Self-moving operation equipment

Abstract

The present application provides a self-moving operation device comprising: a main body having a first end and a second end opposite to each other in an advancing direction of the self-moving operation device; the positioning module is arranged in the main body, is positioned at a position close to the first end of the main body, and is used for receiving and transmitting a positioning signal to obtain position information of the self-moving operation equipment; the battery module is arranged in the main body and is positioned at a position close to the first end of the main body; the battery circuit board and the battery module are arranged in a split mode and electrically connected with the battery module, and the battery circuit board is arranged in the main body and located at the position close to the second end of the main body. The battery circuit board and the battery module are arranged in a split manner, the positioning module is arranged at the position, close to the first end, of the main body, and the battery circuit board is arranged at the position, close to the second end, of the main body, so that the battery circuit board is far away from the positioning module, and signal interference of the battery circuit board to the positioning module can be weakened; and the positioning precision of the positioning module is ensured.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a self-moving working device. Background Art

[0002] Traditional handheld or hand-pushed self-moving operation equipment products rely heavily on manual labor, requiring a lot of time and manpower. Intelligent self-moving operation equipment has emerged as the times require. Intelligent self-moving operation equipment can position itself, thereby autonomously completing pruning work without direct human control and operation. However, the positioning effect of the intelligent self-moving operation equipment provided in the related art is not good. Utility Model Content

[0003] The present application provides a self-moving working device, which has higher positioning accuracy.

[0004] The self-moving working equipment comprises:

[0005] a main body having a first end and a second end opposite to each other in the direction of travel of the self-moving working device;

[0006] A positioning module, the positioning module is arranged in the main body and is located near the first end of the main body, and is used to send and receive positioning signals to obtain the position information of the self-moving working equipment;

[0007] a battery module, the battery module being disposed in the main body and located near the first end of the main body;

[0008] A battery circuit board is separately provided from the battery module and electrically connected thereto, and is provided in the main body and is located near the second end of the main body.

[0009] Wherein, in the height direction of the self-moving working equipment, the positioning module and the battery circuit board are staggered.

[0010] Wherein, in the height direction of the self-mobile working equipment, the main body has a highest point, the distance from the positioning module to the highest point along the height direction of the self-mobile working equipment is a first distance, the distance from the battery circuit board to the highest point along the height direction of the self-mobile working equipment is a second distance, and the first distance is smaller than the second distance.

[0011] Wherein, the main body includes an upper shell and a lower shell connected to each other, the upper shell is located at the upper end of the self-moving working equipment, the lower shell is located at the lower end of the self-moving working equipment, and the positioning module is installed on the upper shell.

[0012] Among them, the upper shell includes a top shell and a middle shell, the middle shell is connected to the lower shell and together constitutes a first receiving space, the battery circuit board is arranged in the first receiving space, the top shell covers the side of the middle shell away from the lower shell and together constitutes a second receiving space, and the positioning module is arranged in the second receiving space.

[0013] Among them, the middle shell is provided with a groove on the side facing the top shell, and the top shell covers the opening of the groove to jointly form the second receiving space, and the positioning module is arranged in the groove of the middle shell; or, the top shell is provided with a groove on the side facing the middle shell, and the middle shell covers the opening of the groove to jointly form the second receiving space, and the positioning module is arranged in the groove of the top shell; or, the middle shell is provided with a groove on the side facing the top shell, and the top shell is provided with a groove on the side facing the middle shell, the groove on the middle shell and the groove on the top shell jointly constitute the second receiving space, and the positioning module is simultaneously arranged in the groove of the middle shell and the groove of the top shell.

[0014] Wherein, the main body further comprises a first shielding member, the first shielding member is arranged on a side wall of the groove, and the positioning module is located on a side of the first shielding member away from the battery circuit board.

[0015] Wherein, the battery module is installed on the lower shell.

[0016] The positioning module includes an antenna, an antenna circuit board and a receiving shell. The antenna is electrically connected to the antenna circuit board. The antenna and the antenna circuit board are both received in the receiving shell.

[0017] Wherein, the main body further includes a second shielding member, the second shielding member is arranged on the side wall of the receiving shell, and the positioning module is located on a side of the second shielding member away from the battery circuit board.

[0018] In the self-moving working equipment provided in the present application, the battery circuit board and the battery module are separately arranged, and the positioning module is arranged at a position of the main body close to the first end, while the battery circuit board is arranged at a position of the main body close to the second end. In this way, the battery circuit board is away from the positioning module, thereby weakening the signal interference of the battery circuit board to the positioning module, thereby ensuring the positioning accuracy of the positioning module. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the implementation will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 A schematic diagram of a self-moving operating device provided in one embodiment of the present application.

[0021] Figure 2 A cross-sectional view of a self-moving working device provided in another embodiment of the present application.

[0022] Figure 3 An exploded view of a self-moving working device provided in yet another embodiment of the present application.

[0023] Figure 4 for Figure 2 A partial enlarged view of the self-propelled working equipment in area A is shown.

[0024] Figure 5 for Figure 2 A partial enlarged view of the self-propelled working equipment in area B is shown.

[0025] Figure 6 A schematic diagram of the partial structure of a self-moving working device provided in one embodiment of the present application.

[0026] Figure 7 A schematic diagram of the partial structure of a self-moving working device provided in another embodiment of the present application.

[0027] Figure 8 A schematic diagram of the partial structure of a self-moving working device provided in yet another embodiment of the present application.

[0028] Fig. 9 for Figure 3 A schematic diagram of a positioning module in a self-mobile working device is shown.

[0029] Fig.10 A schematic diagram of the partial structure of a self-moving working device provided in yet another embodiment of the present application.

[0030] Description of reference numerals:

[0031] Self-mobile working equipment 100;

[0032] Main body 10, housing 110, upper shell 111, lower shell 112, top shell 1111, middle shell 1112, travel assembly 120, cutter head assembly 130, first shielding member 140, second shielding member 150, first receiving space K1, second receiving space K2, groove K3, first end D1, second end D2, first surface M1, second surface M2;

[0033] Positioning module 20, antenna 210, antenna circuit board 220, receiving shell 230, first shell 231, second shell 232, third surface M3, fourth surface M4;

[0034] Battery module 30;

[0035] Battery circuit board 40 , board body 410 , electronic device 420 . DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0037] Reference to "embodiment" or "implementation" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment or implementation may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0038] Please refer to Figure 1 It should be noted that Figure 1 The self-mobile working equipment 100 shown hides part of its structure. The present application provides a self-mobile working equipment 100, which refers to a machine device that can automatically perform work tasks. The self-mobile working equipment 100 provided in the present application can be used in, but not limited to, the fields of agriculture, logistics, catering, and medical fields. The self-mobile working equipment 100 can be, but not limited to, a lawn mower, a logistics robot, a food delivery robot, a medicine delivery robot, a sweeping robot, and the like. The subsequent content of this application only takes the self-mobile working equipment 100 as a lawn mower as an example. The lawn mower can be used to mow lawns, vegetation, and the like. The lawn mower can also be called a lawnmower, a lawn mower, a trimmer, and the like. The self-mobile working equipment 100 is described in detail below in conjunction with the accompanying drawings.

[0039] Please refer to further Figure 2 The self-moving working equipment 100 includes: a main body 10, a positioning module 20, a battery module 30 and a battery circuit board 40.

[0040] The main body 10 refers to the part that realizes the main functions of the self-mobile working device 100, which may include functional devices that realize the main functions of the electronic device and mechanical structures that protect and carry these functional devices. In the direction of travel of the self-mobile working device 100, the main body 10 has a first end D1 and a second end D2 relative to each other. The first end D1 can be regarded as the rear end of the self-mobile working device 100, and the second end D2 can be regarded as the front end of the self-mobile working device 100.

[0041] The positioning module 20 is disposed in the main body 10 and is located near the first end D1 of the main body 10, that is, the positioning module 20 is disposed near the rear end of the self-moving working device 100. The positioning module 20 is used to send and receive positioning signals to obtain the position information of the self-moving working device 100, that is, the self-moving working device 100 can know its current position according to the positioning module 20, so that the self-moving working device 100 can determine the subsequent direction of travel and other information according to the current position. The positioning module 20 can be, but is not limited to, a real-time kinematic (RTK) carrier phase differential positioning module or an ultra-wideband (UWB) positioning module.

[0042] The battery module 30 is disposed in the main body 10 and is located near the first end D1 of the main body 10, that is, the battery module 30 is disposed near the rear end of the self-mobile working device 100. The battery module 30 is used to power other functional devices on the self-mobile working device 100. The type of the battery module 30 can be, but is not limited to, a lithium battery, a lead-acid battery, etc.

[0043] The battery circuit board 40 is arranged in the main body 10 and is located near the second end D2 of the main body 10, that is, the battery circuit board 40 is arranged near the front end of the self-moving working equipment 100. The battery circuit board 40 is separately arranged from the battery module 30 and is electrically connected thereto, wherein the so-called separate arrangement refers to separate and spaced arrangement. The battery circuit board 40 can be configured to further manage, protect, monitor, etc. the battery module 30. In one embodiment, the battery circuit board 40 can be used to manage the charge and discharge of the battery module 30. When the battery module 30 is charged, the battery circuit board 40 can limit the current and voltage within a safe range to avoid overcharging and over-discharging. When the battery module 30 is discharged, the battery circuit board 40 can control the current output to be stable to avoid excessive discharge of the battery module 30. In another embodiment, the battery circuit board 40 can also be used to protect the battery module 30, such as short circuit protection, over-temperature protection, undervoltage protection, etc. In another embodiment, the battery circuit board 40 can also be used to monitor the battery module 30 in real time, such as monitoring the voltage, current, temperature and other parameters of the battery module 30. When an abnormality occurs in the battery module 30, the battery circuit board 40 can promptly alarm and notify the user to handle it.

[0044] In the related art, in order to reduce the wiring distance between the battery module 30 and the battery circuit board 40, the battery circuit board 40 and the battery module 30 are arranged together, that is, the positioning module 20, the battery module 30, and the battery circuit board 40 are all located near the first end D1 of the main body 10. However, when the battery circuit board 40 is working, it will radiate electromagnetic waves outward. If the battery circuit board 40 and the positioning module 20 are both arranged near the first end D1, the electromagnetic waves radiated by the battery circuit board 40 will cause signal interference to the positioning module 20, affecting the signal transmission and reception of the positioning module 20, thereby resulting in poor positioning effect of the self-mobile operation equipment 100.

[0045] In the present application, the battery circuit board 40 is separately arranged from the battery module 30, and the positioning module 20 is arranged at a position of the main body 10 close to the first end D1, while the battery circuit board 40 is arranged at a position of the main body 10 close to the second end D2. In this way, the battery circuit board 40 is away from the positioning module 20, thereby reducing the signal interference of the battery circuit board 40 to the positioning module 20, thereby ensuring the positioning accuracy of the positioning module 20.

[0046] Please refer to Figure 2 The main body 10 may include a housing 110 and a traveling assembly 120, wherein the housing 110 is used to carry the positioning module 20, the battery module 30, the battery circuit board 40, etc. The traveling assembly 120 is directly or indirectly mounted on the housing 110, and the traveling assembly 120 is used to realize the movement of the self-mobile working device 100. The traveling assembly 120 includes a power motor and a traveling member, the output end of the power motor is connected to at least one traveling member, the traveling member may be but not limited to wheels, tracks, etc., the number of traveling members may be but not limited to 2, 3, 4, etc., the battery module 30 may provide electrical energy to the power motor, so that the power motor drives the traveling member to move, thereby realizing the movement of the self-mobile working device 100.

[0047] Please refer to Figure 2 The main body 10 may further include a blade disc assembly 130, which is disposed at the lower end of the main body 10 close to the ground. The blade disc assembly 130 may include a drive motor and a blade disc. The battery module 30 is electrically connected to the drive motor, and the output end of the drive motor is connected to the blade disc assembly 130. The battery module 30 may provide electrical energy to the drive motor so that the drive motor drives the blade disc assembly 130 to rotate to cut grass.

[0048] Furthermore, in the height direction of the self-mobile working equipment 100, the positioning module 20 and the battery circuit board 40 are staggered. It is understandable that, compared with setting the positioning module 20 and the battery circuit board 40 at the same height, staggering the two can increase the spacing distance, thereby further reducing the signal interference of the battery circuit board 40 to the positioning module 20, thereby ensuring the positioning accuracy of the positioning module 20. It should be noted that the above-mentioned "height direction of the self-mobile working equipment 100" refers to the direction of gravity when the self-mobile working equipment 100 is placed on the ground in a normal working state. Please refer to this for the subsequent description of the height direction of the self-mobile working equipment 100.

[0049] In some embodiments, in the height direction of the self-mobile working equipment 100, the height of the position where the battery circuit board 40 is located is less than the height of the positioning module 20. Specifically, in the height direction of the self-mobile working equipment 100, the main body 10 has a highest point, the distance from the positioning module 20 to the highest point along the height direction of the self-mobile working equipment 100 is a first distance, and the distance from the battery circuit board 40 to the highest point along the height direction of the self-mobile working equipment 100 is a second distance, and the first distance is less than the second distance. Among them, the "highest point" refers to the point on the main body 10 that is farthest from the ground in the height direction of the self-mobile working equipment 100. It can be understood that in this embodiment, arranging the positioning module 20 close to the highest point can reduce the signal interference of the battery circuit board 40 on the positioning module 20, and can also reduce the blocking effect of other components on the signals received and sent by the positioning module 20, thereby making it more conducive to the signal reception and transmission of the positioning module 20.

[0050] Of course, in other embodiments, in the height direction of the self-mobile working device 100, the height of the battery circuit board 40 may also be greater than the height of the positioning module 20. Specifically, in the height direction of the self-mobile working device 100, the main body 10 has a highest point, the distance from the positioning module 20 to the highest point along the height direction of the self-mobile working device 100 is a first distance, and the distance from the battery circuit board 40 to the highest point along the height direction of the self-mobile working device 100 is a second distance, and the first distance is greater than the second distance.

[0051] Please refer to Figure 3 It should be noted that Figure 3The self-mobile working equipment 100 shown hides part of the structure. The main body 10 includes a shell 110, and the shell 110 includes an upper shell 111 and a lower shell 112 connected to each other. The connection relationship between the upper shell 111 and the lower shell 112 can be a detachable connection (such as snap connection, buckle connection), or a non-detachable connection (such as bonding). The upper shell 111 is located at the upper end of the self-mobile working equipment 100, and the lower shell 112 is located at the lower end of the self-mobile working equipment 100. In other words, when the self-mobile working equipment 100 is placed on the ground in a normal working state, the upper shell 111 is away from the ground, and the lower shell 112 is close to the ground.

[0052] Furthermore, the positioning module 20 is installed on the upper shell 111. Such a configuration is more conducive to the signal transmission and reception of the positioning module 20, thereby ensuring its positioning accuracy. The material of the upper shell 111 can be plastic or other materials that will not cause signal shielding effect on the positioning module 20. As for the battery circuit board 40, it can be installed on the upper shell 111 or on the lower shell 112. It can be understood that installing the battery circuit board 40 on the lower shell 112 can be farther away from the positioning module 20, which is more conducive to weakening the signal interference caused by the battery circuit board 40 to the positioning module 20. This application is only illustrated by the battery circuit board 40 being installed on the upper shell 111, but it should not be regarded as limiting this application.

[0053] Furthermore, the battery module 30 is installed in the lower housing 112. It is understandable that for a lawn mower, its application scenario is a grassland. In some special cases, the grassland may be uneven. When the self-mobile working device 100 travels on the uneven grassland, it will tilt left and right. If the tilt angle is too large, it may fall over. In this embodiment, the battery module 30 is arranged in the lower housing 112, so that the center of gravity of the self-mobile working device 100 can be moved downward, thereby reducing its overturning moment, and the self-mobile working device 100 is not easy to fall over during movement.

[0054] Please refer to Figures 3 to 5 The upper shell 111 includes a top shell 1111 and a middle shell 1112. The middle shell 1112 is connected to the lower shell 112 and together forms a first receiving space K1 (such as Figure 4 The battery circuit board 40 is disposed in the first receiving space K1. The top shell 1111 covers the side of the middle shell 1112 away from the lower shell 112 and together form a second receiving space K2 (as shown in FIG. Figure 5 As shown), the positioning module 20 is disposed in the second receiving space K2.

[0055] Specifically, the housing 110 can be divided into three parts: a top shell 1111, a middle shell 1112, and a lower shell 112. The middle shell 1112 has an upper side and a lower side. The lower shell 112 is arranged on the lower side of the middle shell 1112 and together constitutes a first receiving space K1. The top shell 1111 is arranged on the upper side of the middle shell 1112 and together constitutes a second receiving space K2. The battery circuit board 40 is arranged in the first receiving space K1, that is, it is isolated from the external environment by the top shell 1111 and the middle shell 1112, so that the battery circuit board 40 can be more effectively protected. The positioning module 20 is arranged in the second receiving space K2, so that the signal transmission and reception of the positioning module 20 is not blocked by the middle shell 1112, which is conducive to ensuring the positioning accuracy.

[0056] The second receiving space K2 may be structured in the following three ways.

[0057] Please refer to Figure 6 In one embodiment, the middle shell 1112 is provided with a groove K3 on one side facing the top shell 1111, and the top shell 1111 covers the opening of the groove K3 to form the second receiving space K2 together, and the positioning module 20 is arranged in the groove K3 of the middle shell 1112. In other words, the middle shell 1112 is recessed in a direction away from the top shell 1111 to form the groove K3, the positioning module 20 is arranged in the groove K3, and the top shell 1111 covers the opening of the groove K3, so that the positioning module 20 is confined in the groove K3, thereby preventing the positioning module 20 from falling off and preventing the positioning module 20 from being damaged by external objects.

[0058] Please refer to Figure 7 In another embodiment, the top shell 1111 is provided with a groove K3 on one side facing the middle shell 1112, and the middle shell 1112 covers the opening of the groove K3 to form the second receiving space K2 together, and the positioning module 20 is arranged in the groove K3 of the top shell 1111. In other words, the top shell 1111 is recessed in a direction away from the middle shell 1112 to form the groove K3, the positioning module 20 is arranged in the groove K3, and the top shell 1111 covers the opening of the groove K3, so that the positioning module 20 is confined in the groove K3, so as to prevent the positioning module 20 from falling off and preventing the positioning module 20 from being damaged by external objects.

[0059] Please refer to Figure 8In another embodiment, the middle shell 1112 is provided with a groove K3 on one side facing the top shell 1111, and the top shell 1111 is provided with a groove K3 on one side facing the middle shell 1112. The groove K3 on the middle shell 1112 and the groove K3 on the top shell 1111 together constitute the second receiving space K2, and the positioning module 20 is simultaneously disposed in the groove K3 of the middle shell 1112 and the groove K3 of the top shell 1111. In other words, the middle shell 1112 is recessed in a direction away from the top shell 1111 to form the groove K3, and the top shell 1111 is recessed in a direction away from the middle shell 1112 to form the groove K3. The groove K3 on the middle shell 1112 and the groove K3 on the top shell 1111 are connected to each other, and the positioning module 20 is simultaneously disposed in these two grooves K3.

[0060] Please refer to Figure 6 The main body 10 further includes a first shielding member 140, which is used to shield electromagnetic waves, and can be, but is not limited to, a metal mesh, copper foil, aluminum foil, electromagnetic shielding paint, anti-electromagnetic wave radiation paint, etc. The first shielding member 140 is arranged on the side wall of the groove K3, and the positioning module 20 is located on the side of the first shielding member 140 away from the battery circuit board 40. In this way, the first shielding member 140 can be used to shield the electromagnetic waves radiated by the battery circuit board 40 when working, so as to avoid signal interference to the positioning module 20 and ensure the positioning accuracy of the positioning module 20.

[0061] Please refer to Figure 6 Optionally, the middle shell 1112 is provided with the groove K3, and the positioning module 20 is provided in the groove K3 of the middle shell 1112. The middle shell 1112 has a first surface M1 and a second surface M2 that are separated from each other, wherein the first surface M1 is an inner wall surface constituting the groove K3, and the second surface M2 is an outer wall surface constituting the groove K3, that is, the first surface M1 faces the positioning module 20, and the second surface M2 faces away from the positioning module 20. Further, the first shielding member 140 can be provided on the first surface M1, or on the second surface M2, or both the first surface M1 and the second surface M2 can be provided with the first shielding member 140.

[0062] Please combine Figure 5 Reference Fig. 9The positioning module 20 includes an antenna 210, an antenna circuit board 220 and a receiving shell 230, wherein the antenna 210 is electrically connected to the antenna circuit board 220. The antenna 210 is used to send and receive signals, and the antenna circuit board 220 is used to process the signals so that the self-mobile operation device 100 can be positioned. The antenna 210 and the antenna circuit board 220 are both received in the receiving shell 230. In this way, the antenna 210, the antenna circuit board 220 and the receiving shell 230 form a whole, so that the positioning module 20 is conveniently assembled on the main body 10. The receiving shell 230 may include a first shell 231 and a second shell 232. The first shell 231 and the second shell 232 are connected and are a split structure. The antenna 210 and the antenna circuit board 220 are received in a space jointly formed by the first shell 231 and the second shell 232. In this way, the antenna 210 and the antenna circuit board 220 can be conveniently installed.

[0063] Please refer to Figure 4 and Figure 5 Optionally, the battery circuit board 40 includes a board body 410 and at least one electronic device 420. The board body 410 has a first side and a second side, the first side faces the top of the self-mobile working device 100, and the second side faces the bottom of the self-mobile working device 100. The electronic device 420 is electrically connected to the board body 410, and the electronic device 420 is arranged on the second side of the board body 410. The antenna circuit board 220 has a third side and a fourth side, wherein the third side faces the top of the self-mobile working device 100, and the fourth side faces the bottom of the self-mobile working device 100. The antenna 210 is arranged on the third side of the antenna circuit board 220. The top refers to the part away from the ground when the self-mobile working device 100 is placed on the ground in a normal working state, and correspondingly, the bottom refers to the part close to the ground when the self-mobile working device 100 is placed on the ground in a normal working state. In this embodiment, since the electronic device 420 is disposed on the second side of the plate body 410, the battery circuit board 40 will radiate electromagnetic waves toward the bottom of the self-moving working device 100. At the same time, since the antenna 210 is disposed on the third side of the antenna circuit board 220, the antenna 210 will receive and send signals toward the top of the self-moving working device 100. Therefore, the arrangement of this embodiment is conducive to reducing the signal interference of the battery circuit board 40 on the positioning module 20, thereby ensuring the positioning accuracy of the positioning module 20.

[0064] Please refer to Fig.10The main body 10 further includes a second shielding member 150, which is used to shield electromagnetic waves. The second shielding member 150 may be, but is not limited to, a metal mesh, copper foil, aluminum foil, electromagnetic shielding paint, anti-electromagnetic wave radiation paint, etc. The second shielding member 150 is disposed on the side wall of the receiving shell 230, and the positioning module 20 is located on the side of the second shielding member 150 away from the battery circuit board 40. In this way, the second shielding member 150 can be used to shield the electromagnetic waves radiated by the battery circuit board 40 when working, so as to avoid signal interference to the positioning module 20 and ensure the positioning accuracy of the positioning module 20.

[0065] Please refer to Fig.10 Optionally, the receiving shell 230 has a third surface M3 and a fourth surface M4 that are opposite to each other, wherein the third surface M3 is the inner wall surface of the receiving shell 230, and the fourth surface M4 is the outer wall surface of the receiving shell 230, that is, the third surface M3 faces the positioning module 20, and the fourth surface M4 faces away from the positioning module 20. Further, the second shielding member 150 can be provided on the third surface M3, or on the fourth surface M4, or both the third surface M3 and the fourth surface M4 can be provided with the second shielding member 150.

[0066] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present application, and these improvements and modifications are also regarded as the scope of protection of the present application.

Claims

1. A self-moving working equipment, characterized in that: The self-moving working equipment comprises: a main body having a first end and a second end opposite to each other in the direction of travel of the self-moving working device; A positioning module, disposed in the main body and located near the first end of the main body, for sending and receiving positioning signals to obtain position information of the self-moving operating device; a battery module disposed in the main body and located near the first end of the main body; A battery circuit board is separately provided from the battery module and electrically connected thereto, and the battery circuit board is provided in the main body and is located near the second end of the main body.

2. The self-moving working equipment according to claim 1, characterized in that: In the height direction of the self-moving working equipment, the positioning module and the battery circuit board are staggered.

3. The self-moving working equipment according to claim 2, characterized in that: In the height direction of the self-mobile working equipment, the main body has a highest point, the distance from the positioning module to the highest point along the height direction of the self-mobile working equipment is a first distance, the distance from the battery circuit board to the highest point along the height direction of the self-mobile working equipment is a second distance, and the first distance is smaller than the second distance.

4. The self-moving working equipment according to claim 1, characterized in that: The main body includes an upper shell and a lower shell connected to each other, the upper shell is located at the upper end of the self-moving working equipment, the lower shell is located at the lower end of the self-moving working equipment, and the positioning module is installed on the upper shell.

5. The self-moving working equipment according to claim 4, characterized in that: The upper shell includes a top shell and a middle shell, the middle shell is connected to the lower shell and together constitutes a first receiving space, the battery circuit board is arranged in the first receiving space, the top shell covers the side of the middle shell away from the lower shell and together constitutes a second receiving space, and the positioning module is arranged in the second receiving space.

6. The self-moving working equipment according to claim 5, characterized in that: A groove is provided on one side of the middle shell facing the top shell, and the top shell covers the opening of the groove to form the second receiving space together, and the positioning module is arranged in the groove of the middle shell; Alternatively, a groove is provided on a side of the top shell facing the middle shell, and the middle shell covers an opening of the groove to jointly form the second receiving space, and the positioning module is disposed in the groove of the top shell; Alternatively, a groove is provided on the side of the middle shell facing the top shell, and a groove is provided on the side of the top shell facing the middle shell. The groove on the middle shell and the groove on the top shell together constitute the second receiving space, and the positioning module is simultaneously arranged in the groove of the middle shell and the groove of the top shell.

7. The self-moving working equipment according to claim 6, characterized in that: The main body further comprises a first shielding member, which is arranged on a side wall of the groove, and the positioning module is located on a side of the first shielding member away from the battery circuit board.

8. The self-moving working equipment according to claim 4, characterized in that: The battery module is mounted on the lower housing.

9. The self-moving working equipment according to any one of claims 1 to 8, characterized in that: The positioning module includes an antenna, an antenna circuit board and a receiving shell. The antenna is electrically connected to the antenna circuit board. The antenna and the antenna circuit board are both received in the receiving shell.

10. The self-moving working equipment according to claim 9, characterized in that: The main body further comprises a second shielding member, which is arranged on a side wall of the receiving shell, and the positioning module is located on a side of the second shielding member away from the battery circuit board.

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