A RTK positioning device for mowing range of a mowing robot

Abstract

The present invention belongs to the field of satellite positioning technology, and more particularly, relates to an RTK positioning device for the mowing range of a lawn mower robot, comprising a lawn mower robot, wherein two fixing rods are symmetrically connected to the top of the lawn mower robot, an RTK measuring instrument is installed on the top of the fixing rods, a high-definition camera is installed on the front side of the RTK measuring instrument, and a plurality of arched support rods are evenly arranged on the periphery of the RTK measuring instrument, and the tops of the plurality of arched support rods are fixedly connected with the same connecting ring. The present invention is provided with a shock-absorbing component, and in the process of the lawn mower robot moving forward to mow the lawn, the guide ring can protect the RTK measuring instrument and prevent the RTK measuring instrument from colliding with obstacles. In addition, as the guide ring rotates, the flexible brush strip can scrape against the high-definition camera, thereby scraping grass clippings splashed during mowing, water droplets stained on external plants, and impurities from the front side of the high-definition camera, thereby ensuring the shooting effect of the high-definition camera.

Description

Technical Field

[0001] The invention belongs to the technical field of satellite positioning, and in particular relates to an RTK positioning device for the mowing range of a mowing robot. Background Art

[0002] RTK (Real-time kinematic) carrier phase differential technology is a differential method for real-time processing of carrier phase observations of two measuring stations. The carrier phase collected by the base station is sent to the user receiver to calculate the coordinates. This is a new and commonly used satellite positioning measurement method. The previous static, fast static, and dynamic measurements all required post-calculation to obtain centimeter-level accuracy. RTK is a measurement method that can obtain centimeter-level positioning accuracy in real time in the field. It uses a carrier phase dynamic real-time differential method and is a major milestone in GPS applications. Its emergence has brought new measurement principles and methods to engineering layout, topographic mapping, various control measurements and other fields, greatly improving work efficiency.

[0003] For example, in order to improve the mowing accuracy, some lawn mower robots also use RTK measuring instruments, and in order to further improve the mowing effect and mowing accuracy, some RTK measuring instruments are also equipped with high-definition cameras. However, due to the lack of suitable cleaning devices, during the mowing process of the lawn mower robot, some grass clippings, water droplets and debris are easily attached to the high-definition camera, thereby blocking the high-definition camera and affecting the shooting effect of the high-definition camera.

[0004] Therefore, it is necessary to invent a RTK positioning device for the mowing range of a lawn mowing robot to solve the above problems.

[0005] The above information is presented as background information only to assist with understanding the present disclosure and no determination or admission is made as to whether any of the above may be used as prior art with respect to the present disclosure. Summary of the invention

[0006] In view of the above problems, the present invention provides a RTK positioning device for the mowing range of a lawn mowing robot to solve the problems raised in the above background technology.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an RTK positioning device for the mowing range of a lawn mowing robot, comprising a lawn mowing robot, wherein two fixing rods are symmetrically connected to the top of the lawn mowing robot, an RTK measuring instrument is installed on the top of the fixing rods, a high-definition camera is installed on the front side of the RTK measuring instrument, a plurality of arched support rods are evenly arranged on the periphery of the RTK measuring instrument, a plurality of arched support rods are fixedly connected to the same connecting ring on the top, an annular baffle is rotatably connected to the inner side of the connecting ring, a sealing cover is arranged on the top of the annular baffle, and a flexible The flexible film is fitted with the top of the RTK measuring instrument, the area formed by the annular baffle, the sealing cover and the flexible film is filled with coolant, the inner side of the arched support rod is fixedly connected with a flexible brush strip, and the flexible brush strip is fitted with the side of the RTK measuring instrument, a same fixing ring is fixedly connected between the bottom ends of multiple arched support rods, a swivel is provided at the bottom of the fixing ring, the swivel is rotatably sleeved on the fixing rod, multiple first connecting rods are fixedly connected between the side of the swivel and the bottom of the fixing ring, a shock absorbing assembly is provided on the outer side of the fixing ring, and an offset assembly is provided at the bottom of the swivel.

[0008] Furthermore, the shock absorbing assembly includes a guide ring, which is concentric with the rotating ring, and a plurality of second connecting rods are evenly and vertically fixedly connected to the outer side of the rotating ring, and a shock absorbing spring is fixedly connected between one end of the second connecting rod close to the guide ring and the inner side of the guide ring.

[0009] Furthermore, the offset assembly includes a support ring, which is located at the bottom of the rotating ring and is fixedly sleeved on the fixed rod. A plurality of first inclined magnetic blocks are evenly and fixedly connected to the top of the support ring. The plurality of first inclined magnetic blocks are distributed in a ring shape, and the number of the plurality of first inclined magnetic blocks is the same as the number of the plurality of bow-shaped support rods. A plurality of second inclined magnetic blocks are distributed on the tops of the plurality of first inclined magnetic blocks in a one-to-one correspondence. The inclined surfaces of the second inclined magnetic blocks are opposite to the inclined surfaces of the first inclined magnetic blocks, and the inclined magnetic properties of the first inclined magnetic blocks are the same as the inclined magnetic properties of the second inclined magnetic blocks. A magnetic strip is fixedly connected to the highest point of the top of the first inclined magnetic block, and the magnetism of the top surface of the magnetic strip is opposite to the magnetism of the lowest point of the second inclined magnetic block. There is a gap between the top of the magnetic strip and the bottom of the second inclined magnetic block, and when the magnetic strip is facing the bottom of the second inclined magnetic block, none of the bow-shaped support rods is located directly in front of the high-definition camera.

[0010] Furthermore, the outer diameter of the guide ring is larger than the diameter of the RTK measuring instrument, and a plurality of anti-slip rings are evenly sleeved on the guide ring.

[0011] Furthermore, a plurality of heat dissipation tubes are inserted through the side wall of the annular baffle, one end of the heat dissipation tube located inside the connecting ring is of closed design, the other end of the heat dissipation tube is of open design, and the open end of the heat dissipation tube is flush with the outer side of the connecting ring.

[0012] Furthermore, the rotating ring is designed to rotate in a unidirectional direction, and the resistance encountered by the rotating ring during rotation is smaller than the sum of the repulsive forces between the plurality of first inclined magnetic blocks and the plurality of second inclined magnetic blocks.

[0013] Furthermore, a fixed block is fixedly connected to the outer side of the annular baffle, a return spring is fixedly connected to the bottom of the fixed block, a knocking ball is connected to the bottom end of the return spring, and the bottom of the knocking ball can contact the bow-shaped support rod.

[0014] Furthermore, an L-shaped plate is fixedly connected to the outer side of the annular baffle, and soft bristles are evenly arranged on the side of the vertical section of the L-shaped plate opposite to the arched support rod, and the soft bristles can fit with the arched support rod and the side of the RTK measuring instrument.

[0015] Technical effects and advantages of the present invention:

[0016] 1. The present invention is provided with a shock-absorbing component. When the mowing robot moves forward to mow the grass, the guide ring can protect the RTK measuring instrument and prevent the RTK measuring instrument from colliding with obstacles. In addition, as the guide ring rotates, the flexible brush strip can scrape against the high-definition camera, thereby scraping grass clippings splashed during mowing, water droplets on external plants, and impurities from the front side of the high-definition camera, thereby ensuring the shooting effect of the high-definition camera;

[0017] 2. The present invention is provided with an offset component. When the flexible brush strip cleans the high-definition camera, when the cleaning is completed, if the inclined surfaces of the first inclined magnetic block and the second inclined magnetic block are directly opposite to each other, the first inclined magnetic block can drive the rotating ring to continue to rotate a certain angle through the repulsive force on the second inclined magnetic block, so that the arched support rod can continue to rotate and move away from the front side of the high-definition camera under the drive of the fixed ring and the connecting ring, and the high-definition camera will not be blocked by the arched support rod at this time, thereby ensuring the normal shooting of the high-definition camera;

[0018] 3. The present invention is provided with soft bristles. When the flexible brush strip inside the arched support rod completes the cleaning operation of the high-definition camera, as the fixed ring and the connecting ring rotate, when the arched support rod that has completed the cleaning passes through the soft bristle storage area of ​​the L-shaped plate, the soft bristles can clean the debris or grass clippings stuck on the arched support rod, and prevent the debris or grass clippings from returning to the front side of the high-definition camera as the fixed ring and the connecting ring rotate, thereby ensuring the cleaning effect of the flexible brush strip on the high-definition camera;

[0019] 4. Before using the mowing robot, open the sealing cover and add coolant to the inside of the annular baffle. As the coolant is injected, the flexible film can be attached to the top of the RTK measuring instrument under the pressure of the coolant. During the use of the mowing robot, when the mowing robot is in a high external ambient temperature, the RTK measuring instrument can transfer the heat to the coolant inside the annular baffle through the flexible film, thereby using the coolant to cool the RTK measuring instrument and avoid the high temperature from affecting the normal use of the RTK measuring instrument.

[0020] 5. By providing a knocking ball, when the flexible brush strip that has completed cleaning passes the position of the knocking ball driven by the fixing ring and the connecting ring, the knocking ball can be quickly reset and vibrate under the drive of the reset spring, and then the knocking ball in the vibrating state can knock on the back side of the movement direction of the bow support rod, thereby driving the bow support rod to vibrate together, and then shaking off the grass clippings and debris stuck between the bow support rod and the RTK measuring instrument, avoiding the grass clippings and debris from affecting the movement of the flexible brush strip. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 It is a three-dimensional schematic diagram of all structures except the lawn mowing robot in the present invention;

[0024] Figure 3 It is a three-dimensional schematic diagram of the structures of the annular baffle, the flexible film, the knocking ball and the soft bristles in the present invention;

[0025] Figure 4 It is a three-dimensional schematic diagram of a fixed rod, an RTK measuring instrument and a part of an offset component in the present invention;

[0026] Figure 5 It is a first stereoscopic schematic diagram of the structures of the bow-shaped support rod, the connecting ring, the fixing ring, the flexible brush strip and the second inclined magnetic block in the present invention;

[0027] Figure 6 It is a second stereoscopic schematic diagram of the structures of the bow-shaped support rod, the connecting ring, the fixing ring, the flexible brush strip and the second inclined magnetic block in the present invention.

[0028] In the figure: 1. lawn mowing robot; 2. fixing rod; 3. RTK measuring instrument; 4. high-definition camera; 5. bow-shaped support rod; 6. connecting ring; 7. annular baffle; 8. sealing cover; 9. flexible film; 10. flexible brush strip; 11. fixing ring; 12. swivel; 13. first connecting rod; 14. shock-absorbing assembly; 141. guide ring; 142. second connecting rod; 143. shock-absorbing spring; 15. offset assembly; 151. support ring; 152. first inclined magnetic block; 153. second inclined magnetic block; 154. magnetic strip; 16. anti-slip ring; 17. heat pipe; 18. fixing block; 19. reset spring; 20. knocking ball; 21. L-shaped plate; 22. soft bristles. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments.

[0030] The present invention provides Figures 1 to 6 The RTK positioning device for the mowing range of a lawn mower robot shown in the figure comprises a lawn mower robot 1, two fixing rods 2 are symmetrically connected to the top of the lawn mower robot 1, an RTK measuring instrument 3 is installed on the top of the fixing rod 2, a high-definition camera 4 is installed on the front side of the RTK measuring instrument 3, a plurality of arched support rods 5 are evenly arranged on the periphery of the RTK measuring instrument 3, a same connecting ring 6 is fixedly connected to the top of the plurality of arched support rods 5, an annular baffle 7 is rotatably connected to the inner side of the connecting ring 6, a sealing cover 8 is arranged on the top of the annular baffle 7, a flexible film 9 is connected to the bottom of the annular baffle 7, and the flexible film 9 is connected to the RTK measuring instrument 3. The top of the RTK measuring instrument 3 is fitted, and the area formed by the annular baffle 7, the sealing cover 8 and the flexible film 9 is filled with coolant. The inner side of the arched support rod 5 is fixedly connected with a flexible brush strip 10, and the flexible brush strip 10 is fitted with the side of the RTK measuring instrument 3. The bottom ends of the plurality of arched support rods 5 are fixedly connected with the same fixing ring 11, and a swivel 12 is provided at the bottom of the fixing ring 11. The swivel 12 is rotatably sleeved on the fixing rod 2, and a plurality of first connecting rods 13 are fixedly connected between the side of the swivel 12 and the bottom of the fixing ring 11. A shock absorbing assembly 14 is provided on the outer side of the fixing ring 11, and an offset assembly 15 is provided at the bottom of the swivel 12;

[0031] The shock absorbing assembly 14 includes a guide ring 141, the guide ring 141 is concentric with the rotating ring 12, a plurality of second connecting rods 142 are evenly and vertically fixedly connected to the outer side of the rotating ring 12, a shock absorbing spring 143 is fixedly connected between one end of the second connecting rod 142 close to the guide ring 141 and the inner side of the guide ring 141, the outer diameter of the guide ring 141 is larger than the diameter of the RTK measuring instrument 3, and a plurality of anti-slip rings 16 are evenly sleeved on the guide ring 141;

[0032] Before using the lawn mower robot 1, open the sealing cover 8 and add coolant to the inner side of the annular baffle 7. As the coolant is injected, the flexible film 9 can fit together with the top of the RTK measuring instrument 3 under the pressure of the coolant. After the coolant is injected, cover the sealing cover 8. At this time, the annular baffle 7 can keep close contact with the RTK measuring instrument 3 and keep the stationary spring under the action of the friction between the flexible film 9 and the top of the RTK measuring instrument 3. During the use of the lawn mower robot 1, when the lawn mower robot 1 is in a high external ambient temperature, the RTK measuring instrument 3 can transfer heat to the coolant inside the annular baffle 7 through the flexible film 9, thereby using the coolant to achieve a cooling operation on the RTK measuring instrument 3, avoiding the high temperature from affecting the normal use of the RTK measuring instrument 3.

[0033] In addition, when the mowing robot 1 moves forward to mow the lawn, by providing a guide ring 141, when obstacles such as tall weeds or branches that have not been cut on the side of the mowing robot 1 come into contact with the guide ring 141, the anti-skid ring 16 on the guide ring 141 can increase the friction force on the guide ring 141, so that the guide ring 141 can rotate under the action of the friction force, and as the guide ring 141 rotates, the guide ring 141 can drive the rotating ring 12 to rotate through the shock-absorbing spring 143 and the second connecting rod 142, and as the rotating ring 12 rotates, the rotating ring 12 can drive the fixed ring 11, the arched support rod 5 and the connecting ring 6 to rotate through the first connecting rod 13, and as the arched support rod 5 moves, the flexible brush strip 10 can be attached to the high-definition camera 4 on the front side of the RTK measuring instrument 3 to perform a scraping operation, so that grass clippings splashed during mowing, water droplets on external plants, and impurities are scraped off from the front side of the high-definition camera 4, thereby ensuring the shooting effect of the high-definition camera 4;

[0034] In addition, during the forward movement of the lawn mowing robot 1, since the diameter of the guide ring 141 is larger than the diameter of the RTK measuring instrument 3, the guide ring 141 can also provide a certain degree of protection for the RTK measuring instrument 3, thereby preventing obstacles from colliding with the RTK measuring instrument 3 during the movement. In addition, due to the presence of the shock-absorbing spring 143, when the guide ring 141 collides with an obstacle, the shock-absorbing spring 143 close to the impacted side of the guide ring 141 can be compressed and deflected, while the remaining shock-absorbing springs 143 can be extended, compressed, deflected, etc. accordingly, thereby converting the collision force received by the guide ring 141 into the elastic potential energy of the shock-absorbing spring 143, thereby providing a protective effect to the guide ring 141 while reducing the impact of the vibration generated by the collision on the RTK measuring instrument 3.

[0035] like Figures 4 to 6As shown, the offset assembly 15 includes a support ring 151, the support ring 151 is located at the bottom of the rotating ring 12, and the support ring 151 is fixedly sleeved on the fixed rod 2, and a plurality of first inclined magnetic blocks 152 are evenly and fixedly connected to the top of the support ring 151, the plurality of first inclined magnetic blocks 152 are distributed in a ring shape, and the number of the plurality of first inclined magnetic blocks 152 is the same as the number of the plurality of arched support rods 5, and a plurality of second inclined magnetic blocks 153 are distributed on the top of the plurality of first inclined magnetic blocks 152 in a one-to-one correspondence, the inclined surface of the second inclined magnetic block 153 is opposite to the inclined surface of the first inclined magnetic block 152, and the inclined surface of the first inclined magnetic block 152 is magnetically opposite to the inclined surface of the second inclined magnetic block 153. The inclined magnetism of the surface magnet block 153 is the same, the highest point of the top of the first inclined magnet block 152 is fixedly connected with a magnetic strip 154, and the magnetism of the top surface of the magnetic strip 154 ​​is opposite to the magnetism of the lowest point of the second inclined magnet block 153, there is a gap between the top of the magnetic strip 154 ​​and the bottom of the second inclined magnet block 153, and when the magnetic strip 154 ​​is facing the bottom of the second inclined magnet block 153, any arched support rod 5 is not located directly in front of the high-definition camera 4, the rotation direction of the rotating ring 12 is a unidirectional design, and the resistance encountered by the rotating ring 12 when rotating is less than the sum of the repulsive forces between the multiple first inclined magnet blocks 152 and the multiple second inclined magnet blocks 153;

[0036] By providing the offset assembly 15, when the guide ring 141 rotates under the influence of weeds or obstacles, the guide ring 141 can drive the swivel 12 and the multiple second inclined magnetic blocks 153 at the bottom thereof to rotate together through the second connecting rod 142, and as the swivel 12 rotates, the multiple second inclined magnetic blocks 153 can alternately pass through the bottoms of the multiple first inclined magnetic blocks 152, and in this process, the flexible brush strip 10 can brush from the front side of the high-definition camera 4, so as to brush off the grass clippings, water droplets and debris attached to the front side of the high-definition camera 4, and as the flexible brush strip 10 brushes along the front side of the high-definition camera 4, when the guide ring 141 is no longer pushed by external force, the connecting ring 6, the fixing ring 11 and the swivel 12 can gradually stop rotating, and when the swivel 12 is about to stop rotating, Due to the existence of the first inclined magnetic block 152 and the second inclined magnetic block 153, when the inclined surfaces of the first inclined magnetic block 152 and the second inclined magnetic block 153 are facing each other, the first inclined magnetic block 152 can drive the rotating ring 12 to continue to rotate a certain angle through the repulsive force on the second inclined magnetic block 153, so that the arched support rod 5 can continue to rotate and move away from the front side of the high-definition camera 4 under the drive of the fixing ring 11 and the connecting ring 6. When the magnetic strip 154 ​​at the top of the first inclined magnetic block 152 moves to the bottom of the second inclined magnetic block 153, the attraction of the second inclined magnetic block 153 to the magnetic strip 154 ​​can restrict the rotating ring 12, so that the rotating ring 12 is completely still, and at this time the high-definition camera 4 will not be blocked by the arched support rod 5, thereby ensuring the normal shooting of the high-definition camera 4;

[0037] In addition, since the swivel 12 is designed for unidirectional rotation, it can ensure that during the process of the flexible brush strip 10 cleaning the high-definition camera 4, the grass clippings and debris scraped off by the flexible scraper strip can only be scraped off from the front side of the high-definition camera 4 in one direction, avoiding blurring of the high-definition camera 4 due to back and forth scraping.

[0038] like Figure 3 As shown, a plurality of heat dissipation tubes 17 are inserted through the side wall of the annular baffle 7, one end of the heat dissipation tube 17 located inside the connecting ring 6 is of a closed design, and the other end of the heat dissipation tube 17 is of an open design, and the open end of the heat dissipation tube 17 is flush with the outer side of the connecting ring 6;

[0039] By providing the heat dissipation pipe 17 , the heat dissipation pipe 17 can increase the contact area between the coolant and the outside air, thereby accelerating the heat absorbed by the cooling to be dissipated into the air, thereby ensuring the heat dissipation effect of the coolant on the RTK measuring instrument 3 .

[0040] like Figure 2 and Figure 3 As shown, a fixing block 18 is fixedly connected to the outer side of the annular baffle 7, a return spring 19 is fixedly connected to the bottom of the fixing block 18, a knocking ball 20 is connected to the bottom end of the return spring 19, and the bottom of the knocking ball 20 can contact the arched support rod 5;

[0041] By providing a knocking ball 20, when the flexible brush strip 10 that has completed cleaning passes the position of the knocking ball 20 driven by the fixing ring 11 and the connecting ring 6, as the bow-shaped support rod 5 continuously squeezes the knocking ball 20 from the side, the knocking ball 20 can gradually deflect upward and drive the reset spring 19 to twist. When the bow-shaped support rod 5 is separated from the knocking ball 20, the knocking ball 20 can be quickly reset and vibrate under the drive of the reset spring 19. Subsequently, the knocking ball 20 in a vibrating state can knock on the back side of the bow-shaped support rod 5 in the direction of movement, thereby driving the bow-shaped support rod 5 to vibrate together, and then shaking off the grass clippings and debris stuck between the bow-shaped support rod 5 and the RTK measuring instrument 3, to prevent the grass clippings and debris from affecting the movement of the flexible brush strip 10.

[0042] like Figure 2 and Figure 3 As shown, an L-shaped plate 21 is fixedly connected to the outer side of the annular baffle 7, and soft bristles 22 are evenly arranged on the side of the vertical section of the L-shaped plate 21 opposite to the arched support rod 5, and the soft bristles 22 can fit the side of the arched support rod 5 and the RTK measuring instrument 3;

[0043] By providing soft bristles 22, when the flexible brush strip 10 on the inner side of the arch support rod 5 completes the cleaning operation on the high-definition camera 4, as the fixing ring 11 and the connecting ring 6 rotate, when the arch support rod 5 that has completed cleaning passes through the storage place of the soft bristles 22 of the L-shaped plate 21, the soft bristles 22 can clean the debris or grass clippings stuck on the arch support rod 5, and prevent the debris or grass clippings from returning to the front side position of the high-definition camera 4 as the fixing ring 11 and the connecting ring 6 rotate, thereby ensuring the cleaning effect of the flexible brush strip 10 on the high-definition camera 4.

[0044] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them.

Claims

1. An RTK positioning device for the mowing range of a lawn mowing robot, comprising a lawn mowing robot (1), characterized in that: The lawn mowing robot (1) is symmetrically connected to two fixing rods (2) on the top, an RTK measuring instrument (3) is installed on the top of the fixing rods (2), a high-definition camera (4) is installed on the front side of the RTK measuring instrument (3), a plurality of arched support rods (5) are evenly arranged on the periphery of the RTK measuring instrument (3), a same connecting ring (6) is fixedly connected to the top of the plurality of arched support rods (5), an annular baffle (7) is rotatably connected to the inner side of the connecting ring (6), a sealing cover (8) is arranged on the top of the annular baffle (7), a flexible film (9) is connected to the bottom of the annular baffle (7), and the flexible film (9) is in contact with the top of the RTK measuring instrument (3), the annular baffle (7), the sealing cover (8) and the flexible film (9) are in contact with the top of the RTK measuring instrument (3), and the annular baffle (7) and the sealing cover (8) are connected to the top of the RTK measuring instrument (3). A coolant is contained in the area formed by the cover (8) and the flexible film (9); a flexible brush strip (10) is fixedly connected to the inner side of the arched support rod (5), and the flexible brush strip (10) is in contact with the side of the RTK measuring instrument (3); a same fixing ring (11) is fixedly connected between the bottom ends of a plurality of the arched support rods (5); a rotating ring (12) is provided at the bottom of the fixing ring (11); the rotating ring (12) is rotatably sleeved on the fixing rod (2); a plurality of first connecting rods (13) are fixedly connected between the side of the rotating ring (12) and the bottom of the fixing ring (11); a shock absorbing assembly (14) is provided on the outer side of the fixing ring (11); and an offset assembly (15) is provided at the bottom of the rotating ring (12); The offset assembly (15) comprises a support ring (151), the support ring (151) being located at the bottom of the rotating ring (12), and the support ring (151) being fixedly sleeved on the fixed rod (2), a plurality of first inclined magnetic blocks (152) being evenly fixedly connected to the top of the support ring (151), the plurality of first inclined magnetic blocks (152) being distributed in a ring shape, and the number of the plurality of first inclined magnetic blocks (152) being the same as the number of the plurality of arched support rods (5), a plurality of second inclined magnetic blocks (153) being distributed on the top of the plurality of first inclined magnetic blocks (152) in a one-to-one correspondence, and the inclined surfaces of the second inclined magnetic blocks (153) being aligned with the first inclined magnetic blocks (153). The inclined surfaces of the surface magnetic blocks (152) are opposite to each other, and the inclined magnetic properties of the first inclined magnetic block (152) are the same as the inclined magnetic properties of the second inclined magnetic block (153); a magnetic strip (154) is fixedly connected to the highest point of the top of the first inclined magnetic block (152), and the magnetic properties of the top surface of the magnetic strip (154) are opposite to the magnetic properties of the lowest point of the second inclined magnetic block (153); there is a gap between the top of the magnetic strip (154) and the bottom of the second inclined magnetic block (153); and when the magnetic strip (154) and the bottom of the second inclined magnetic block (153) are facing each other, no arched support rod (5) is located directly in front of the high-definition camera (4).

2. The RTK positioning device for the mowing range of a mowing robot according to claim 1, characterized in that: The shock absorbing assembly (14) comprises a guide ring (141), the guide ring (141) being concentric with the rotating ring (12), a plurality of second connecting rods (142) being evenly and vertically fixedly connected to the outer side of the rotating ring (12), and a shock absorbing spring (143) being fixedly connected between one end of the second connecting rod (142) close to the guide ring (141) and the inner side of the guide ring (141).

3. The RTK positioning device for the mowing range of a mowing robot according to claim 2, characterized in that: The outer diameter of the guide ring (141) is greater than the diameter of the RTK measuring instrument (3), and a plurality of anti-slip rings (16) are evenly sleeved on the guide ring (141).

4. The RTK positioning device for the mowing range of a mowing robot according to claim 1, characterized in that: A plurality of heat dissipation tubes (17) are inserted through the side wall of the annular baffle (7); one end of the heat dissipation tube (17) located inside the connecting ring (6) is of a closed design, and the other end of the heat dissipation tube (17) is of an open design, and the open end of the heat dissipation tube (17) is flush with the outside of the connecting ring (6).

5. The RTK positioning device for the mowing range of a mowing robot according to claim 1, characterized in that: The rotating ring (12) is designed to rotate in a unidirectional direction, and the resistance encountered by the rotating ring (12) when rotating is smaller than the sum of the repulsive forces between the plurality of first inclined magnetic blocks (152) and the plurality of second inclined magnetic blocks (153).

6. The RTK positioning device for the mowing range of a mowing robot according to claim 4, characterized in that: A fixing block (18) is fixedly connected to the outer side of the annular baffle (7), a return spring (19) is fixedly connected to the bottom of the fixing block (18), a knocking ball (20) is connected to the bottom end of the return spring (19), and the bottom of the knocking ball (20) is capable of contacting the bow-shaped support rod (5).

7. The RTK positioning device for the mowing range of a mowing robot according to claim 6, characterized in that: An L-shaped plate (21) is fixedly connected to the outer side of the annular baffle (7), and soft bristles (22) are evenly arranged on the side of the vertical section of the L-shaped plate (21) opposite to the arched support rod (5), and the soft bristles (22) are capable of fitting against the side surfaces of the arched support rod (5) and the RTK measuring instrument (3).

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