A lawnmower robot that integrates satellite and visual positioning and navigation

Abstract

This invention discloses a satellite and visual positioning navigation fusion lawnmower robot, comprising a lower cover assembly with a cutting cavity; a cutting blade rotatably mounted within the cutting cavity; a first motor mounted on the lower cover assembly and located above the cutting cavity, the first motor driving the cutting blade to rotate; a second motor mounted on the lower cover assembly for driving the wheels; an upper cover assembly that, together with the lower cover assembly, forms a sealed receiving cavity; a first control module is provided within the receiving cavity, electrically connected to the first motor and the second motor; at least one second control module is also provided within the receiving cavity for electrically connecting to a functional element other than the first motor and the second motor; a heat exchange structure is provided on the cavity wall for exchanging heat with external air through the heat exchange structure to regulate the temperature inside the receiving cavity when the internal temperature rises or falls.

Description

Technical Field

[0001] This invention relates to the field of lawnmowers, specifically a lawnmower robot that integrates satellite and visual positioning and navigation. Background Technology

[0002] With the advancement of technology, the integration of multiple navigation methods has been gradually applied to lawnmower robots. For robots that integrate multiple methods, it is necessary to add corresponding components inside the machine. For example, for robots that have added visual navigation, it is necessary to add a PCB board inside the machine for visual data calculation.

[0003] Because of the harsh working environment and the risk of rain outdoors, lawnmower robots typically employ a closed structure. Inside, they house the primary and secondary motors, as well as the main control board and other computing components. These components generate significant heat during operation, leading to high internal temperatures. For robots with VSLAM functionality, the VSLAM computing board also generates considerable heat. When placed inside the robot, the overall high internal temperature combined with the VSLAM board's own heat generation can easily cause localized overheating. If this temperature exceeds the protection limit, a protective power-off will occur, causing the VSLAM module to malfunction. Summary of the Invention

[0004] To address the aforementioned technical issues, this invention proposes a lawnmower robot that integrates satellite and visual positioning and navigation. This robot can accelerate the uniform distribution of temperature inside the vehicle, prevent localized overheating, and simultaneously introduce cooler ambient air from outside, effectively reducing the temperature inside the vehicle.

[0005] To achieve the above-mentioned technical objectives, the technical means adopted by the present invention are as follows:

[0006] A lawnmower robot that integrates satellite and visual positioning and navigation, comprising:

[0007] A lower cover assembly with a cutting cavity;

[0008] A cutting blade is rotatably mounted inside the cutting cavity;

[0009] A first motor is mounted on the lower cover assembly and located above the cutting cavity; the first motor is used to drive the cutting blade to rotate.

[0010] The second motor, mounted on the lower cover assembly, is used to drive the walking wheels;

[0011] The upper cover assembly and the lower cover assembly fit together to form a sealed receiving cavity;

[0012] The cavity contains a first control module, which is electrically connected to the first motor and the second motor.

[0013] The cavity is further provided with at least one second control module for electrical connection to a functional element other than the first motor and the second motor.

[0014] The cavity wall is provided with a heat exchange structure, which is used to exchange with the outside air through the heat exchange structure when the temperature inside the cavity rises or falls, thereby regulating the temperature inside the cavity.

[0015] The functional element is a visual navigation camera assembly located on the top of the upper cover assembly, and the second control module is an RTK navigation module;

[0016] The heat exchange structure is an exhaust port provided on the cavity wall of the receiving cavity, which allows hot air in the receiving cavity to flow out of the receiving cavity.

[0017] An air inlet is also formed on the cavity wall of the receiving cavity to allow heat dissipation airflow to enter the receiving cavity;

[0018] The cooling airflow that enters the receiving cavity from the air inlet and exits the receiving cavity from the air outlet flows through the RTK navigation module.

[0019] The RTK navigation module includes:

[0020] A metal heat dissipation housing, and a positioning antenna, a mobile communication antenna, an RTK navigation board, and a visual navigation board housed within the metal heat dissipation housing;

[0021] The interface for connecting to the visual navigation board is located entirely inside the metal heat dissipation housing to prevent interference signals from leaking at the interface and affecting the external RTK antenna.

[0022] The positioning antenna is connected to the metal heat dissipation shell by a plastic insulating post to avoid grounding.

[0023] The functional element is a patrol camera assembly located on the top of the upper cover assembly, and the second control module is a navigation module;

[0024] The heat exchange structure is an exhaust port provided on the cavity wall of the receiving cavity, which allows hot air in the receiving cavity to flow out of the receiving cavity.

[0025] An air inlet is also formed on the cavity wall of the receiving cavity to allow heat dissipation airflow to enter the receiving cavity;

[0026] The cooling airflow that enters the receiving cavity from the air inlet and exits the receiving cavity from the air outlet flows through the navigation module.

[0027] The navigation module includes:

[0028] A metal heat dissipation casing, and a positioning antenna, a mobile communication antenna, and an RTK navigation board housed within the metal heat dissipation casing.

[0029] The interface for connecting to the RTK navigation board is completely located inside the metal heat dissipation housing to prevent interference signals from leaking at the interface and affecting the external RTK antenna.

[0030] The positioning antenna is connected to the metal heat dissipation shell by a plastic insulating post to avoid grounding.

[0031] The exhaust port is a first waterproof and breathable valve provided on the wall of the receiving cavity, and the air inlet is a second waterproof and breathable valve provided on the wall of the receiving cavity;

[0032] Both waterproof and breathable valves are one-way breathable valves. The first waterproof and breathable valve allows air to flow from inside the machine to outside, while the second waterproof and breathable valve allows air to flow from outside the machine to inside.

[0033] The second motor and the second control module are both located inside the receiving cavity near the rear of the machine body;

[0034] Both the exhaust port and the air inlet are located on the wall of the receiving cavity and close to the head of the machine body;

[0035] The cavity is provided with two partition elements. The two partition elements, together with the location of the motor barrel of the first motor, divide the cavity into a left cavity and a right cavity. The two cavities are connected near the tail of the machine body to form a ventilation duct.

[0036] The cavity is also provided with:

[0037] The battery pack is used to power the first motor and the second motor.

[0038] Beneficial effects:

[0039] 1. This invention features two waterproof and breathable valves at different locations to guide the flow of gas within the vehicle. When the gas inside the vehicle is heated and expands, it is discharged from the waterproof and breathable valve 9a. The waterproof and breathable valve 9b at the front of the vehicle allows air to enter. The flow of gas within the vehicle can accelerate the uniform distribution of temperature inside the vehicle, preventing local overheating. At the same time, the introduction of ambient air with a lower external temperature can effectively reduce the temperature inside the vehicle.

[0040] 2. Furthermore, in order to prevent water vapor at the waterproof vent valve from affecting electronic components, the waterproof vent valves are all located at the front of the vehicle body. At the same time, partition elements are installed inside the vehicle body to form air ducts and guide the flow of gas inside the vehicle body. Attached Figure Description

[0041] Figure 1This is the assembly diagram of the satellite and visual positioning and navigation fusion lawnmower robot of the present invention;

[0042] Where 1 represents the machine; 2 represents the visual navigation camera component;

[0043] Figure 2 This is an exploded view of the main components of the satellite and visual positioning and navigation fusion lawnmower robot of this invention;

[0044] Among them, 4 is the RTK navigation module; 5 is the housing assembly; 6 is the upper cover assembly; and 7 is the lower cover assembly.

[0045] Figure 3 This is a schematic diagram of the visual navigation camera component structure;

[0046] Among them, 2.1 is a binocular fisheye camera; 2.2 is a color camera; and 2.3 is a depth camera.

[0047] Figure 4 This is an exploded view of the RTK navigation module of the present invention;

[0048] Among them, 4.1 is the module top cover; 4.2 is the module bottom cover; 4.3 is the positioning antenna; 4.4 is the RF antenna; 4.5 is the Bluetooth antenna; 4.6 is the WIFI antenna; 4.7 is the 4G antenna; 4.8 is the DTU antenna; 4.9 is the RTK navigation board; 4.10 is the visual navigation board; 4.11 is the plastic isolation column;

[0049] Figure 5 A schematic diagram of the connection structure between the visual navigation camera component and the aircraft body;

[0050] Among them, 61 is a camera mounting base;

[0051] Figure 6 This is the assembly drawing of the lawnmower robot of the present invention;

[0052] Among them, 3 represents the inspection camera component;

[0053] Figure 7 This is an exploded view of the main components of the lawnmower robot of this invention;

[0054] Figure 8 This is a schematic diagram of the inspection camera assembly structure;

[0055] Among them, 3.1 is the camera; 3.2 is the microphone; 3.3 is the speaker; and 3.4 is the infrared LED.

[0056] Figure 9 This is an exploded view of the navigation module of the present invention;

[0057] Figure 10 This is a cross-sectional view of the machine according to the present invention;

[0058] Among them, 8 represents heat dissipation components;

[0059] Figure 11 This is a cross-sectional view of the vehicle body of the present invention;

[0060] Among them, 9 is the exhaust port;

[0061] Figure 12 This is a cross-sectional view of the vehicle body in Embodiment 1 of the present invention, where both an exhaust port and an air intake port are designed.

[0062] Wherein, 9a is the first waterproof vent valve; 9b is the second waterproof vent valve;

[0063] Figure 13 This is a cross-sectional view of the vehicle body in Embodiment 2 of the present invention, where both an exhaust port and an air intake port are designed.

[0064] Figure 14 This is a diagram illustrating the gas flow path inside the vehicle body when both an exhaust port and an air inlet are designed in Embodiment 2 of the present invention.

[0065] Among them, 10a is the first dividing element; 10b is the second dividing element; 11a is the left cavity; and 11b is the right cavity. Detailed Implementation

[0066] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0067] like Figure 1 and Figure 2 As shown, the present invention provides a satellite and visual positioning and navigation fusion lawnmower robot, comprising:

[0068] Lower cover assembly 7 with a cutting cavity;

[0069] A cutting blade is rotatably mounted inside the cutting cavity;

[0070] A first motor is mounted on the lower cover assembly 7 and located above the cutting cavity. The first motor is used to drive the cutting blade to rotate.

[0071] The wheels are mounted on the lower cover assembly 7;

[0072] The second motor is mounted on the lower cover assembly 7 and is used to drive the walking wheels;

[0073] The upper cover assembly 6 and the lower cover assembly 7 are fitted together to form a sealed receiving cavity;

[0074] The cavity contains a first control module, which is electrically connected to the first motor and the second motor.

[0075] Example 1

[0076] like Figures 1-5As shown in the figure, as a specific embodiment of the present invention, the top of the upper cover assembly is provided with a mounting base 6.1 for mounting the visual navigation camera assembly 2. The visual navigation camera assembly 2 is mounted on the camera mounting base 6.1 and connected by screws. The visual navigation camera assembly of the present invention includes a binocular fisheye camera 2.1, a color camera 2.2, and a depth camera 2.3.

[0077] The cavity is further equipped with an RTK navigation module; the RTK navigation module includes:

[0078] Module top cover 4.1, module bottom cover 4.2, positioning antenna 4.3, RF antenna 4.4, Bluetooth antenna 4.5, WIFI antenna 4.6, 4G antenna 4.7, DTU antenna 4.8, RTK navigation board 4.9, visual navigation board 4.10, plastic isolation column 4.11;

[0079] The module top cover 4.1 and module bottom cover 4.2 are made of metal and serve to dissipate heat and provide shielding. When wiring, the interface used to connect to the visual navigation board is completely located inside the module top cover 4.1 and module bottom cover 4.2 to prevent interference signals from leaking at the interface and affecting the external RTK antenna.

[0080] The positioning antenna 4.3 is connected to the module lower cover 4.2 via a plastic isolation post 4.11 to avoid grounding.

[0081] As you can see, the enclosed environment inside the vehicle body needs to house the battery, the first motor for mowing, the second motor for driving, the first control module, the RTK navigation board, the visual navigation board, and so on. There are many heat-generating components in the entire environment, and since the interior of the vehicle body is a closed environment, the heat is not easy to dissipate.

[0082] Therefore, the exhaust port on the cavity wall of the present invention allows hot air in the cavity to flow out of the cavity.

[0083] Figure 4 The figure shown is an exploded view of the RTK navigation module described in Embodiment 1 of the present invention.

[0084] Example 2

[0085] like Figures 6-9 As shown, as a further preferred embodiment of the present invention, in this embodiment 2, the top of the upper cover assembly 6 is provided with a patrol camera assembly 3, which is mounted on the camera mounting base 6.1 and connected by screws; it includes a camera 3.1, a microphone 3.2, a speaker 3.3, and an infrared LED 3.4;

[0086] The cavity also houses a navigation module, which includes: a top cover 4.1, a bottom cover 4.2, a positioning antenna 4.3, an RF antenna 4.4, a Bluetooth antenna 4.5, a WIFI antenna 4.6, a 4G antenna 4.7, a DTU antenna 4.8, an RTK navigation board 4.9, and a plastic isolation column 4.11.

[0087] The module's upper cover 4.1 and lower cover 4.2 are made of metal and serve to dissipate heat and provide shielding. When wiring, the interface used to connect to the RTK navigation board is completely located inside the upper and lower covers to prevent interference signals from leaking at the interface and affecting the external RTK antenna.

[0088] The positioning antenna 4.3 is connected to the module lower cover 4.2 via a plastic isolation post 4.11 to avoid grounding.

[0089] Example 3

[0090] like Figures 10-11 As shown, as a preferred embodiment of the technical solutions of Embodiments 1 and 2 of the present invention, the exhaust port 9 is a waterproof and breathable valve located at the rear of the vehicle body. When the internal temperature of the vehicle body rises or falls, it exchanges with the outside air through the waterproof and breathable valve to regulate the internal temperature of the vehicle body. At the same time, a heat dissipation element is set at the bottom of the navigation module, which can be a heat dissipation fin or a fan, etc., to dissipate heat as quickly as possible or accelerate the heat flow inside the machine, so that the internal temperature of the machine can be evenly distributed and there should be no local overheating.

[0091] Example 4

[0092] like Figure 12 As shown, as a further improvement of Embodiment 3 of the present invention, two waterproof and breathable valves are provided inside the machine. The first waterproof and breathable valve 9a is located at the rear of the vehicle body, and the second waterproof and breathable valve 9b is located at the front of the vehicle body. Furthermore, to guide the airflow within the vehicle body, both waterproof and breathable valves are one-way valves. The first waterproof and breathable valve 9a vents from inside the vehicle body to outside, while the second waterproof and breathable valve 9b vents from outside the vehicle body to inside. This arrangement has the following advantages:

[0093] The system guides the flow of gas within the vehicle. After the gas inside the vehicle expands due to heat, it is discharged from the first waterproof and breathable valve 9a. The second waterproof and breathable valve 9b at the front of the vehicle allows air to enter. The flow of gas inside the vehicle can accelerate the uniform distribution of temperature inside the vehicle and prevent local overheating. At the same time, the introduction of ambient air with a lower external temperature can effectively reduce the temperature inside the vehicle.

[0094] Example 5

[0095] In the previous embodiment 4, a waterproof vent valve was located at the rear, close to the electronic components at the rear of the vehicle. The rear of the vehicle typically houses a second motor, battery, navigation board, etc. Moisture may be generated at the waterproof vent valve, affecting the electronic components. To solve this problem, this embodiment places all waterproof vent valves at the front of the vehicle, and a partition element is installed inside the vehicle to form an air duct to guide the flow of gas within the vehicle.

[0096] like Figure 13 and Figure 14 As shown, the vehicle body is equipped with partition elements 10a and 10b. These two partition elements, together with the location of the motor barrel, divide the vehicle body into a left cavity 11a and a right cavity 11b. The two cavities are connected at the rear of the vehicle body. During operation, the gas flow path is as follows: Figure 14 As shown. This feature prevents water vapor at the waterproof vent valve from affecting electronic components.

Claims

1. A lawnmower robot that integrates satellite and visual positioning and navigation, comprising: A lower cover assembly with a cutting cavity; A cutting blade is rotatably mounted inside the cutting cavity; A first motor is mounted on the lower cover assembly and located above the cutting cavity; the first motor is used to drive the cutting blade to rotate. The second motor, mounted on the lower cover assembly, is used to drive the walking wheels; The upper cover assembly and the lower cover assembly fit together to form a sealed receiving cavity; The cavity contains a first control module, which is electrically connected to the first motor and the second motor. The feature is that the cavity is further provided with at least one second control module for electrically connecting to a functional element other than the first motor and the second motor; The cavity wall is provided with a heat exchange structure, which is used to exchange with the outside air through the heat exchange structure when the temperature inside the cavity rises or falls, thereby regulating the temperature inside the cavity. The functional element is a visual navigation camera assembly located on the top of the upper cover assembly, and the second control module is an RTK navigation module; The heat exchange structure is an exhaust port provided on the cavity wall of the receiving cavity, which allows hot air in the receiving cavity to flow out of the receiving cavity; An air inlet is also formed on the cavity wall of the receiving cavity to allow heat dissipation airflow to enter the receiving cavity; The cooling airflow that enters the receiving cavity from the air inlet and exits the receiving cavity from the air outlet flows through the RTK navigation module; The exhaust port is a first waterproof and breathable valve installed on the wall of the receiving cavity, and the air inlet is a second waterproof and breathable valve installed on the wall of the receiving cavity; both waterproof and breathable valves are one-way breathable valves, wherein the airflow direction of the first waterproof and breathable valve is from inside the machine body to outside the machine body, and the airflow direction of the second waterproof and breathable valve is from outside the machine body to inside the machine body. The second motor and the second control module are both located inside the receiving cavity near the rear of the machine body; Both the exhaust port and the air inlet are located on the wall of the receiving cavity and close to the head of the machine body; The cavity is provided with two partition elements. The two partition elements, together with the location of the motor barrel of the first motor, divide the cavity into a left cavity and a right cavity. The two cavities are connected near the tail of the machine body to form a ventilation duct. The airflow entering from the second waterproof and breathable valve flows through the RTK navigation module and then flows through the ventilation duct to the first waterproof and breathable valve for discharge.

2. The satellite and visual positioning and navigation fusion lawnmower robot as described in claim 1, characterized in that, The RTK navigation module includes: a metal heat dissipation shell, and a positioning antenna, a mobile communication antenna, an RTK navigation board, and a visual navigation board housed in the metal heat dissipation shell; The interface for connecting to the visual navigation board is located entirely inside the metal heat dissipation housing to prevent interference signals from leaking at the interface and affecting the external RTK antenna. The positioning antenna is connected to the metal heat dissipation shell by a plastic insulating post to avoid grounding.

3. The satellite and visual positioning and navigation fusion lawnmower robot as described in claim 1, characterized in that, The functional element is a patrol camera assembly located on the top of the upper cover assembly, and the second control module is a navigation module; The heat exchange structure is an exhaust port provided on the cavity wall of the receiving cavity, which allows hot air in the receiving cavity to flow out of the receiving cavity.

4. The satellite and visual positioning and navigation fusion lawnmower robot as described in claim 3, characterized in that, An air inlet is also formed on the cavity wall of the receiving cavity to allow heat dissipation airflow to enter the receiving cavity; The cooling airflow that enters the receiving cavity from the air inlet and exits the receiving cavity from the air outlet flows through the navigation module.

5. The satellite and visual positioning and navigation fusion lawnmower robot as described in claim 4, characterized in that, The navigation module includes: a metal heat dissipation housing, and a positioning antenna, a mobile communication antenna, and an RTK navigation board housed in the metal heat dissipation housing. The interface for connecting to the RTK navigation board is located entirely inside the metal heat dissipation housing to prevent interference signals from leaking at the interface and affecting the external RTK antenna. The positioning antenna is connected to the metal heat dissipation shell by a plastic insulating post to avoid grounding.

6. The satellite and visual positioning and navigation fusion lawnmower robot as described in claim 1, characterized in that, The cavity also contains a battery pack for supplying power to the first motor and the second motor.

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