Navigation module for an automatic walking device and a self - walking device

Abstract

The present invention relates to a navigation module for an automatic walking device. The navigation module is independent of the self-walking device, and the navigation module is detachably mounted on the self-walking device. The modular product is convenient for assembly, has high commonality, can be integrally arranged on any automatic walking device, reduces the R & D investment time, reduces the design risk, and at the same time reduces the product production cost, effectively improving the production efficiency.

Description

Technical Field

[0001] The present invention relates to, in particular to, a navigation module for an automatic walking device and the automatic walking device. Background Art

[0002] Navigation systems have begun to be used in the intelligent self-propelled equipment industry to realize the boundary-free function of self-propelled equipment. Self-propelled equipment uses path planning, and the navigation system realizes automatic operation within the set range.

[0003] For the application of navigation system, RTK+IMU is usually used to achieve precise positioning of self-propelled equipment. However, when the self-propelled equipment is in working state, the high-speed rotation of the motor brings high-frequency vibration, which will affect the work of IMU and thus affect the accuracy of positioning. Usually, this problem is solved by using high-frequency signal sampling, digital filtering, and finally low-frequency output to weaken or remove the impact of vibration.

[0004] In addition, the existing navigation device is installed inside the intelligent self-propelled device. To install or replace the navigation device, the self-propelled device needs to be disassembled, which destroys the sealing of the self-propelled device and is not convenient for installing the navigation device. At the same time, when developing similar new self-propelled devices, all related hardware layouts, structural spaces, etc. need to be re-planned and designed, resulting in low product reuse rate and high cost. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a navigation module which is relatively independently arranged from a self-propelled device and a self-propelled device.

[0006] To achieve the above purpose, the following technical solution is adopted.

[0007] A navigation module for an automatic walking device, wherein the navigation module and the automatic walking device are independent of each other and the navigation module can be detachably installed on the automatic walking device.

[0008] Optionally, the navigation module is arranged on the self-propelled device housing 7 through a shock absorbing device.

[0009] Optionally, the shock absorbing device is arranged between the navigation module 6 and the self-propelled device housing 7 .

[0010] Optionally, the navigation module includes a module upper shell, a module lower shell, an antenna and a navigation mainboard, the antenna is installed inside the navigation module, the navigation mainboard is installed inside the navigation module, and the module upper shell is installed on the module lower shell.

[0011] Optionally, the shock absorption device includes a shock absorption device body 5.1 disposed in the middle of the shock absorption device, and the shock absorption device body 5.1 is located between the navigation module 6 and the self - propelled device housing 7.

[0012] Optionally, the upper end surface of the shock absorption device body 5.1 abuts against the lower bottom surface of the navigation module 6.

[0013] Optionally, the shock absorption device body 5.1 is a hollow structure and is made of an elastic material.

[0014] Optionally, the shock absorption device further includes a fixed clamping position 5.3, a stop block 5.2, and an extension end 5.4. The fixed clamping position 5.3 is provided at the upper end of the shock absorption device body 5.1, the extension end 5.4 is provided at the upper end of the shock absorption device, and the stop block 5.2 is provided between the fixed clamping position 5.3 and the extension end 5.4.

[0015] Optionally, the stop block 5.2 and the shock absorption device body 5.1 are respectively located on both sides of the lower module housing, and the stop block 5.2 and the shock absorption device body 5.1 are respectively located on both sides of the self - propelled device housing 7.

[0016] Optionally, the fixed clamping position 5.3 is a hollow cylinder; the extension end 5.4 is a hollow cylinder; the diameter of the extension end 5.4 is smaller than the diameter of the fixed clamping position 5.3.

[0017] Optionally, the lower module housing or the upper module housing is provided with a module housing mounting hole, and the self - propelled device housing 7 is provided with a housing mounting hole 7.1. The shock absorption device is mounted on the lower module housing or the upper module housing through the module housing mounting hole, and the shock absorption device is mounted on the self - propelled device housing 7 through the housing mounting hole 7.1.

[0018] Optionally, the lower module housing or the upper module housing is provided with a module housing mounting hole, and the self - propelled device housing 7 is provided with a housing mounting post 7.2. The shock absorption device is mounted on the lower module housing or the upper module housing through the module housing mounting hole, and the shock absorption device is mounted on the self - propelled device housing 7 through the housing mounting post 7.2.

[0019] The present invention also relates to an automatic walking device, including a navigation module for an automatic walking device as described in any one of the above.

[0020] Beneficial effects

[0021] The modular product is convenient for assembly, has high commonality, can be integrally arranged on any automatic walking device, reduces the R & D investment time, reduces the design risk, and at the same time reduces the product production cost, effectively improving the production efficiency.

[0022] The present invention uses a shock-absorbing device for physical filtering, so that the vibration generated when the motor rotates at high speed cannot be directly transmitted into the IMU. The navigation accuracy is optimized, and the workload of filtering high-frequency vibration interference in terms of software and hardware is reduced. The structure of the shock-absorbing device is convenient for installation and saves assembly man-hours.

[0023] The present invention adopts the method of setting installation posts on the surface of the housing, avoiding opening holes in the outer shell, and facilitating the waterproof and dustproof treatment of the overall module. Description of the Drawings

[0024] Figure 1 is a schematic diagram of the navigation module of the first embodiment of the present invention;

[0025] Figure 2 is a schematic diagram of the navigation module of the second embodiment of the present invention;

[0026] Figure 3 is a schematic diagram of the first shock-absorbing device of the present invention;

[0027] Figure 4 is a schematic diagram of the second shock-absorbing device of the present invention. Detailed Embodiments

[0028] To make the objectives and technical solutions of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0029] Those skilled in the art of the present technology can understand that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as commonly understood by those of ordinary skill in the art to which the present invention belongs. It should also be understood that terms such as those defined in a general dictionary should be understood to have a meaning consistent with the meaning in the context of the prior art, and will not be interpreted in an idealized or overly formal sense unless defined as such here.

[0030] In the present invention, the meanings of "inside" and "outside" refer to the directions relative to the box body itself. The direction pointing to the inside of the box body is inside, and vice versa; rather than a specific limitation on the device mechanism of the present invention.

[0031] In the present invention, the meaning of "connection" can be a direct connection between components or an indirect connection between components through other components.

[0032] In the present invention, the meanings of "upper" and "lower" refer to the direction of the opening when the user faces the lid in the open state of the box body. The direction of the opening when the lid is opened is the upper, and the direction pointing from the opening when the lid is opened to the bottom surface of the box body is the lower, rather than a specific limitation on the device mechanism of the present invention.

[0033] As Figure 1 and Figure 2 shown, the navigation module for the automatic walking device of the present invention, the navigation module 6 is independent of the self - walking device, and the navigation module 6 is detachably installed on the self - walking device.

[0034] Figure 1 and Figure 2 shown, the navigation module is arranged on the housing 7 of the self - walking device through a shock - absorbing device. The shock - absorbing device is arranged between the navigation module 6 and the housing 7 of the self - walking device. The housing 7 of the self - walking device can be the outer shell of the self - walking device or the inner housing of the self - walking device. The outer shell of the self - walking device is a preferred implementation mode, which is more convenient for disassembly. Without opening the upper shell of the trolley, the navigation module can be replaced.

[0035] As a preferred way, the navigation module includes a module upper shell, a module lower shell, an antenna and a navigation main board. The antenna is installed inside the navigation module, the navigation main board is installed inside the navigation module, and the module upper shell is installed on the module lower shell. Similarly, the navigation module can adopt other structures, such as an integrally formed outer shell without distinguishing between the upper shell and the lower shell.

[0036] The upper end surface of the shock - absorbing device body 5.1 abuts against the lower bottom surface of the navigation module 6.

[0037] The shock - absorbing device body 5.1 is a hollow structure and is made of an elastic material.

[0038] As the first preferred way, module housing mounting holes are provided on the module lower shell, and the shock - absorbing device is installed in the mounting holes of the module lower shell. At this time, the stop block 5.2 and the shock - absorbing device body 5.1 are respectively located on both sides of the module lower shell, and the stop block 5.2 and the shock - absorbing device body 5.1 are respectively located on both sides of the housing 7 of the self - walking device.

[0039] As Figure 3 shown, the shock - absorbing device includes a shock - absorbing device body 5.1 arranged in the middle of the shock - absorbing device. The shock - absorbing device body 5.1 is located between the navigation module 6 and the housing 7 of the self - walking device. The shock - absorbing device further includes a fixed clamping position 5.3, a stop block 5.2 and an extension end 5.4. The fixed clamping position 5.3 is arranged at the upper end of the shock - absorbing device body 5.1, the extension end 5.4 is arranged at the upper end of the shock - absorbing device, and the stop block 5.2 is arranged between the fixed clamping position 5.3 and the extension end 5.4.

[0040] The fixed clamping position 5.3 is a hollow cylinder, and the extension end 5.4 is a hollow cylinder. The outer diameter of the extension end is smaller than the outer diameter of the fixed clamping position 5.3 between the shock-absorbing body 5.1 and the stop 5.2. The extension end 5.4 has a guiding function and can be set as a frustum of a cone, which is convenient for pulling by hand and greatly saves the working hours required for assembling the shock-absorbing device. The pre-cut groove 5.5 between the extension end 5.4 and the stop 5.2 is a thin glue structure, which is convenient for manually removing the extension end 5.4 without tools when the space is insufficient.

[0041] As a second preferred method, a lower housing mounting post is provided on the lower housing of the module, and the top end of the shock-absorbing device is mounted on the lower housing mounting post, and the lower housing mounting post is located in the spherical cavity at the end of the shock-absorbing device.

[0042] The middle of the shock-absorbing device body 1 is a hollow cavity 5.8. A shock-absorbing device mounting spherical cavity 5.6 and a mounting hole 5.7 are provided at the top end of the shock-absorbing device body 1. A module mounting post is provided on the outer surface of the bottom of the navigation module module 6, and the top of the module mounting post is a mounting ball head. The size of the ball head is not less than the outer diameter of the shock-absorbing device mounting hole 5.7 and not greater than the diameter of the spherical cavity 5.6. The fastening is achieved by the interference fit between the shock-absorbing device mounting hole and the ball head. The operation is simple and only needs to be vertically inserted, and it does not affect the shock-proof effect. At the same time, it avoids the waterproof and dust-proof risks brought by opening holes on the housing.

[0043] As a preferred method, the fixed clamping position 5.3 can be a hollow cylinder; the extension end 5.4 can be a hollow cylinder; the diameter of the extension end 5.4 is smaller than the diameter of the fixed clamping position 5.3.

[0044] As a first preferred method, a module housing mounting hole is provided on the lower housing or the upper housing of the module. A housing mounting hole 7.1 is provided on the self-propelled equipment housing 7. The shock-absorbing device is mounted on the lower housing or the upper housing of the module through the module housing mounting hole, and the shock-absorbing device is mounted on the self-propelled equipment housing 7 through the housing mounting hole 7.1. As Figure 3 shown, the bottom end of the shock-absorbing device includes a fixed clamping position 5.3, a stop 5.2 and an extension end 5.4. The bottom end of the shock-absorbing device is mounted in the housing mounting hole 7.1. The lower end surface of the shock-absorbing body 5.1 abuts against the upper end surface of the self-propelled equipment housing 7.

[0045] As a second preferred method, a housing mounting post 7.2 is provided on the self-propelled equipment housing 7. The shock-absorbing device is mounted on the lower housing or the upper housing of the module through the module housing mounting hole, and the shock-absorbing device is mounted on the self-propelled equipment housing 7 through the housing mounting post 7.2.

[0046] As Figure 4As shown, the middle of the shock absorption device body 1 is a hollow cavity 5.8. The bottom end of the shock absorption device body 1 is provided with a shock absorption device installation spherical cavity 5.6 and an installation hole 5.7. On the upper surface of the self-propelled device housing 7, there is a housing installation column 7.2, and the top of the housing installation column 7.2 is an installation ball head. The size of the ball head is not less than the outer diameter of the shock absorption device installation hole 5.7 and not greater than the diameter of the spherical cavity 5.6. The fastening is achieved by the interference fit between the shock absorption device installation hole and the ball head. The operation is simple, only need to vertically snap in, and it does not affect the shockproof effect. At the same time, it avoids the waterproof and dustproof risks brought by opening holes on the housing.

[0047] The present invention also relates to an automatic walking device, including a navigation module for the automatic walking device as described in any one of the above.

[0048] The above are only the embodiments of the present invention, and its description is relatively specific and detailed, but it should not be construed as a limitation to the scope of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention.

Claims

1. A navigation module for an automatic walking device, characterized in that The navigation module is independent of the self - propelled device, and the navigation module is detachably mounted on the self - propelled device; The navigation module is arranged on the housing (7) of the self - propelled device through a shock - absorbing device; The shock - absorbing device is arranged between the navigation module (6) and the housing (7) of the self - propelled device; The shock - absorbing device includes a shock - absorbing device body (5.1) arranged in the middle of the shock - absorbing device, and the shock - absorbing device body (5.1) is located between the navigation module (6) and the housing (7) of the self - propelled device; The shock - absorbing device further includes a fixed clamping position (5.3), a stop block (5.2) and an extension end (5.4). The fixed clamping position (5.3) is arranged at one end of the shock - absorbing device body (5.1), the extension end (5.4) is arranged at the end of one end of the shock - absorbing device, and the stop block (5.2) is arranged between the fixed clamping position (5.3) and the extension end (5.4); the diameter of the extension end (5.4) is smaller than the diameter of the fixed clamping position (5.3); The middle of the shock - absorbing device is a hollow cavity (5.8). The other end of the shock - absorbing device body (5.1) is provided with a shock - absorbing device installation spherical cavity (5.6) and an installation hole (5.7). A module installation column is arranged on the outer surface of the bottom of the navigation module (6), and the top of the module installation column is an installation ball head. The top of the installation ball head is installed in the spherical cavity (5.6) of the shock - absorbing device and is located below the hollow cavity (5.8); A pre - cut groove (5.5) is arranged between the extension end (5.4) and the stop (5.2), and the pre - cut groove is a thin glue structure; The size of the installation ball head is not less than the outer diameter of the shock - absorbing device installation hole (5.7) and not greater than the diameter of the spherical cavity (5.6), and fastening is achieved through the interference fit between the shock - absorbing device installation hole (5.7) and the ball head; Wherein, the housing (7) of the self - propelled device is the outer shell of the self - propelled device or the housing inside the self - propelled device.

2. The navigation module for an automatic walking device according to claim 1, wherein The navigation module includes an upper module housing, a lower module housing and a navigation main board. The navigation main board is installed inside the navigation module, and the upper module housing is installed on the lower module housing.

3. The navigation module for an automatic walking device according to claim 1, wherein The upper end surface of the shock - absorbing device body (5.1) abuts against the lower bottom surface of the navigation module (6).

4. The navigation module for an automatic walking device according to claim 1, wherein The shock - absorbing device body (5.1) is a hollow structure and is made of an elastic material.

5. The navigation module for an automatic walking device according to claim 1, wherein The fixed clamping position (5.3) is a hollow cylinder; the extension end (5.4) is a hollow cylinder.

6. An automatic walking device, characterized in that, It includes a navigation module for an automatic walking device according to any one of claims 1 - 5.

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