CN219938964U

CN219938964U - Autonomous working apparatus

Info

Publication number: CN219938964U
Application number: CN202321029509.XU
Authority: CN
Inventors: 王启东
Original assignee: Zhejiang Baima Technology Co ltd
Current assignee: Zhejiang Baima Technology Co ltd
Priority date: 2023-03-03
Filing date: 2023-04-27
Publication date: 2023-11-03
Anticipated expiration: 2033-04-27
Also published as: CN220123451U; CN219938963U; CN219938962U; CN220140192U; CN219893860U; CN220009330U; CN220044195U

Abstract

An autonomous working apparatus is configured to travel in a first direction on a horizontal plane, the autonomous working apparatus having a first end and a second end opposite the first end in the first direction, and comprising a vehicle body, a first drive assembly, a second drive assembly, and a sensor, the first drive assembly being movably coupled to the vehicle body and comprising a first drive wheel and a first prime mover for driving the first drive wheel to rotate; the second driving assembly is fixedly connected with the vehicle body and comprises a second driving wheel and a second prime mover for driving the second driving wheel to rotate; the sensor is configured to detect a relative position of the first drive assembly and the vehicle body. According to the utility model, the sensor senses the corresponding position relation between the first driving part component and the vehicle body, so that whether the vehicle body is lifted is judged, and the autonomous operation equipment is operated to perform corresponding work, so that the safety performance of the autonomous operation equipment can be improved.

Description

Autonomous working apparatus

Technical Field

The utility model relates to the field of outdoor operation equipment, in particular to autonomous operation equipment.

Background

Autonomous working devices, such as lawnmowers with a primary function of mowing the lawn, may save the user from complex and confusing labor and are becoming increasingly popular with users. The autonomous working device can automatically move in a preset working area and automatically execute a working task. In order to enable the autonomous operation device to complete automatic work more reliably and safely and provide better service for users, manufacturers continuously upgrade performance for the autonomous operation device, including configuring various functional modules for the autonomous operation device.

The autonomous operation equipment comprises a top cover, a chassis and a moving mechanism, wherein the moving mechanism is used for driving the chassis to move along the direction of a walking path and generally comprises wheels, a motor for driving the wheels to walk and the like. The chassis is connected to a moving mechanism for carrying equipment for operating a work, such as a cutterhead or a motor for cutting lawns or the like. The top cap covers the top on chassis, on the one hand can protect the chassis not receive the damage, on the other hand can also play pleasing to the eye effect.

The autonomous working device may need to be lifted during the working process, for example, when the autonomous working device cannot travel by touching an obstacle, and a worker is required to lift the autonomous working device. In the lifting process of the autonomous working device, if the cutterhead assembly at the bottom of the autonomous working device cannot timely perform corresponding actions, for example, the cutterhead assembly stops working or is lifted in time, the risk of damaging surrounding staff or surrounding other devices is caused. Therefore, there is a need to develop an autonomous working apparatus having higher safety performance.

Disclosure of Invention

The utility model aims to provide an autonomous working device, which is used for improving the safety performance of the autonomous working device.

To solve the above-described technical problem, an embodiment of the present utility model provides an autonomous working apparatus configured to be movable in a first direction on a horizontal plane, the autonomous working apparatus having a first end and a second end opposite to the first end in the first direction, and including:

a vehicle body;

the first driving assembly is movably connected with the vehicle body and comprises a first driving wheel and a first prime mover for driving the first driving wheel to rotate;

the second driving assembly is fixedly connected with the vehicle body and comprises a second driving wheel and a second prime mover for driving the second driving wheel to rotate; and

a sensor configured to detect a relative position of the first drive assembly and the vehicle body.

In one embodiment, the first drive assembly further comprises a wheel carriage, the wheel carriage comprising:

the wheel seat extends along a second direction and is connected with the first prime motor, and the second direction is parallel to the horizontal plane and is perpendicular to the first direction; and

one end of the connecting part is connected with the wheel seat, the other end of the connecting part is rotatably connected with the vehicle body around a horizontal axis, and the horizontal axis extends along the second direction; the vehicle body and the wheel carrier are rotatable about the horizontal axis between a first position and a second position; in the first position, the bottom of the vehicle body abuts the wheel frame; in the second position, the bottom of the vehicle body is remote from the wheel carriage.

In one embodiment, the vehicle body and the connecting portion are rotatably connected by a rotating shaft, and an axis of the rotating shaft overlaps with the horizontal axis.

In one embodiment, one end of the connecting part is connected with the wheel seat, and the other end extends towards the second end and is rotatably connected with the rotating shaft.

In one embodiment, a reset member is further included, the reset member being operable to drive the vehicle body and the wheel carriage to resume from the second position to the first position.

In one embodiment, the vehicle further comprises a biasing member having one end abutting the wheel carriage and the other end abutting the vehicle body, the biasing member being operable to adjust the force of movement of the vehicle body relative to the wheel carriage.

In one embodiment, the vehicle body includes:

a chassis extending in a horizontal direction, an

The connecting seat, the connecting seat can dismantle the bottom of being connected to the chassis, and include:

the limiting plate is positioned below the chassis and is arranged at intervals with the chassis; and

the two side walls extend along the vertical direction and are arranged at intervals along the second direction, the top ends of the two side walls are in butt joint with the chassis, the bottom ends of the two side walls are respectively connected with the two sides of the limiting plate along the second direction, and the two ends of the rotating shaft are respectively connected with the two side walls;

the connecting part comprises two side plates, the two side plates extend along the vertical direction respectively and are positioned between the two side walls, one ends of the two side plates are connected with the wheel seat, and the other ends extend towards the second end of the vehicle body along the first direction and are rotatably connected with the rotating shaft;

in the first position, the chassis is abutted against the top ends of the two side plates, and the bottom ends of the two side plates are positioned above the limiting plate and are arranged at intervals with the limiting plate;

in the second position, the chassis is far away from the top ends of the two side plates, and the bottom ends of the two side plates are abutted against the top surface of the limiting plate.

In one embodiment, the biasing member is a double torsion spring comprising:

the two coiled wires are respectively coiled on the rotating shaft and positioned between the two side plates;

one end of each first support arm is connected with each side plate, and the other end of each first support arm is connected with one end of each coiled wire; and

one end of the two second support arms is respectively connected with the other ends of the two coiled wires, and the other ends of the two second support arms respectively lean against the limiting plates;

the third support arm extends along the second direction and abuts against the limiting plate, and two ends of the third support arm are respectively connected with two ends, away from the winding wire, of the second support arm.

In one embodiment, the sensor comprises a permanent magnet and magnetic induction elements, one of which is connected with the wheel carrier, and the other of which is connected with the vehicle body.

In one embodiment, the permanent magnet is connected to the wheel base, the magnetic induction element is connected to the vehicle body, the permanent magnet and the magnetic induction element are aligned in a horizontal direction in the first position, and the permanent magnet is located below the magnetic induction element in the second position.

According to the utility model, the corresponding position relation between the first driving component and the vehicle body is sensed by the sensor, so that whether the vehicle body is lifted or not is judged, and the autonomous operation equipment is operated to perform corresponding work, so that the cutter head component at the bottom of the autonomous operation equipment can be prevented from damaging surrounding equipment or staff, and the safety performance of the autonomous operation equipment is improved.

Drawings

Fig. 1 is a perspective view of an autonomous working apparatus of an embodiment of the present utility model.

FIG. 2 is a perspective view of the wheel base, the axle, the connecting base, and the torsion spring of the embodiment of FIG. 1.

Fig. 3 is a cross-sectional view of the autonomous working apparatus of the embodiment of fig. 1 with the body in a first position in a first direction.

Fig. 4 is an enlarged partial view of region a in the embodiment of fig. 4.

Fig. 5 is a cross-sectional view of the autonomous working apparatus of the embodiment of fig. 1 with the body in a second position in a first direction.

Fig. 6 is an enlarged view of a portion of region B of the embodiment of fig. 5.

Fig. 7 is a cross-sectional view of the autonomous working apparatus of the embodiment of fig. 4 in a second position in a second direction.

Fig. 8 is a partial enlarged view of the sensor of the area C in the embodiment of fig. 7 in a first position.

Fig. 9 is an enlarged view of a portion of the sensor of fig. 7 at the first position of the sensor of the embodiment of fig. C.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present utility model more apparent, embodiments of the present utility model will be described in detail below with reference to the accompanying drawings. However, those of ordinary skill in the art will understand that in various embodiments of the present utility model, numerous technical details have been set forth in order to provide a better understanding of the present utility model. However, the technical solutions claimed in the claims of the present utility model can be realized without these technical details and various changes and modifications based on the following embodiments.

Throughout the specification and claims, unless the context requires otherwise, the word "comprise" and variations such as "comprises" and "comprising" will be understood to be open-ended, meaning of inclusion, i.e. to be interpreted to mean "including, but not limited to.

The following detailed description of various embodiments of the present utility model will be provided in connection with the accompanying drawings to provide a clearer understanding of the objects, features and advantages of the present utility model. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the utility model, but rather are merely illustrative of the true spirit of the utility model.

Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

As used in this specification and the appended claims, the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. It should be noted that the term "or" is generally employed in its sense including "and/or" unless the context clearly dictates otherwise.

In the following description, for the purposes of clarity of presentation of the structure and manner of operation of the present utility model, the description will be made with the aid of directional terms, but such terms as "forward," "rearward," "left," "right," "outward," "inner," "outward," "inward," "upper," "lower," etc. are to be construed as convenience, and are not to be limiting.

The present utility model relates to an autonomous working apparatus 100, as shown in fig. 1, and in particular, to an autonomous working apparatus 100, such as a robot that can autonomously move within a preset area and perform a specific work, typically an intelligent sweeper or cleaner that performs a cleaning work, or an intelligent mower that performs a mowing work, or the like. The specific job refers to a job for processing the working surface and changing the state of the working surface. The utility model is described in detail by taking an intelligent mower as an example. Autonomous working apparatus 100 may autonomously walk on the surface of a work area, and may autonomously perform mowing work on the ground, particularly as a smart mower.

The autonomous working apparatus 100 includes a vehicle body 1, a sensor, a moving mechanism 2, and a connection portion 23 for connecting the moving mechanism 2 to the vehicle body 1, wherein the vehicle body 1 includes a main body mechanism, a working mechanism, an energy source module, a detection module, an interaction module, a control module, and the like. The main body mechanism generally includes a chassis 11 and a device case, and the chassis 11 is used for mounting and accommodating at least one of a functional mechanism and a functional module of the moving mechanism 2, a working mechanism, an energy module, a detection module, an interaction module, a control module, and the like. The device housing is generally configured to at least partially encase the chassis 11, primarily to enhance the aesthetics and visibility of the autonomous working apparatus 100.

The work mechanism is configured to perform a specific work task including a work piece and a work prime mover that drives the work piece. The energy module is configured to provide energy for various operations of autonomous working apparatus 100. The detection module is configured as at least one sensor that senses an environmental parameter in which autonomous working device 100 is located or its own operating parameters. The interaction module is configured to at least receive control instruction information input by a user, send out information needing to be perceived by the user, communicate with other systems or devices to send and receive information, and the like. The control module typically includes at least one processor and at least one non-volatile memory, the memory having a pre-written computer program or set of instructions stored therein, according to which the processor controls the execution of actions such as movements, tasks, etc. of autonomous working device 100.

The vehicle body 1 has a first end 101 and a second end 102 along a traveling direction, which is defined as a first direction. The bottom of the vehicle body 1 is provided with a rotating shaft 12 extending along a second direction, namely, the axis of the rotating shaft 12 extends along the second direction, the second direction is the left-right direction of the vehicle body 1 and is perpendicular to the first direction, and the second direction and the first direction are both two directions of the horizontal direction.

The movement mechanism 2 is configured to support the body mechanism on the ground and to drive the vehicle body 1 in a first direction on a level ground, where the level is an imaginary ideal plane for more conveniently describing the structural relationship between the components of the autonomous working apparatus 100, whereas in real lawns such ideal planes are typically not present.

In this embodiment, the moving mechanism 2 is a wheel-type moving mechanism, the moving mechanism 2 includes a first driving assembly and a second driving assembly, the linear travel of the autonomous working device 100 is realized by the same-directional constant-speed rotation of the first driving assembly and the second driving assembly, and the steering travel is realized by the same-directional differential or opposite rotation of the left and right first driving assemblies and the second driving assembly. Wherein, the first driving component is movably connected with the vehicle body 1 and comprises a first driving wheel 221 and a first prime mover 241 for driving the first driving wheel 221 to rotate, and the second driving component is fixedly connected with the vehicle body 1 and comprises a second driving wheel 222 and a second prime mover 242 for driving the second driving wheel 222 to rotate; and the sensor may detect the relative position of the first drive assembly and the vehicle body. When the car body 1 is lifted manually, the sensor can sense that the relative position relation between the car body 1 and the first driving component changes, and then the signal can be sent to the control module, and the control module can control the autonomous working equipment to perform corresponding work, for example, stop working of a cutterhead component of the autonomous working equipment, and the like, so that damage to surrounding staff or equipment is avoided.

In the embodiment shown in fig. 2, the first drive assembly further comprises a wheel carrier, which comprises a wheel carriage 21 and a connection 23 to the wheel carriage 21. As shown in fig. 2, the wheel seat 21 extends in the second direction and is located below the chassis 11, and the wheel seat 21 and the rotating shaft 12 are spaced apart in the first direction. In the embodiment shown in fig. 2, the wheel seat 21 is located behind the rotation axis 12, it should be understood that in other embodiments, the wheel seat 21 may be located in front of the rotation axis 12, i.e. near the first end 101 of the vehicle body 1, and the wheel seat 21 may be located at a distance from the rotation axis 12 along the first direction. The first prime mover 241 is connected to the wheel mount 21, and an output shaft of the first prime mover 241 extends in the second direction. The first driving wheel 221 is connected to an output shaft of the first prime mover, and the first prime mover 241 may rotate the first driving wheel 221 when operated. First prime mover 241 is preferably an electric machine, and in other embodiments may be an internal combustion engine or a machine that generates power using other types of energy sources. One end of the connecting portion 23 is fixedly connected with the wheel seat 21, and the other end extends toward the second end 102 of the vehicle body 1 in the first direction and is rotatably connected with the vehicle body 1 through the rotating shaft 12.

The second prime mover 242 of the second drive assembly is fixedly connected to the chassis 11 of the vehicle body 1 and is disposed symmetrically to the first prime mover 241. The second driving wheel 222 is connected to the output shaft of the second prime mover 242, and the second prime mover 242 can drive the second driving wheel 222 to rotate when operating.

The vehicle body 1 is rotatable about the rotation shaft 12 between a first position and a second position. Specifically, in normal operation of the vehicle body 1, the vehicle body 1 is in the first position, and at this time, the chassis 11 of the vehicle body 1 is positioned on the top surface of the wheel frame and stably operates. In the process that the rear of the vehicle body 1 encounters an obstacle and is lifted manually, the first end of the vehicle body 1 rotates around the rotating shaft 12 and gradually breaks away from the wheel frame, and rotates to the second position, at which time the chassis 11 of the vehicle body 1 is away from the wheel frame, i.e., the chassis 11 of the vehicle body 1 breaks away from the wheel frame.

A sensor may be used to monitor the relative position of the body 1 and the wheel carriage, with one part of the sensor being connected to the body 1 and the other part being connected to the wheel carriage 21 or the connection 23. When the car body 1 is lifted manually, the sensor can sense that the relative position relation between the car body and the wheel frame changes, namely, the car body 1 can be sensed to rotate from the first position to the second position, so that corresponding work of the autonomous working equipment can be caused, for example, a cutter head assembly of the autonomous working equipment stops working, and the like, so that damage to surrounding staff or equipment is avoided.

It should be understood that the shaft 12 may be fixedly connected to the connecting portion 23 and rotatably connected to the chassis 11 of the vehicle body 21 through bearings, so long as the connecting portion 23 and the vehicle body 21 can relatively rotate about a horizontal axis between the first position and the second position. It is noted that the horizontal axis must extend in the second direction. The connection 23 can also be connected rotatably to the vehicle body 1 about this horizontal axis in other ways, for example by means of a hinge or the like, as long as it is ensured that this horizontal axis overlaps the axis of the axle, i.e. extends in the second direction and is closer to the second end 102 of the vehicle body 1 than the wheel carrier.

As a preferable embodiment, the sensor is preferably a hall sensor including a permanent magnet 41 and a magnetic induction element 42, and the permanent magnet 41 and the magnetic induction element 42 may be respectively mounted on the wheel frame and the vehicle body 1 for sensing a relative positional relationship of the vehicle body 1 and the wheel frame. Specifically, as shown in fig. 7 to 9, the chassis 11 of the vehicle body 1 is provided with a relief groove 14, the relief groove 14 is formed by recessing the bottom surface of the chassis 11 toward the top, and the magnetic induction element 42 is mounted at a position close to the relief groove 14. The wheel seat 21 has a mounting portion 211 on the top surface thereof, a mounting groove 212 is provided in the mounting portion 211, and the permanent magnet 41 is mounted in the mounting groove 212. When the vehicle body 1 is in the first position, that is, when the vehicle body 1 is operating normally, the mounting portion 211 is positioned in the escape groove 14, and the permanent magnet 41 and the magnetic induction element 42 are aligned in the horizontal direction with each other and are disposed at intervals. When the vehicle body 1 is in the second position, that is, the first end 101 of the vehicle body 1 is lifted upward, the mounting portion 211 is located below the avoidance groove 14, at this time, the magnetic induction element 42 is located above the permanent magnet 41, the magnetic induction element 42 and the permanent magnet 41 find displacement changes along with the transition of the vehicle body 1 in the first position and the second position, and the magnetic induction element 42 can sense the magnetic field changes of the permanent magnet 41 along with the distance changes between the permanent magnet 41 and the magnetic induction element 42, so as to further judge the relative positional relationship between the vehicle body 1 and the wheel carrier.

It should be understood that the permanent magnet 41 may be connected to the chassis 11, and the magnetic induction element 42 may be connected to the connection portion 23 or the wheel seat 21, and that the permanent magnet 41 and the magnetic induction element 42 may be aligned in the horizontal direction and disposed at a distance from each other when the vehicle body 1 is in the first position. When the vehicle body 1 is in the second position, the permanent magnet 41 is located above the magnetic induction element 42, and the magnetic induction element 42 can induce a change in the magnetic field of the permanent magnet 41. The sensor may be a visual position sensor, a laser position sensor, or the like in the related art, and is not limited to a specific type of sensor, as long as it senses the relative positional relationship between the vehicle body 1 and the moving mechanism 2.

Preferably, after the vehicle body 1 is lifted, a reset piece can be further arranged on the vehicle body 1, so that the vehicle body 1 can be conveniently restored to the first position from the second position. In one embodiment, the restoring member may be two magnets, one of which is disposed on the wheel seat 21 or the connecting portion 23, and the other of which is disposed on the vehicle body 1, and the attractive force between the two magnets can drive the vehicle body 1 to restore.

As another preferred embodiment, a biasing member may be provided on the connection portion 23, and the biasing member may adjust the force of the movement of the vehicle body 1 toward the wheel frame, for example, a spring may be used as the biasing member, and one end of the spring is connected to the vehicle body 1, and the other end is connected to the wheel seat 21 or the connection portion 23, and the spring has a driving force for driving the vehicle body 1 toward the wheel frame, thereby driving the vehicle body 1 to return from the second position to the first position.

Further, the biasing member is a torsion double spring 5. The chassis 11 is provided with the connecting seat 3, as shown in fig. 2, the connecting seat 3 can be detachably connected with the chassis 11 through bolts, and the disassembly and the maintenance are convenient. Specifically, the connection seat 3 includes a limiting plate 31 and two side walls 32, the limiting plate 31 is located below the chassis 11 and is spaced from the chassis 11, and the limiting plate 31 forms a preset angle with the horizontal direction. The two side walls 32 extend along the vertical direction respectively and are arranged at intervals along the second direction, the top ends of the two side walls 32 are abutted or connected with the chassis 11, and the bottom ends of the two side walls 32 are connected with two sides of the limiting plate 31 along the second direction respectively. The two side walls 32 are respectively provided with shaft holes 33, two ends of the rotating shaft 12 are respectively positioned in the shaft holes 33 of the two side walls 32, and two ends of the rotating shaft 12 are connected with the two side walls 32 through the two shaft holes 33.

The connecting portion 23 includes two side plates 231 and a top plate 232, the two side plates 231 extend in the vertical direction respectively and are located between the two side walls 32, one ends of the two side plates 231 are connected with the wheel seat 21, the other ends extend in the first direction toward the second end 102 of the vehicle body 1 and are respectively provided with shaft holes 234, the two shaft holes 234 are used for accommodating two end portions of the rotating shaft 12, and the rotating shaft 12 is rotatably connected with inner walls of the two shaft holes 234 through the two bearings 13 respectively. The top plate 232 is located between the two side plates 231 and extends in the horizontal direction, one end of the top plate 232 in the first direction is connected with the wheel seat 21, the middle portion of the top plate 232 extends in the horizontal direction, one end of the top plate 232 away from the wheel seat 21 is a cambered surface bent downwards, and the cambered surface extends along the end faces of the two side plates 231 away from the wheel seat 21. The top plate 232 is connected to the top surfaces of the two side plates 231 at both sides thereof in the second direction, respectively. It should be understood that in other embodiments, the top plate 232 may not be provided, and the two side plates 231 may be directly connected to the wheel seat 21.

When the vehicle body 1 is in the first position, as shown in fig. 3 and 4, the chassis 11 abuts against the top surfaces of the two side plates 231 or the top plate 232, and the bottom ends of the two side plates 231 are located above the limiting plate 31 and are spaced from the limiting plate 31; when the vehicle body 1 is in the second position, as shown in fig. 5 and 6, the chassis 11 is away from the top surfaces of the two side plates 231 or the top plate 232, and the bottom ends of the two side plates 231 abut against the top surface of the limiting plate 31. The limiting plate 31 can limit the angle of rotation of the vehicle body 1 relative to the wheel seat 21.

The torsion spring 5 includes two coils 54, two first arms 51, two second arms 52 and a third arm 53, wherein the two coils 54 are respectively wound around the shaft 12 and located between the two side plates 231. One end of the two first arms 51 is connected to one end of the two coils 54, and the other end extends toward the first end 101 of the vehicle body 1 and is connected to the two side plates 231 near the wheel seat 21. One end of each of the two second support arms 52 is connected to the other end of each of the two coils 54, and the other end extends away from the coils 54 and abuts against the limiting plate 31. The third support arm 53 extends along the second direction, and two ends of the third support arm 53 along the second direction are respectively connected with one ends of the two second support arms 52 away from the coiled wire 54. The third arm 53 abuts against the limiting plate 31 and has a force pushing the limiting plate 31 away from the top plate 232, and when the vehicle body 1 is in the second position, the pushing force of the third arm 53 on the limiting plate 31 is greater than the pushing force of the vehicle body 1 on the limiting plate 31 when the vehicle body 1 is in the first position. The third arm 53 pushes the limiting plate 31 away from the top plate 232, i.e. the limiting plate 31 moves downward relative to the rotating shaft 12, so that the first end 101 of the vehicle body 1 moves downward, i.e. the third arm 53 drives the first end 101 of the vehicle body 1 to approach the connecting portion 23 or the wheel seat 21 through the limiting plate 31. The third arm 53 has a greater force on the limiting plate 31 in the second position, thereby driving the vehicle body 1 to return.

In the embodiment shown in fig. 2, the top of the two side plates 231 is respectively provided with a connecting hole 233, and one end of the first support arm 51 away from the winding wire 54 is respectively provided with a hook 55, and the hooks 55 of the two first support arms 51 are respectively hung on the inner walls of the connecting holes 233 of the two side plates 231. It should be appreciated that in other embodiments, the first arm 51 may be connected to the two side plates 231 or the wheel base 21 by other methods, such as welding, etc., and the specific connection of the first arm 51 to the two side plates 231 or the wheel base 21 is not limited.

Alternatively, the biasing member is a torsion spring located between the two side plates 231 and including a coil wire 54 and two arms, the coil wire 54 being wound outside the spindle 12 and located between the two side plates 231. One of the two arms has one end connected to one of the side plates 231 or the wheel mount 21 and the other end connected to one end of the wire 54. One end of the other support arm is abutted against the limiting plate 31, the other end of the other support arm is connected with the other end of the coiled wire 54, the support arm can push the limiting plate 31 to move towards the bottom around the rotating shaft 12, the limiting plate 31 can drive the vehicle body 1 to approach the connecting part 23 or the wheel seat 21 towards the bottom, and the thrust of the support arm to the limiting plate 31 at the second position is larger than the thrust to the limiting plate 31 at the first position, so that the vehicle body 1 is driven to reset. It should be appreciated that, in order to increase the thrust force to the limiting plate 31, a plurality of torsion springs may be disposed between the two side plates 231, and the plurality of torsion springs may be arranged at intervals along the second direction, where one arm of each torsion spring is connected to the side plate 231 or the wheel seat 21, and the other side wall 32 abuts against the limiting plate 31 and has a thrust force to move the limiting plate 31 downward, and the specific number of torsion springs is not limited herein.

It will be appreciated that the biasing member may also be arranged to drive the vehicle body 1 away from the wheel frame, for example the torsion spring 5 in fig. 2 may be arranged to drive the vehicle body 1 away from the force of the wheel frame. Specifically, the torsion spring 5 is connected to the connecting portion 23, the wheel seat 21 and the rotating shaft 12 substantially in the manner of fig. 2, that is, the two coils 54 of the torsion spring 5 are also wound around the rotating shaft 12 and between the two side plates 231, respectively. One end of the two first arms 51 is connected to one end of the two coils 54, and the other end is connected to the two side plates 231. One end of each of the two second support arms 52 is connected to the other end of each of the two coils 54, and the other end extends away from the coils 54 and abuts against the limiting plate 31.

The differences are: the third arm 53 of the torsion spring 5 is fixedly connected with the limiting plate 31, and when the vehicle body 1 is in the first position, the first arm 51 and the third arm 53 of the torsion spring 5 are stretched, and the first arm 51 and the third arm 53 have forces approaching each other, i.e. the first arm 51 and the third arm 53 can push the limiting plate 31 to approach the top plate 232, so that the top plate 232 is far away from the vehicle body 1. When the vehicle body 1 is in the second position, the torsion spring 5 is in a natural state, and the vehicle body 1 can be reset by means of the reset piece. Alternatively, the third arm 53 of the torsion spring 5 may have a smaller thrust against the stopper 31 when the vehicle body 1 is in the second position than the stopper 31 when the vehicle body 1 is in the first position.

When the vehicle body 1 is lifted, the torsion spring 5 assists the first end 101 of the vehicle body 1 to be away from the wheel frame, thereby improving the sensitivity of separation of the vehicle body 1 and the wheel frame.

According to the utility model, the corresponding position relation between the first driving component and the vehicle body 1 is sensed through the sensor, so that whether the vehicle body 1 is lifted or not is judged, and the autonomous operation equipment 100 is operated to perform corresponding work, so that the damage of the cutter head component at the bottom of the autonomous operation equipment 100 to surrounding equipment or staff can be avoided, and the safety performance of the autonomous operation equipment 100 is improved.

While the preferred embodiments of the present utility model have been described in detail above, it should be understood that aspects of the embodiments can be modified, if necessary, to employ aspects, features and concepts of the various patents, applications and publications to provide yet further embodiments.

These and other changes can be made to the embodiments in light of the above detailed description. In general, in the claims, the terms used should not be construed to be limited to the specific embodiments disclosed in the specification and the claims, but should be construed to include all possible embodiments along with the full scope of equivalents to which such claims are entitled.

It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples of carrying out the utility model and that various changes in form and details may be made therein without departing from the spirit and scope of the utility model.

Claims

1. An autonomous working device configured to travel in a first direction on a horizontal plane, the autonomous working device having a first end and a second end opposite the first end in the first direction, and comprising:

a vehicle body;

2. The autonomous working device of claim 1, wherein the first drive assembly further comprises a wheel carriage, the wheel carriage comprising:

3. The autonomous working apparatus according to claim 2, wherein the vehicle body and the connecting portion are rotatably connected by a rotating shaft, and an axis of the rotating shaft overlaps with the horizontal axis.

4. The autonomous working apparatus of claim 3 wherein,

one end of the connecting part is connected with the wheel seat, and the other end extends towards the second end and is rotatably connected with the rotating shaft.

5. The autonomous working apparatus of claim 2, further comprising a reset member operable to drive the vehicle body and the wheel carriage back from the second position to the first position.

6. The autonomous working apparatus of claim 4, further comprising a biasing member having one end abutting the wheel carriage and another end abutting the vehicle body, the biasing member being operable to adjust a force of movement of the vehicle body relative to the wheel carriage.

7. The autonomous working apparatus of claim 6, wherein the vehicle body comprises:

a chassis extending in a horizontal direction, an

8. The autonomous working apparatus of claim 7, wherein the biasing member is a double torsion spring comprising:

9. The autonomous working apparatus of claim 2, wherein the sensor comprises a permanent magnet and a magnetic induction element, one of the permanent magnet and the magnetic induction element being connected to the wheel carriage and the other being connected to the vehicle body.

10. The autonomous working apparatus of claim 9, wherein the permanent magnet is coupled to the wheel mount, the magnetic induction element is coupled to the vehicle body, the permanent magnet and the magnetic induction element are aligned in a horizontal direction in the first position, and the permanent magnet is positioned below the magnetic induction element in the second position.