ground. It typically includes wheeled moving mechanisms, 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 device 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 also include a steering mechanism independent of the drive wheels and a steering prime mover independent of the walking prime mover. In this embodiment, the moving mechanism also includes at least one driven wheel, which is typically constructed as a caster wheel, and the drive wheels and the driven wheels are located at the front and rear ends of the autonomous operating device, respectively.

[0066] The energy module is configured to provide energy for the various operations of the autonomous operating device 100. 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 device.

[0067] The detection module is constructed as at least one sensor that senses environmental parameters or its own operating parameters of the autonomous operating device 100. 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 100 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 100 to make the user perceive information through light or sound. In other embodiments, the interaction module includes a communication module installed on the autonomous operating device 100 and a terminal device independent of the autonomous operating device 100, 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 100 via wired or wireless communication modules.

[0069] The 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 autonomous operating device 100 to perform actions such as movement and operation according to the computer programs or instruction sets. Furthermore, the control module can also control and adjust the corresponding behavior of the autonomous operating device 100 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 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 2 is at least a part of the working mechanism, and the cutting device 2 is located at the bottom of the body 1. The cutting device 2 includes cutting blades and an electric motor.

[0071] As shown in Figures 1 and 2, the vision module 3 is located on the top of the machine body 1. The control module is electrically connected to the cutting device 2 and the vision module 3. The control module is used to control the autonomous operation equipment 100 to move and operate autonomously.

[0072] In addition, as shown in Figures 1 and 2, the autonomous operating equipment 100 also includes a support device 4, which is connected to the body 1 and the vision module 3.

[0073] In addition, as shown in Figures 1 and 2, the support device 4 and the vision module 3 form at least one airflow channel 5 that runs through the front and back of the body 1. When the autonomous operating equipment 100 moves, the airflow passes through the airflow channel 5, which balances the mechanical strength, reduces resistance, and provides better ventilation and heat dissipation for the vision module.

[0074] As can be seen from the above, setting the vision module 3 on the body 1 increases the height of the vision module 3, making the vision module 3 more effective. However, the autonomous operating equipment 100 operates in a complex environment, and the structure protruding from the body 1 is easily damaged, requiring higher mechanical strength. The installation strength of the vision module is improved by setting the support device 4, and the vision module 3 outside the body 1 is not easily damaged.

[0075] As shown in Figures 1, 3, and 4, the vision module 3 has a bottom surface 303 facing the fuselage 1, a top surface 304 opposite to the bottom surface, and an outer peripheral surface 305 surrounding the bottom surface 303 and the top surface 304. In this embodiment, the surface of the outer peripheral surface 305 facing the front end of the fuselage 1 is the vision functional surface 302, and the surface facing the rear end of the fuselage 1 is the vision back surface 301. In other embodiments, the vision functional surface 302 may face the rear end of the fuselage 1 or other directions of the fuselage 1. The support device 4 is connected to the outer peripheral surface 305 of the vision module 3 to support the vision module 3. The support device 4 may also be connected to the top surface of the vision module 3 to support the vision module 3.

[0076] In this embodiment, an airflow channel 5 is provided. In other embodiments, the airflow channel 5 may not be provided, and the outer peripheral surface 305 or the top surface 304 of the vision module 3 may be supported by a support device 4.

[0077] Further, as shown in Figures 1 and 2, the support device 4 has a first support member 41 and a second support member 42 disposed opposite to the first support member 41. Both the first support member 41 and the second support member 42 are connected to the body 1. In this embodiment, the support device 4 is disposed on the top of the body 1. In other embodiments, the support device 4 may be disposed on the side of the body 1 and extend to connect with the vision module 3. The vision module 3 is sandwiched between the first support member 41 and the second support member 42, so that the vision module 3 is supported on both sides, resulting in better stability and higher strength.

[0078] In this embodiment, the first support member 41 and the second support member 42 are both connected to the outer peripheral surface 304 of the vision module 3. In other embodiments, they can also be connected to the top surface of the vision module 3.

[0079] In addition, as shown in Figures 1 and 2, the first support member 41 and the second support member 42 are spaced apart along the width direction of the fuselage 1.

[0080] Further, as shown in Figures 1 and 2, the first support member 41 and the vision module 3 form an airflow channel 5 around the fuselage 1, and the second support member 42 and the vision module 3 also form an airflow channel 5 around the fuselage 1, resulting in two airflow channels 5. In other embodiments, there may be only one airflow channel 5. Furthermore, the structure of the support device 4 is not limited to the structure in this application where the first support member 41 and the second support member 42 cooperate; there are other structures as well, and the number of airflow channels 5 may be greater.

[0081] As shown in Figures 1 and 2, the distance between the first support member 41 and the second support member 42 gradually increases from the inlet side of the airflow channel 5 to the outlet side of the airflow channel 5. In this embodiment, the inlet side is the side facing the front end of the fuselage 1, and the outlet side is the side facing the rear end of the fuselage 1. Preferably, the airflow channel 5 extends along the length direction of the fuselage 1. The length direction of the fuselage 1 is the direction from the end of the fuselage 1 to the rear end, which is also the direction in which the autonomous operating device 100 moves forward.

[0082] As shown in Figures 1 and 2, the extension line of the first support member 41 toward the front end of the fuselage 1 and the extension line of the second support member 42 toward the front end of the fuselage 1 intersect at the front end of the fuselage 1.

[0083] As shown in Figures 1 and 2, the angle β between the extension line of the first support member 41 toward the front end of the fuselage 1 and the extension line of the second support member 42 toward the front end of the fuselage 1 ranges from 20° to 30°. Optionally, the angle β is 25°, 27°, or 29°.

[0084] Further, as shown in Figures 1 and 2, the vision module 3 has a visual functional surface 302 facing the front end of the body 1, and a visual back surface 301 disposed opposite to the visual functional surface 302. The visual functional surface 302 and the visual back surface 301 are disposed opposite to each other along the length direction of the body 1, and the first support member 41 and the second support member 42 are connected to the side wall between the visual functional surface 302 and the visual back surface 301. The visual functional surface 302 is the shooting surface of the lens 321 of the vision module 3. In other embodiments, the first support member 41 and the second support member 42 may also be connected to the visual back surface 301. In this embodiment, the lens 321 faces the front end of the body 1; in other embodiments, the lens 321 may also face the rear end of the body 1 or the side of the body 1.

[0085] Further, as shown in Figures 1 and 2, the fuselage 1 includes: a fuselage body 11 and a base 12 disposed on the fuselage body 11, wherein the base 12 supports the vision module 3, and the cutting device 2 and the support device 4 are connected to the fuselage body 11. The support device 4 and the vision module 3 form an airflow channel 5 around the base 12 and the fuselage body 11.

[0086] Specifically, in this embodiment, as shown in Figures 1 and 2, the first support member 41 and the vision module 3 form an airflow channel 5 around the fuselage body 11 and the base 12. Similarly, the second support member 42 and the vision module 3 also form an airflow channel 5 around the fuselage body 11 and the base 12, with the airflow channel 5 extending along the length of the fuselage 1. In this structure, the first support member 41 and the second support member 42 are engaged with the fuselage body 11, while the first support member 41 is separated from the base 12. The first support member 41, the sidewall of the vision module 3, the sidewall of the base 12, and the fuselage body 11 surround each other to form the airflow channel 5, and the second support member 42 forms the airflow channel 5 in the same manner. In other embodiments, the first support member 41 or the second support member 42 may also partially extend to engage with the base 12, but the airflow channel 5 remains.

[0087] Additionally, as shown in Figures 3, 7, and 11, the autonomous operating device 100 further includes a cleaning component 6, which is mounted on the base 12 and used to clean the lens 321 of the vision module 3. The cleaning component 6 includes a cleaning body 61 and a first driving member 62 that drives the cleaning body 61. The first driving member 62 is electrically connected to the control module and is located in and connected to the base 12. Specifically, the cleaning body 61 can be a windshield wiper, and the first driving member 62 can be a motor. Understandably, the cleaning body 61 can also be a brush or other cleanable tool.

[0088] As shown in Figures 7, 10, and 11, the output axis of the first driving component 62 is parallel to the main optical axis P of the vision module 3, and both are tilted forward and downward, that is, tilted towards the front end of the body 1.

[0089] As shown in Figures 7 and 10, the angle α between the output axis L of the first driving component 62 and the main optical axis P of the vision module 3 and the horizontal plane is both in the range of 10° to 30°. Optionally, the angle α can be in the range of 15° to 20°. Preferably, the angle can be in the range of 16°, 17° or 18°.

[0090] Additionally, as shown in Figures 1 and 3, the cleaning component 6 further includes: a bracket 64 sleeved on the output side of the first drive component 62, and a first fixing member 65 connecting the bracket 64 and the base 12. The bracket 64 has a first mounting hole 66, and the first fixing member 65 passes through the first mounting hole 66 from bottom to top and is inserted into the first connecting hole 121 of the base 12.

[0091] Further, as shown in Figures 1 and 2, the bracket 64 has a middle portion 641 sleeved on the output side of the first drive member 62, and a pair of connecting ears 642 extending from the middle portion 641 to both sides. The first drive member 62 is fixedly connected to the middle portion 641, and each connecting ear 642 is provided with a first mounting hole 66.

[0092] Further, as shown in Figures 2 and 6, the intermediate portion 641 has an output hole 643 for insertion of the output side of the first driving member 62. The cleaning component 6 also includes a gasket 67 disposed on the outer periphery of the output hole 643. The cleaning body 61 is connected to the output shaft of the first driving member 62 through the output hole 643, and the gasket 67 is clamped between the intermediate portion 641 and the cleaning body 61. The control module can drive the first driving member 62 to rotate the cleaning body 61, thereby cleaning the lens 321 of the vision module 3.

[0093] Specifically, as shown in Figures 2 and 6, during installation, the bracket 64 is fitted onto the output side of the first drive member 62. The first drive member 62 has an extension plate 621, which is locked to the screw hole 68 of the middle part 641 by screws, thus fixing the bracket 64 and the first drive member 62. The axis of the first mounting hole 66 can be vertical, or, understandably, slightly inclined can also be understood as vertical. The first fixing member 65 can be a screw, which is inserted vertically from bottom to top into the first mounting hole 66 and the first connecting hole 121 of the base 12, thereby installing the first drive member 62 onto the base 12. In addition, the outer periphery of the output hole 643 of the middle part 641 has a boss for inserting a gasket 67. The gasket 67 can be a felt with waterproof and dustproof functions. The output shaft of the first drive member 62 is inserted into the cleaning body 61 through the output hole 643. The gasket 67 is used to seal the cleaning body 61 and the middle part 641, preventing water from entering from the output hole 643 area.

[0094] As shown in Figures 4, 5, 7, and 8, the vision module 3 includes: a mounting shell 31 with a mounting opening, an imaging element 32 disposed within the mounting shell 31, a cover 33 that closes the mounting opening, and a second fixing member 34. As shown in Figures 8, 11, and 12, the second fixing member 34 connects the mounting shell 31 and the base 12 from top to bottom. Before the cover 33 is placed on the mounting shell 31, there are no obstructions in the area from the second fixing member 34 to the mounting opening along its vertical axis M; that is, the vertical axis of the second fixing member 34 passes through the mounting opening. This facilitates operation when the vision module 3 is installed on the base 12. For example, the second fixing member 34 can be a screw, with no obstructions above its central axis, ensuring that it can be operated using a regular screwdriver.

[0095] Additionally, as shown in Figures 4 and 5, the top of the base 12 has a first wire-passing hole 122, and the outer periphery of the first wire-passing hole 122 is provided with a first flange 125. The bottom of the vision module 3 has a second wire-passing hole 35, and the outer periphery of the second wire-passing hole 35 is provided with a second protruding ring 36. The first flange 125 and the second protruding ring 36 are sealed together, and the second wire-passing hole 35 is opposite to and communicates with the first wire-passing hole 122. As shown in Figures 8, 11, and 12, the area of ​​the base 12 surrounded by the first flange 125 has a second connecting hole 123, and the area of ​​the bottom of the vision module 3 surrounded by the second protruding ring 36 has a second mounting hole 38. The second fastener 34 is inserted into the second connecting hole 123 and the second mounting hole 38. The inner cavity of the base 12 communicates with the inner cavity of the main body 11. The wiring of the imaging element 32 and the control circuit in the vision module 3 can enter the base 12 through the first wiring hole 122 and the second wiring hole 35, thereby guiding them into the inner cavity of the main body 11 and electrically connecting them to the control module. Additionally, the second convex ring 36 has a groove 361 for embedding the sealing strip 8. When the outer casing is installed on the base 12, the first flange 125 is embedded in the groove 361 and press-fits with the sealing strip 8 to achieve a seal, preventing water from entering the first wiring hole 122.

[0096] Furthermore, as shown in Figures 4 and 5, a first mating part 124 is also provided on the top of the base 12, and the first mating part 124 is located on the side of the first flange 125 facing the front end of the body 1. A second mating part 37 is also provided at the bottom of the vision module 3, and the second mating part 37 is connected to the first mating part 124. The first mating part 124 and the second mating part 37 can be mutually cooperating protruding retaining rings. After assembly, the first mating part 124 is outside the second mating part 37, thereby realizing the positioning and docking between the vision module 3 and the base 12.

[0097] Further, as shown in Figures 2, 4, and 11, Figure 4 is a schematic diagram of the inverted visual module, with the bottom surface 303 facing upwards. The cover 33 is a heat dissipation component, i.e., the structure with multiple grids on the right side of Figure 4, and the mounting opening is an open opening of the mounting shell 31 facing the rear end of the body 1. A sealing element 39 is clamped between the cover 33 and the mounting shell 31, and the support device 4 is connected to the mounting shell 31. During installation, the cover 33 is not installed first. After the mounting shell 31 is installed on the base 12, the cover 33 is finally used to seal the mounting opening, and a sealing ring is provided between the cover 33 and the mounting shell 31 to prevent water leakage.

[0098] In this embodiment, as shown in Figures 3, 8, and 9, the support device 4 is snapped together with the mounting shell 31 and the main body 11. For example, the first support member 41 is provided with a protruding structure 411, which snaps into the annular protrusion 306 on the vision module. The bottom of the first support member 41 is provided with a base 412, which is embedded in the recess 13 of the main body 11, and a protrusion in the recess 13 snaps into the base 412, thereby realizing the installation of the support device 4 and the main body 11. This installation structure is only an exemplary structure, and other forms can be used in actual installation structures.

[0099] In this embodiment, after the base 12, the first driving component 62, and the bracket 64 are assembled, the vision module 3 and the support device 4 are installed. Specifically, when installing the vision module 3, after the imaging component 32, i.e., the camera and other components, are installed into the mounting shell 31, the support device 4 is first installed onto the mounting shell 31, as shown in the figure, the first support component 41 and the second support component 42 are snapped into the mounting shell 31. Then, the support device 4 and the mounting shell 31 are installed together, so that the mounting shell 31 aligns with the base 12, the first flange 125 aligns with the second protruding ring 36, the second mating component 37 aligns with the first mating component 124, and the first support component 41 and the second support component 42 are snapped into the body 11. Then, the second fixing component 34 is inserted from top to bottom into the second connecting hole 123 and the second mounting hole 38 to fix the mounting shell 31 to the base 12. After the wiring of the vision module 3 is installed, the cover 33 is finally installed onto the mounting shell 31 to seal the mounting opening.

[0100] The second embodiment of the present invention relates to a method for installing a vision module 3 in an autonomous operating device. As shown in Figures 1 and 3, this method for installing the vision module 3 is used in the autonomous operating device 100 of the first embodiment. The structure of the autonomous operating device 100 is as described in the first embodiment, and will not be repeated here. The method for installing the vision module 3 includes:

[0101] Step 100: Connect the mounting shell 31 to the support device 4;

[0102] Step 200: The mounting shell 31 with the support device 4 is fixedly connected to the base 12, and the support device 4 is installed on the fuselage body 11.

[0103] Step 300: Install the cover 33 onto the mounting shell 31 to close the mounting opening. Specifically, as in the first embodiment, it will not be repeated here.

[0104] It is not difficult to see that this embodiment is a system embodiment corresponding to the first embodiment, and this embodiment can be implemented in conjunction with the first embodiment. The relevant technical details mentioned in the first embodiment are still valid in this embodiment, and will not be repeated here to reduce repetition. Accordingly, the relevant technical details mentioned in this embodiment can also be applied to the first embodiment.

[0105] The steps of the various methods described above are only for clarity. In practice, they can be combined into one step or some steps can be split into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent. Adding insignificant modifications or introducing insignificant designs to the algorithm or process, but without changing the core design of the algorithm and process, are also within the scope of protection of this patent.

[0106] 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.

[0107] 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.

[0108] Those skilled in the art will understand that the above embodiments are specific embodiments for implementing the present invention, and in practical applications, various changes in form and detail may be made 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, which is connected to the machine body; A vision module is located on the top of the fuselage; A support device, which is connected to the fuselage and the vision module; The support device and the vision module form at least one airflow channel that runs through the front and back of the fuselage. as well as A control module is electrically connected to the cutting device and the vision module; the control module is used to control the autonomous operating equipment to move and operate autonomously.

2. The autonomous operating equipment according to claim 1, characterized in that, The support device has a first support member and a second support member, both of which are connected to the main body of the machine; and the vision module is clamped between the first support member and the second support member. The first support member and the vision module form the airflow channel around the fuselage, and / or the second support member and the vision module form the airflow channel around the fuselage.

3. The autonomous operating equipment according to claim 2, characterized in that, The distance between the first support and the second support gradually increases from the inlet side of the airflow channel to the outlet side of the airflow channel.

4. The autonomous work apparatus according to claim 3, characterized by, The first support member and the second support member are arranged opposite each other along the width direction of the fuselage; the airflow channel extends toward the length direction of the fuselage.

5. The autonomous work equipment of claim 4, wherein, The extension line of the first support member toward the front end of the fuselage intersects the extension line of the second support member toward the front end of the fuselage at the front end of the fuselage.

6. The autonomous operating equipment according to claim 5, characterized in that, The angle between the extension line of the first support member toward the front end of the fuselage and the extension line of the second support member toward the front end of the fuselage is in the range of 20° to 30°.

7. The autonomous work equipment of claim 2, wherein, The vision module has a vision functional surface facing the front of the fuselage and a vision back surface disposed opposite to the vision functional surface; the vision functional surface and the vision back surface are disposed opposite to each other along the length direction of the fuselage; the first support member and the second support member are connected to the side wall surface between the vision functional surface and the vision back surface.

8. The autonomous operating equipment according to claim 1, characterized in that, The fuselage includes: a fuselage body and a base disposed on the fuselage body, wherein the base supports the vision module; the cutting device and the supporting device are connected to the fuselage body; the supporting device and the vision module form the airflow channel around the base and the fuselage body.

9. The autonomous operating equipment according to claim 8, characterized in that, The autonomous operating device further includes a cleaning component, which is disposed on the base and is used to clean the lens of the vision module; the cleaning component includes a cleaning body and a first driving member for driving the cleaning body; the first driving member is electrically connected to the control module, and the first driving member is disposed in the base and connected to the base.

10. The autonomous operating equipment according to claim 9, characterized in that, The output axis of the first driving component is parallel to the main optical axis of the vision module, and both are tilted forward and downward.

11. The autonomous operating equipment according to claim 10, characterized in that, The angle between the output axis of the first driving component and the main optical axis of the vision module and the horizontal plane is both between 10° and 30°.

12. The autonomous operating equipment according to claim 9, characterized in that, The cleaning component further includes: a bracket sleeved on the output side of the first drive member, and a first fixing member connecting the bracket and the base; the bracket has a first mounting hole; the first fixing member passes through the first mounting hole from bottom to top and is inserted into the first connecting hole of the base.

13. The autonomous operating equipment according to claim 8, characterized in that, The vision module includes: a mounting shell with a mounting port, an imaging element disposed in the mounting shell, a shell cover that closes the mounting port, and a second fixing element; The second fastener connects the mounting shell and the base from top to bottom; the vertical axis of the second fastener passes through the mounting opening; before the shell cover is placed on the mounting shell, there are no obstructions in the area from the second fastener to the mounting opening along the vertical axis of the second fastener.

14. The autonomous operating equipment according to claim 13, characterized in that, The base has a first wire-passing hole at the top, and a first flange is provided around the outer periphery of the first wire-passing hole; the vision module has a second wire-passing hole at the bottom, and a second convex ring is provided around the outer periphery of the second wire-passing hole. The first flange is sealed and connected to the second convex ring, and the second wire passage hole is opposite to and communicates with the first wire passage hole; The base has a second connecting hole in the area surrounded by the first flange, and the bottom of the vision module has a second mounting hole in the area surrounded by the second convex ring. The second fastener is inserted into the second connecting hole and the second mounting hole.

15. The autonomous operating equipment according to claim 14, characterized in that, The base is also provided with a first mating component on its top, which is located on the side of the first flange facing the front end of the fuselage. The bottom of the vision module is also provided with a second mating component, which is connected to the first mating component.

16. The autonomous operating equipment according to claim 13, characterized in that, The cover is a heat dissipation component, and the mounting port is an open opening of the mounting shell facing the rear end of the fuselage; a sealing component is clamped between the cover and the mounting shell, and the support device is connected to the mounting shell.

17. The autonomous operating equipment according to claim 8, characterized in that, The support device has a first support member and a second support member, both of which are connected to the fuselage body; and the vision module and the base are clamped between the first support member and the second support member. The first support member and the vision module form the airflow channel around the fuselage body and the base, and / or the second support member and the vision module form the airflow channel around the fuselage body and the base; the airflow channel extends along the length direction of the fuselage.

18. A method for installing a vision module in an autonomous operating device, characterized in that, The autonomous operating equipment includes: The fuselage includes: a fuselage body and a base disposed on the top of the fuselage body; A cutting device, which is connected to the machine body; A vision module is provided, and the base supports the vision module. The vision module includes: a mounting shell with a mounting opening, an imaging element disposed in the mounting shell, a shell cover that closes the mounting opening, and a second fixing member; the second fixing member connects the mounting shell and the base from top to bottom. A support device, connected to the body and the mounting housing, supports the vision module; and A control module is electrically connected to the cutting device and the vision module; the control module is used to control the autonomous operating equipment to move and operate autonomously. The method for installing the vision module includes: Connect the mounting shell to the support device; The mounting shell with the support device is fixedly connected to the base, and the support device is installed on the fuselage body; Install the cover onto the mounting shell to seal the mounting opening.

19. The autonomous operating equipment according to claim 1, characterized in that, include: body; A cutting device, which is connected to the machine body; A vision module is located on the top of the fuselage; A support device, which is connected to the fuselage and the vision module; The support device, the visual module The blocks surround the fuselage to form at least one airflow channel that runs from front to back; as well as A control module, electrically connected to the cutting device and the vision module, is used for... Control the autonomous operating equipment to move and operate autonomously.

20. The autonomous operating equipment according to claim 19, characterized in that, The support device has a first support member and The second support member, both the first and second support members are connected to the main body; and the vision module clamp It is held between the first support member and the second support member; The first support member and the vision module form the airflow channel around the fuselage, and / or the second support member, The vision module forms the airflow channel around the fuselage.

21. The autonomous operating equipment according to claim 1, characterized in that, include: The fuselage includes: a fuselage body and a base disposed on the top of the fuselage body; A cutting device, which is connected to the machine body; The vision module is supported by the base; the vision module includes: a mounting shell with a mounting port, and a... The mounting housing includes a camera, a cover that seals the mounting opening, and a second fixing member; the second fixing member connects the mounting housing and the base from top to bottom; the vertical axis of the second fixing member passes through the mounting opening. A support device, wherein the support device is disposed and connected to the fuselage and to the mounting housing; and A control module, electrically connected to the cutting device and the vision module, is used for... Control the autonomous operating equipment to move and operate autonomously.

22. The autonomous operating equipment according to claim 21, characterized in that, When the mounting port is open, the first There are no obstructions in the area from the second fastener to the mounting opening along the vertical axis of the two fasteners; The base has a first wire-passing hole at the top, and a first flange is provided around the outer periphery of the first wire-passing hole; the vision module has a second wire-passing hole at the bottom, and a second convex ring is provided around the outer periphery of the second wire-passing hole. The first flange and the second convex ring are sealed together, and the second wire hole is disposed opposite to the first wire hole. Interconnected; The base has a first connection hole in the area surrounded by the first flange, and the bottom of the vision module has a second mounting hole in the area surrounded by the second convex ring. The second fastener is inserted into the first connection hole and the second mounting hole.

23. The autonomous operating equipment according to claim 1, characterized in that, include: The fuselage includes: a fuselage body and a base disposed on the top of the fuselage body; A cutting device, which is connected to the machine body; The visual module is supported by the base; A cleaning component, disposed on the base, is used to clean the lens of the vision module; the cleaning... The components include: a cleaning body, a first driving member for driving the cleaning body, a bracket sleeved on the output side of the first driving member, and a first fixing member connecting the bracket and the base; the bracket has a first mounting hole; the first fixing member passes through the first mounting hole from bottom to top and is inserted into a first connecting hole in the base; and A control module, which is electrically connected to the cutting device, the vision module, and the first drive component; The control module is used to control the autonomous operating equipment to move and operate autonomously.

24. The autonomous operating equipment according to claim 23, characterized in that, The bracket has a sleeve on the first The first drive member has a middle portion on the output side and a pair of connecting ears extending from the middle portion to both sides; the first drive member is fixedly connected to the middle portion, and each of the connecting ears is provided with the first mounting hole.

25. The autonomous operating equipment according to claim 1, characterized in that, include: body; A cutting device, which is connected to the machine body; A vision module, wherein the vision module is disposed on the top of the fuselage, and the vision module has a bottom surface facing the fuselage. A top surface disposed opposite to the bottom surface, and an outer peripheral surface surrounding the bottom surface and the top surface; A support device is connected to the body and to the outer peripheral surface and / or top surface of the vision module. Support the aforementioned visual module; as well as A control module, electrically connected to the cutting device and the vision module, is used for... Control the autonomous operating equipment to move and operate autonomously.

26. The autonomous operating equipment according to claim 25, characterized in that, The support device has a first support member and The second support member, and both the first support member and the second support member are connected to the main body of the machine body and to the outer peripheral surface and / or top surface of the vision module; The vision module is clamped between the first support and the second support.

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