Autonomous operation apparatus

Abstract

Disclosed in the present application is an autonomous operation apparatus, comprising: an apparatus body, the apparatus body comprising a chassis and a decorative cover; a windscreen wiper structure for cleaning a camera; a waterproof structure, which comprises a windscreen wiper waterproof structure and a camera waterproof structure; a height-adjustment knob structure; a pressure-balancing structure; and a flip cover magnetic attraction structure and a protective structure.

Description

An autonomous operating device Technical Field

[0001] This application relates to the field of outdoor work equipment, specifically to an autonomous work equipment. Background Technology

[0002] Currently, autonomous robots with dual-lens cameras often experience lens accumulating dirt and grime in complex outdoor environments, hindering their operation and effectively blocking the robot's "eyes." This is particularly noticeable in rainy weather, where raindrops can render the robot inoperable, severely impacting user experience. Most autonomous robots on the market lack a lens cleaning function. While the recently launched YUKA (LuBa) lawnmower features a wiper system, its design uses a vertical shaft driven by a motor. The wiper blade at the end of the arm scrapes the lens, but due to the significant distance between the motor output shaft and the wiper blade acting on the lens, it's difficult to maintain constant contact. This results in incomplete or missed wiping. Even when wiping occurs, wear and tear over time can cause the blade to drift away from the lens, leading to further scrambling. Furthermore, this solution is inconvenient for future replacements, requiring the entire wiper arm to be disassembled, resulting in high maintenance costs. Utility Model Content

[0003] To address the aforementioned technical problems, this application provides an autonomous operating device, comprising:

[0004] The fuselage includes a chassis and a decorative cover;

[0005] Wiper structure for cleaning the camera;

[0006] Waterproof structures, including waterproof wiper structures and waterproof camera structures;

[0007] Adjustment knob structure;

[0008] Pressure balancing structure;

[0009] Flip-top magnetic closure;

[0010] And protective structures. Attached Figure Description

[0011] The present application will be further described below with reference to the accompanying drawings.

[0012] Figure 1 is a schematic diagram of the autonomous operation equipment;

[0013] Figure 2 is a cross-sectional view of section AA of the autonomous operating equipment after the moving mechanism has been removed;

[0014] Figure 3 is an enlarged view of point A in Figure 2;

[0015] Figure 4 is an enlarged view of point B in Figure 2;

[0016] Figure 5 is a schematic diagram of the MIPI line sealing assembly structure;

[0017] Figure 6 is a cross-sectional view of the lens;

[0018] Figure 7 is an enlarged view of point C in Figure 6;

[0019] Figure 8 is a schematic diagram of the inside of the lens housing;

[0020] Figure 9 is a schematic diagram of one embodiment of the wiper structure;

[0021] Figure 10 is a schematic diagram of another embodiment of the wiper structure;

[0022] Figure 11-13 is a schematic diagram of the flexible wiper structure in the wiper structure;

[0023] Figure 14 is a schematic diagram of the installation position of the height adjustment knob structure;

[0024] Figure 15 is a schematic diagram of the structure and transmission components of the height adjustment knob.

[0025] Figure 16-17 is an exploded view of the height adjustment knob structure;

[0026] Figures 18a-18b show two different positions of the height adjustment knob.

[0027] Figure 19-20 is a schematic diagram of the pressure balance structure;

[0028] Figure 21 is a schematic diagram of the exploded structure of the chassis;

[0029] Figure 22 is a schematic diagram of the pressure balancing assembly structure;

[0030] Figure 23 is a schematic diagram of the flip cover magnetic closure structure;

[0031] Figure 24 is a schematic diagram of the magnetic component structure in Figure 23;

[0032] Figure 25 is a schematic diagram of the flip cover;

[0033] Figure 26 is a schematic diagram of the protrusion;

[0034] Figure 27 is a schematic diagram of the edge and handle structure of the flap;

[0035] Figure 28 is a schematic diagram of the protective structure;

[0036] Figure 29 is a schematic diagram showing the relationship between the protective structure and the front wheel height;

[0037] Figure 30 is a schematic diagram showing the positions of the front, side, and rear sections of the decorative cover. Detailed Implementation

[0038] The various aspects of this application are further detailed below.

[0039] Unless otherwise defined or stated, all technical and scientific terms used herein have the same meaning as are familiar to one skilled in the art. Furthermore, any methods and materials similar to or equivalent to those described herein may be applied to the methods of this application.

[0040] This application relates to an autonomous operating device, as shown in Figure 1. This autonomous operating device is particularly a robot capable of autonomously moving within a preset area and performing specific tasks, typically such as a smart sweeper or vacuum cleaner for cleaning, or a smart lawnmower for mowing. The specific tasks refer specifically to tasks that process a work surface, changing its state. This application uses a smart lawnmower as an example for detailed description. The autonomous operating device can autonomously move on the surface of the work area, and in particular, a smart lawnmower can autonomously perform mowing operations on the ground.

[0041] The machine body typically includes a chassis and an outer shell. The chassis is used to install and house functional mechanisms and modules such as the moving mechanism, working mechanism, energy module, detection module, interaction module, and control module. The outer shell is typically constructed to at least partially cover the chassis, primarily serving to enhance the aesthetics and recognizability of the autonomous operating equipment. The moving mechanism is constructed to support the main body on the ground and drive it to move on the ground. It typically includes wheeled, tracked, or half-tracked moving mechanisms, and walking moving mechanisms. In this embodiment, as shown in Figure 1, the moving mechanism is a wheeled moving mechanism, including at least one drive wheel and at least one prime mover. The prime mover is preferably an electric motor, but in other embodiments it can also be an internal combustion engine or a machine powered by other types of energy. In this embodiment, preferably, a left drive wheel, a left prime mover driving the left drive wheel, a right drive wheel, and a right prime mover driving the right drive wheel are provided. In this embodiment, the straight-line movement of the autonomous operating equipment is achieved by the left and right drive wheels rotating in the same direction at the same speed, while turning is achieved by the left and right drive wheels rotating at different speeds in the same direction or in opposite directions. In other embodiments, the moving mechanism may further include a steering mechanism independent of the drive wheels and a steering prime mover independent of the travel prime mover. In this embodiment, the moving mechanism also includes at least one driven wheel, typically configured as a caster wheel, with the drive wheels and the driven wheels located at the front and rear ends of the autonomous operating device, respectively.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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 execution of actions such as movement and operation of the autonomous operating device 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 and modify parameters in the memory based on signals from the detection module and / or user control commands.

[0046] 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 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.

[0047] The autonomous operating equipment also includes a waterproof structure and a wiper structure. The wiper structure is located on the body and includes a wiper arm and a wiper motor. The wiper motor can drive the wiper arm to clean the camera lens, preventing water vapor, humid air, dust and other contaminants from polluting the lens surface in outdoor operating environments and affecting the information acquisition effect of the vision module.

[0048] Waterproof structures are used to prevent rainwater and dew from entering the device's interior, especially the vision module. On one hand, water wiped off by the wiper arm may enter the device through the connection between the wiper arm and the device; therefore, waterproof structures include wiper waterproof structures. On the other hand, the electronic components inside the device generate heat during operation, and the temperature difference between the inside and outside of the lens can cause liquefied water droplets to easily form on the inside of the lens, contaminating the camera's internal cavity and affecting the sensitivity of the device's visual information acquisition; therefore, waterproof structures also include camera waterproof structures.

[0049] As shown in Figures 1-8, the wiper waterproof structure is a multi-level waterproof structure, at least level four, including a splash guard, a sealing ring, sealant, and a gasket. The splash guard is located at the connection between the wiper arm and the device. In one embodiment, the camera is mounted on a base connected to the device body. The wiper motor is installed inside the base, which has an opening for connecting to the wiper arm. The output end of the wiper motor connects to a short connecting rod on the wiper arm through this opening. The short rod extends into the base. Due to functional requirements, the wiper arm needs to perform a reciprocating wiping motion. There is a certain gap between the inner walls of the connecting holes of the base. To prevent rainwater from flowing in from here, the anti-splash component is set on the connecting short rod. It protrudes outward relative to the surface of the connecting short rod, forming a raised partition, which is the first level of waterproofing. A sealing ring is also provided on the connecting short rod near the wiper motor side of the anti-splash component. The sealing ring fills the gap between the connecting short rod and the inner wall of the base, forming the second level of waterproofing. The output shaft of the wiper motor is connected to the inner wall of the connecting short rod, and the two are filled with sealant, forming the third level of waterproofing. A sealing gasket is provided between the end of the connecting short rod and the motor, forming the fourth level of waterproofing.

[0050] In other embodiments, the wiper motor is mounted on a motor bracket, and sealant can be filled between the motor bracket and the wiper motor to form a fifth level of waterproofing.

[0051] As shown in Figure 4-8, the waterproof structure of a camera mainly involves strengthening the sealing of the camera's internal cavity and isolating the camera's internal cavity from the main body cavity. This reduces external water ingress while isolating heat from the main cavity cavity and preventing water vapor from forming.

[0052] In one embodiment, the camera's waterproof structure is a multi-level waterproof structure, at least a three-level waterproof structure, including a lens sealing ring, a rear cover sealing ring, and a ribbon cable sealing assembly. The lens sealing ring is fitted onto the lens and fills the space between the outer surface of the lens and the inner wall of the camera housing, forming the first level of waterproofing. The rear cover sealing ring is press-fitted onto the rear of the housing and located between the rear cover and the housing, forming the second level of waterproofing. The camera is connected to a ribbon cable. Because the ribbon cable is relatively long, it extends into the main cavity of the camera body. The lower end face of the camera housing has an outlet for the ribbon cable to pass through. To improve the sealing performance of the housing and ensure that this outlet is sealed, it is also necessary to prevent the ribbon cable from being folded or deformed. Therefore, this application includes a ribbon cable sealing assembly. This component, forming a third level of waterproofing, can be installed at the exit of the ribbon cable without obstructing its passage. It consists of an upper and a lower assembly. The upper assembly has protruding posts, and the lower assembly has through-grooves that mate with these posts. The ribbon cable itself is very thin; during assembly, it passes through the through-grooves and fits against the inner wall. The protruding posts on the upper assembly are pressed into the through-grooves, thus clamping the ribbon cable between the outer wall of the protruding posts and the inner wall of the through-grooves, extending from the ribbon cable exit position as shown in the assembly diagram. To accommodate the ribbon cable and prevent deformation, a clearance fit is used between the protruding posts and the through-grooves. The upper and lower assemblies can be made of elastic, soft materials such as rubber. Both the upper and lower assemblies also have screw holes, and the camera housing has corresponding screw holes at the exit position of the mounting component for installing this ribbon cable sealing assembly.

[0053] In one embodiment, both the protrusion and the through groove are axially inclined, and their mating surfaces are inclined rather than perpendicular. In another embodiment, the surface of the protrusion is further textured, specifically, it may be annular texture, to increase the friction between the surface of the protrusion and the inner wall of the through groove, resulting in a tighter fit.

[0054] In one implementation, this type of cable is more specifically a MIPI cable.

[0055] As shown in Figures 9-13, the autonomous operating device includes a wiper structure for cleaning the camera.

[0056] In one embodiment, the wiper structure includes a base, a wiper motor, a linkage assembly, and a wiper blade. The wiper motor is located in the base and is connected to the linkage assembly. The wiper blade is also connected to the linkage assembly. The wiper motor drives the linkage assembly to move the wiper blade to wipe and clean the camera.

[0057] In one embodiment, the linkage assembly includes a first link, a second link, and an elastic element. The first link and the second link are hinged together, and an elastic element is connected between them. The direction of the elastic element's restoring force is towards the side where the camera is located.

[0058] In one embodiment, the wiper structure is a flexible wiper structure, including a wiper motor, a wiper bracket, a linkage assembly, and a wiper blade. The wiper bracket includes a housing and a control component housed within the housing. The control component includes a circuit board (wiper PCB) for controlling the wiper motor, which drives the linkage assembly. The gap between the motor and the housing is filled with sealing rubber to fully meet the IPX4 waterproof requirement. The housing has mounting holes that connect to the linkage assembly. A sealing ring is filled at the connection gap between the linkage assembly and the housing. The linkage assembly includes a first linkage, a second linkage, a wiper arm, and a flexible connector. The flexible connector includes screws and an elastic element. The second linkage has connection holes at both ends for accommodating screws. The wiper arm and the first linkage are connected to the second linkage via screws. In one embodiment, the screws are letter screws. The two ends of the elastic element are connected to the first and second linkages, respectively. In another embodiment, the elastic element is a tension spring.

[0059] In one embodiment, the connecting end of the first link and the second link is provided with a hinge seat, and the connecting hole on the second link is connected to the hinge seat by a screw. The body of the first link and the second link is provided with a cavity, and a connecting seat is provided in the cavity. The two ends of the flexible connector are respectively connected to the two connecting seats.

[0060] As shown in Figures 14-18b, the autonomous operating equipment of this application also includes a height adjustment knob structure. The height adjustment knob structure includes a knob base, a handle, and a hinge shaft. The knob base is provided with a hinge hole, and the hinge shaft connects the handle to the knob base through the hinge hole. The height adjustment knob structure is connected to the cutting device below the machine body. In one embodiment, a transmission component is provided between the height adjustment knob structure and the cutting device. The transmission component converts the rotational movement of the adjustment knob structure into the up-and-down movement of the cutting device, thereby realizing the height adjustment of the cutting device by the height adjustment knob structure. Specifically, this transmission component can be a gear-type meshing component, such as a component with a gear and rack.

[0061] The height adjustment knob structure of this application has two states: an operating state and a non-operating state. The operating state is the working state in which the handle is operated to drive the knob base to rotate, thereby adjusting the height of the cutting device. The non-operating state is the state in which the handle is stored on the knob base when the height of the cutting device does not need to be adjusted.

[0062] In one embodiment, the handle in the height adjustment knob structure of this application is a flip-up handle. In the non-operating state, the handle can be flipped up to fit the knob base for storage. The knob base has a receiving area for accommodating the flipped-up handle. The height adjustment knob structure can be covered by the top cover of the machine body in the non-operating state, and the upper surface of the height adjustment knob structure does not have any protrusions that would obstruct the closing of the top cover, which helps to save space.

[0063] In one embodiment, the handle includes an operating section and a hinged section. The hinged section is located at both ends of the operating section and has hinge holes for mounting hinge shafts. The knob seat has a hinged area corresponding to the hinged section to accommodate the hinged section, which is part of the handle accommodating area. A stop assembly is provided between the hinged area and the hinged section. When the handle switches between an operating state and a non-operating state, the stop assembly can provide damping and stop feel, thereby enhancing the user's feedback and control during operation and making the switching process smoother and more reliable. In one embodiment, the stop assembly includes a sliding surface, a stop block, and a stop groove. The stop groove includes two stops, namely a first stop groove and a second stop groove. A sliding surface is provided between the first stop groove and the second stop groove for switching transition. In one embodiment, this sliding surface is an arc surface.

[0064] In one embodiment, a stop block is provided at the hinge section of the handle. When the stop block slides into the first stop slot, the handle is fully open and in the operating state. When the stop block slides into the second stop slot, the handle is stored in the receiving area of ​​the knob seat. In one embodiment, when the stop block is in the first stop slot, the handle and the upper surface of the knob seat are at a 90-degree angle. When the stop block is in the second stop slot, the handle and the upper surface of the knob seat are at a 0-degree angle.

[0065] In one embodiment, an elastic element is provided on the hinge shaft to provide a reset elastic force for the gear shifting of the handle; in another embodiment, a hollowed-out surface is provided on the sliding surface to give the sliding surface a certain amount of deformability, while providing a reset squeezing force for the gear shifting of the handle.

[0066] In one embodiment, the operating section of the handle and the side near the knob seat are provided with protruding ridges.

[0067] In one embodiment, the lower surface of the knob base is provided with a first insert, and the transmission component is provided with a first slot. The knob base and the transmission component are connected by the engagement of the first insert and the first slot.

[0068] In one embodiment, the knob base has a cutout, and the first insert extends downward from the cutout. In this embodiment, the first insert has the elasticity to engage with the first slot, while reducing stress concentration at the root and making it less likely to break due to lateral shear force. However, the presence of this cutout may lead to water seepage. Therefore, this application also provides a knob cover, which is installed on the knob base to cover the cutout on the knob base and prevent water from entering.

[0069] In one embodiment, the lower surface of the knob cover is provided with a second insert, and the knob base is provided with a second slot, wherein the second insert engages with the second slot.

[0070] As shown in Figures 19-22, the autonomous operating equipment also includes a pressure balancing structure for balancing the pressure inside and outside the equipment. The pressure balancing structure includes a battery pack shell and a pressure balancing component. The battery pack shell forms a battery cavity that houses the battery pack. The battery pack shell is an open shell that is not sealed. The chassis includes a chassis upper cover and a chassis lower cover. The chassis upper cover and chassis lower cover are fastened together to form a main cavity. The battery cavity communicates with the main cavity. Specifically, a lower cover is provided below the battery pack shell. During installation, the lower cover is opened to install the battery pack. The battery pack shell also has an opening, through which the heat generated by the battery pack can be dissipated, achieving communication with the main cavity. The opening can also provide wiring space for the battery pack and the external control board.

[0071] The pressure balancing assembly includes a pressure vent located on the chassis cover and a waterproof and breathable membrane on the pressure vent. When the pressure and humidity inside the main cavity are high, water vapor diffuses outward through the waterproof and breathable membrane, effectively ensuring pressure balance inside and outside the equipment. In one embodiment, a support cover is provided on the pressure vent, the support cover has holes, and the waterproof and breathable membrane is located on the support cover.

[0072] This application includes at least two pressure balancing components, respectively located at the front and rear of the chassis cover. The front component is the first pressure balancing component, and the rear component is the second pressure balancing component. The chassis cover is provided with a drainage surface and a drainage channel. The drainage surface is inclined so that rainwater on the equipment can be guided to the drainage channel. In one embodiment, the pressure balancing component is located on the drainage surface and close to the drainage channel to facilitate timely drainage and avoid water accumulation at the pressure outlet, which would affect the pressure balancing effect.

[0073] In one embodiment, the chassis cover is provided with a flange that protrudes above the surface of the chassis cover and encloses a pressure relief port. This can prevent the water from overflowing the drainage port when rainwater from the chassis cover flows into the drainage channel, thus preventing excessive external pressure and internal pressure relief.

[0074] In one embodiment, there is a height difference between the first pressure balancing component and the surface of the chassis cover. The first pressure balancing component is lower than the chassis cover. Since the front of the chassis cover is equipped with a wiper structure, it needs to handle more drainage. This design can reduce the impact of the first pressure balancing component on the drainage of the chassis cover.

[0075] As shown in Figures 23-27, the autonomous operating device also includes a flip-top magnetic suction structure. The flip-top magnetic suction structure is located above the decorative cover and includes a flip-top, a rotating assembly, and a magnetic suction assembly. The rotating assembly includes a mounting base and a rotating shaft. The rotating shaft is located on the mounting base and connected to the flip-top. The magnetic suction assembly includes a first magnet and a second magnet, which are respectively located on the flip-top and the decorative cover. When the flip-top is closed, the first magnet and the second magnet attract each other, and the flip-top and the decorative cover are reliably closed under the magnetic attraction. In one embodiment, the first magnet and / or the second magnet are also provided with shock-absorbing pads to reduce the impact and noise when the magnetic attraction closes the cover.

[0076] In one embodiment, the flip cover is provided with a first magnet seat for accommodating a first magnet. The first magnet seat is located on the inner side of the flip cover, which is the side of the flip cover facing the decorative cover. The first magnet seat has a receiving cavity, and the first magnet is installed in the receiving cavity. In one embodiment, a pressure block is provided in the receiving cavity. Since the surface of the flip cover is inclined, the bottom of the receiving cavity may be non-planar. Therefore, adding a pressure block can enhance the installation stability of the first magnet in the first magnet seat. A second magnet seat is provided at the corresponding position of the decorative cover, and a second magnet is installed on the second magnet seat.

[0077] In one embodiment, the flip cover has an edge portion and a handle portion, and the decorative cover has a protrusion. When the flip cover is closed, the edge portion is close to the protrusion, and in one embodiment, the edge portion abuts against the protrusion.

[0078] In one embodiment, the flip cover surface is provided with a flange, and an operating space for accommodating a person's hand to operate is opened at the flange. The flange and the operating space form this handle, which facilitates the opening and closing of the flip cover.

[0079] In one embodiment, the flip cover is in a fully open state, that is, when the flip cover is opened to the maximum angle with the decorative cover, with the rotation axis in the rotating assembly as the center line, the center of gravity of the flip cover in this application is located on the side away from the center line of the magnetic assembly, and the flip cover is kept open by its own weight.

[0080] In one embodiment, the flip cover is in a fully open state, that is, when the flip cover is opened to its maximum angle with the decorative cover. In this fully open state, with the rotation axis in the rotating assembly as the center line, the center of gravity of the flip cover is located on the side closer to the center line of the magnetic assembly. In this embodiment, the rotation axis and the flip cover are interference-fitted, and the flip cover is kept open by the frictional resistance between the rotation axis and the flip cover, overcoming its own weight and magnetic attraction.

[0081] As shown in Figures 28-30, the autonomous operating equipment also includes a protective structure, specifically a front collision protection structure. The front collision protection structure is located on the front shell of the equipment, specifically at least in front of the cutting device, to prevent adults and children's feet from accidentally contacting the cutting device below 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. Therefore, this application provides a front collision protection structure on the front shell of the equipment. The shell includes a decorative cover, and the front collision protection structure is located on the decorative cover. In one embodiment, the front collision protection structure is integrally formed with the decorative cover and consists of multiple protrusions arranged along the lower edge of the decorative cover. Each protrusion extends from the decorative cover toward the ground with an extension length L of at least 2 mm, but does not extend to the ground. In one embodiment, the distance between the protrusion and the ground is not less than 1 / 2 the height of the front wheel, as shown in Figure 24, H≥R. This 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.

[0082] In one embodiment, the decorative cover includes a front section, a side section, and a rear section, with multiple protrusions forming a serrated structure. The serrated structure is at least located on the front section of the decorative cover. The serrated structure can increase the contact friction with a child's foot, making it easier for the sensor to identify and avoid it.

[0083] In one embodiment, the arrangement direction extends from the front section of the decorative cover to both sides of the decorative cover, with an extension length covering at least 1 / 2 of the circumference of the front section of the decorative cover, ensuring that the coverage of the front collision protection structure can fully achieve the protective effect during the movement of the equipment.

[0084] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An autonomous operating device, characterized in that, include: body; A vision module is mounted on the body of the device. The cleaning structure includes: a cleaning body for cleaning the lens of the vision module, a connecting rod assembly, and a cleaning mechanism. and a first driving component that drives the cleaning body; The linkage assembly includes a resilient element that provides for the cleaning... The restoring force of the main body close to the lens.

2. The autonomous operating equipment according to claim 1, characterized in that, The linkage assembly includes: connecting the clear The first link of the main body, and the second link connected to the first driving member; the first link and the second link The elastic element is hinged together, with its two ends connected to the first connecting rod and the second connecting rod, respectively.

3. The autonomous operating equipment according to claim 2, characterized in that, The fuselage includes: the fuselage body, and A base connected to the fuselage body; the first driving member is disposed within the base; the base is used to support the view The cleaning module is fixedly connected to the first connecting rod.

4. The autonomous operating equipment according to claim 3, characterized in that, The first link and / or the second link The rod has a cavity, and the two ends of the elastic element are respectively connected to the first connecting rod and the second connecting rod; the elastic element's elasticity... The sexual organ is located within the cavity.

5. The autonomous operating equipment according to claim 4, characterized in that, The cavity faces one of the vision modules. The side is the open side.

6. The autonomous operating equipment according to claim 2, characterized in that, The first link is oriented toward the vision module An opening groove is provided on one side of the connecting rod assembly, and the opening groove extends along the length direction of the connecting rod assembly; the cleaning body has an embedded... Insertion portion into the opening groove.

7. The autonomous operating device according to claim 6, wherein the opening slot has a first slot portion, and a portion thereof connected to the first slot. The second groove is connected to the first groove, and the second groove extends along the first connecting rod toward the visual module. The first link is connected in the direction away from the vision module, and the width of the first slot is smaller than the width of the second slot. Degree; the shape of the insertion part matches that of the opening groove.

8. The autonomous operating device according to claim 7, wherein the opening slot extends along the length direction of the first connecting rod. The end of the opening groove facing away from the second connecting rod is open, while the end of the opening groove facing the second connecting rod is closed. End; the insertion part is inserted into the opening groove through the open side.

9. The autonomous operating equipment according to claim 2, characterized in that, The fuselage includes: the fuselage body, and Base; the first driving component is disposed within the base; the vision module is disposed between the base and the fuselage body. The cleaning body is connected to the first connecting rod.

10. The autonomous operating equipment according to claim 6, characterized in that, The first link includes: [the following is a list of components / mechanisms] The cleaning body comprises a cleaning arm and a first connecting rod body connected to the cleaning arm, wherein the first connecting rod body and the first... The two linkages are hinged together. The cleaning arm has a first included angle with the first connecting rod body; the first connecting rod body has a first included angle with the second connecting rod body. The second included angle.

11. The autonomous operating equipment according to claim 10, characterized in that, The cleaning arm is directed toward the vision module. An opening groove is provided on one side of the cleaning arm, and the opening groove extends along the length direction of the cleaning arm; the cleaning body has an embedding into The insertion part in the opening groove; Along the extending direction of the cleaning arm, the top of the opening groove is open, and the bottom of the opening groove is closed. The insertion part is inserted into the opening groove through the open side.

12. The autonomous operating equipment according to claim 10, characterized in that, The first link body and / or the The second link has a cavity; the two ends of the elastic element are respectively connected to the body of the first link and the second link; The elastic body of the elastic element is located inside the cavity.

13. [Amended according to Rule 26, 03.11.2025] The autonomous operating equipment according to claim 1 is characterized in that, include: body; A vision module is mounted on the body of the device. A cleaning structure, which is disposed on the body, is used to clean the lens of the vision module; as well as The waterproof structure is cleaned, and the waterproof structure is used to seal the connection between the cleaning structure and the machine body. The waterproof structure forms a multi-level waterproof layer between itself and the fuselage.

14. The autonomous operating equipment according to claim 13, characterized in that, The fuselage and the base, wherein the base is connected to the vision module; The cleaning structure includes: a cleaning body, and a first driving component for driving the cleaning body; and the first driving component... The component is disposed in the base; The base has a connection hole, and the cleaning body is connected to the first driving member via a connecting rod assembly. The component passes through the connecting hole; The waterproofing structure includes: a first-level waterproofing and a second-level waterproofing, the first-level waterproofing and the second-level waterproofing... The gap between the connecting hole and the connecting rod assembly is sealed.

15. The autonomous operating equipment according to claim 1, characterized in that, include: body; A vision module, wherein the vision module is disposed on the body, the vision module includes a vision housing and an insert for... The lens is located within the visual housing; as well as The visual waterproof structure is at least a three-level waterproof structure, including a first-level waterproof structure, a second-level waterproof structure, and a third-level waterproof structure. And a third level of waterproofing, which, together with the first and second levels of waterproofing, seals the gap between the visual housing and the outside. The third level of waterproofing isolates the inner cavity of the visual housing from the main cavity of the fuselage.

16. The autonomous operating equipment according to claim 1, characterized in that, include: body; A vision module is mounted on the body of the device. The cleaning structure includes: a cleaning body for cleaning the lens of the vision module, a connecting rod assembly, and a cleaning mechanism. and a first driving component that drives the cleaning body; The linkage assembly includes a resilient element that provides for the cleaning... The restoring force of the main body close to the lens.

17. The autonomous operating equipment according to claim 16, characterized in that, The linkage assembly includes: connecting the clear The first link of the main body, and the second link connected to the first driving member; the first link and the second link The elastic element is hinged together, with its two ends connected to the first connecting rod and the second connecting rod, respectively.

18. The autonomous operating equipment according to claim 1, characterized in that, include: body; A cutting device is disposed below the machine body; A height adjustment knob structure, connected to the cutting device, is used to adjust the height of the cutting device. Includes: a knob base disposed on the body, and a handle hinged to the knob base; the handle can face or The top surface away from the knob base is flipped over.

19. The autonomous operating equipment according to claim 18, characterized in that, The knob base is provided with a receiving area; The handle is operable to flip toward the top surface of the knob base into the receiving area; the handle includes: an operating section and a pair of hinged sections, the pair of hinged sections being respectively disposed at both ends of the operating section and hingedly connected to the knob base; The knob base is provided with a hinge area for accommodating the hinge segment, and the hinge segment is operably located in the hinge area. The handle rotates in the middle; the hinge section is connected to the knob seat through a hinge shaft, the hinge section has a stop component, and the hinge area has a stop engagement component; when the handle is in a preset position, the stop component engages with the stop engagement component.

20. The autonomous operating equipment according to claim 1, characterized in that, include: The fuselage includes: a chassis with a main cavity and a pressure balancing assembly; the chassis has openings connected to the main cavity... The chamber has a pressure relief port, on which the pressure balancing component is provided; and a cutting device, which is connected to the chassis.

21. The autonomous operating equipment according to claim 20, characterized in that, The pressure balancing assembly includes: a cover The pressure relief port has a waterproof and breathable membrane; the pressure balancing assembly further includes a support cover disposed in the pressure relief port, the support cover having a vent hole communicating with the pressure relief port, the support cover being used to support the waterproof and breathable membrane.

22. The autonomous operating equipment according to claim 1, characterized in that, include: The fuselage has functional areas; as well as A flip cover, hinged to the body, is used to open or cover the functional area; the flip cover is magnetically attached. The cover is positioned on the body.

23. The autonomous operating equipment according to claim 22, characterized in that, The flip cover includes a hinged side and a free side. The hinged side is hinged to the fuselage, the free side is rotatable around the hinged side, and a first magnet is provided on the free side. The body has a second magnet, and the first magnet and the second magnet are used to close the flip cover onto the body. They attract each other magnetically.

24. The autonomous operating equipment according to claim 1, 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 forward collision protection structure, which is connected to the fuselage and extends towards the bottom of the fuselage. Extending to cover the front end of the machine body and blocking at least part of the front wheels of the cutting device and the moving mechanism from facing the machine body. The front end of the structure is located on one side; the front collision protection structure is separated from the ground.

25. The autonomous operating equipment according to claim 23, characterized in that, The fuselage includes: a fuselage body, with and the mounting cover connected to the fuselage body; The front collision protection structure includes multiple protrusions, and the multiple protrusions and the mounting cover face towards the bottom of the fuselage. Connect one end to the other.

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