Base station and self-moving robot system

Abstract

The utility model discloses a base station. Belongs to the technical field of mowers. According to the reference station, the positioning module is arranged on the first mounting part, the storage battery is arranged on the second mounting part, the photovoltaic panel assembly is arranged on the third mounting part, and one of the first mounting part, the second mounting part and the third mounting part is arranged on the supporting module and corresponds to the axis; the other two of the first installation part, the second installation part and the third installation part are distributed on the opposite sides of the axis so that the projection of the gravity center of the base station in the axis direction can be located in a balance area. Or, the first mounting part, the second mounting part and the third mounting part are distributed on the peripheral side of the axis, and the projection of the gravity center of the base station in the axis direction is located in the balance area, so that after the base station is mounted at a specified position, the problem that the base station is prone to toppling due to the fact that the gravity center deviates from the balance area can be effectively solved.

Description

Technical Field

[0001] The present application relates to the technical field of lawn mowers, and in particular to a reference station and a self-moving robot system. Background Art

[0002] With the continuous development and popularization of global navigation satellite system (GNSS) technology, real-time dynamic carrier phase differential technology (RTK) is increasingly being used in the fields of measurement, navigation, and positioning. As a key device for achieving high-precision positioning, the stability and portability of the base station based on RTK are crucial to meeting the needs of modern surveying and mapping work.

[0003] The base station usually consists of a positioning module, a power supply module and a support module. The positioning module is responsible for receiving signals from the satellite and determining the precise position of the base station receiver by calculating the carrier phase difference. The power supply module provides the necessary electrical energy for the entire system to ensure its continuous and stable operation. The support module is used to support the positioning module and the power supply module at the target installation position. However, in the existing base station, when the positioning module and the power supply module are set on the support module and supported at the target installation position by the support module, the center of gravity of the positioning module and the power supply module deviates from the balance area of ​​the base station, resulting in an unstable center of gravity of the base station and easy to tip over. Utility Model Content

[0004] The main purpose of the present application is to provide a reference station and a self-propelled robot system to solve the problem that the reference station in the prior art is prone to tipping over.

[0005] In one aspect, the present application provides a reference station, the reference station having a balance area, and the reference station comprising:

[0006] A positioning module, used to perform a positioning function;

[0007] Photovoltaic panel assemblies, used to convert light energy into electrical energy;

[0008] A storage battery, electrically connected to the positioning module and the photovoltaic panel assembly, respectively, for storing electrical energy and supplying power;

[0009] The support module is structured to form a first mounting portion, a second mounting portion and a third mounting portion, the positioning module is mounted on the first mounting portion, the storage battery is mounted on the second mounting portion, the photovoltaic panel assembly is mounted on the third mounting portion, and the support module has an axis, the axis passes through the balancing area and is perpendicular to the plane where the balancing area is located;

[0010] Among them, one of the first mounting part, the second mounting part, and the third mounting part is located on the axis, and the other two of the first mounting part, the second mounting part, and the third mounting part are distributed on opposite sides of the axis, and the projection of the center of gravity of the reference station along the axis direction is located in the balance area; or, the first mounting part, the second mounting part, and the third mounting part are distributed on the circumferential side of the axis, and the projection of the center of gravity of the reference station along the axis direction is located in the balance area.

[0011] Furthermore, the support module includes a support rod and a mounting base, the mounting base is arranged on the support rod, and the top structure of the support rod forms the first mounting part, and the mounting base structure forms the second mounting part and the third mounting part.

[0012] Further, the second mounting portion and the third mounting portion are arranged on opposite sides of the axis along the first direction;

[0013] A ground plug is provided at the bottom of the support rod, and the ground plug includes a first pin and a second pin, the first pin extends along the length direction of the support rod in a direction away from the first mounting portion, the second pin includes a first section and a second section, the first section is connected between the second section and the first pin or the support rod, wherein the first section is rotatable relative to the first pin or the support rod so that the first section extends outward along the first direction, and the second section extends in a direction away from the support rod.

[0014] Further, the ground plug includes a third pin, the third pin includes a third section and a fourth section, the third section is connected between the first pin and the fourth section, wherein the third section extends radially outward along the support rod, and the fourth section extends in a direction away from the support rod.

[0015] Further, the third section extends outwardly along the first direction, and the fourth section and the second section are located on opposite sides of the first pin along the first direction.

[0016] Furthermore, the support rod has a wiring space, a first wiring hole and a second wiring hole, the first wiring hole and the second wiring hole are respectively connected to the wiring space, and the first wiring hole is close to the first mounting portion, and the second wiring hole is close to the ground plug.

[0017] Furthermore, the mounting base is structured to form a socket, and the mounting base is sleeved on the support rod through the socket.

[0018] Further, the mounting base includes a first shell and a second shell, the second mounting portion includes a first limiting groove provided on the first shell, and a second limiting groove provided on the second shell, and the first shell is connected to the second shell so that the first limiting groove and the second limiting groove respectively limit the opposite ends of the battery.

[0019] Furthermore, the positioning module is also constructed to have a fixing hole, the first shell is located above the second shell in the vertical direction, and the first shell is constructed to have a first through hole, and the second shell is constructed to have a second through hole, and the fixing member passes through the second through hole and the first through hole in sequence and is fixedly connected in the fixing hole to fix the mounting base to the positioning module.

[0020] Furthermore, the first shell and the second shell are connected to form a receiving cavity, a first wire passing hole and a second wire passing hole, and the first wire passing hole and the second wire passing hole are respectively connected to the receiving cavity;

[0021] The second mounting portion is disposed in the accommodating cavity, and the first power supply line led out from the photovoltaic panel assembly passes through the first wire hole and enters the accommodating cavity to be connected to the battery. The second power supply line led out from the battery passes through the second wire hole and extends out of the accommodating cavity to be connected to the positioning module.

[0022] Furthermore, the mounting base forms a first wiring channel corresponding to the first mounting portion and the first wiring hole, the first wiring channel is connected to the first wiring hole, and the first power supply line is partially accommodated in the first wiring channel; and

[0023] The mounting base forms a second wiring channel corresponding to the first mounting portion and the second wiring hole structure, and the second power supply line is partially accommodated in the second wiring channel, wherein the second wiring channel is separated from the first wiring channel.

[0024] Furthermore, the positioning module includes an antenna, and the antenna is located above the photovoltaic panel assembly and the battery in a vertical direction.

[0025] Furthermore, the positioning module includes an antenna and a signal indicator light, and the antenna is located above the signal indicator light in the vertical direction.

[0026] Furthermore, the photovoltaic panel assembly comprises a photovoltaic panel and a mounting frame, the photovoltaic panel is arranged on the mounting frame, and the mounting frame is structured to form a limited position slot;

[0027] The third mounting portion is detachably disposed in the limiting slot.

[0028] Further, the first shell structure is formed with a first receiving hole, and the second shell structure is formed with a second receiving hole;

[0029] The mounting base includes a connecting piece, which is sealingly connected between the first receiving hole and the second receiving hole so that the first receiving hole and the second receiving hole are connected to form the socket. When the mounting base is sleeved outside the support rod through the socket, the support rod and the connecting piece are sealed and connected.

[0030] Furthermore, the positioning module and / or the photovoltaic panel assembly can be rotatably arranged on the supporting module.

[0031] On the other hand, the present application also provides a self-moving robot system, the self-moving robot system comprising any one of the reference stations described above; and a self-moving robot, wherein the reference station is used to position the self-moving robot.

[0032] In the base station of the present application, the positioning module is arranged on the first mounting part, the battery is arranged on the second mounting part, the photovoltaic panel assembly is arranged on the third mounting part, and one of the first mounting part, the second mounting part and the third mounting part is arranged on the supporting module and corresponds to the axis, and the other two of the first mounting part, the second mounting part and the third mounting part are distributed on opposite sides of the axis, so that the projection of the center of gravity of the base station along the axis direction is located in the balance area; or, the first mounting part, the second mounting part and the third mounting part are distributed on the peripheral side of the axis, and the projection of the center of gravity of the base station along the axis direction is located in the balance area, so that after the base station is installed at the specified position, the problem of the base station being easily tipped over due to the center of gravity deviating from the balance area can be avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0034] Figure 1 It is an overall schematic diagram of a reference station in an embodiment disclosed in the present application.

[0035] Figure 2 It is a cross-sectional view of a reference station in one embodiment disclosed in the present application.

[0036] Figure 3 It is an exploded cross-sectional view of a reference station in one embodiment disclosed in the present application.

[0037] Figure 4 It is a schematic diagram of the cooperation between the support rod and the third power supply line in one embodiment disclosed in the present application.

[0038] Figure 5 It is an exploded view of a mounting base in one embodiment disclosed in the present application.

[0039] Figure 6 It is a cross-sectional view of a mounting base in one embodiment disclosed in the present application.

[0040] Figure 7 It is a schematic diagram of a part of the structure of a reference station in an embodiment disclosed in the present application.

[0041] Figure 8 It is a schematic diagram of a mounting frame in one embodiment disclosed in the present application.

[0042] Fig. 9 This is a schematic diagram from another perspective of a mounting frame in an embodiment disclosed in the present application.

[0043] The above drawings include the following reference numerals:

[0044] Reference station 100, positioning module 10, second threaded portion 11, fixing hole 12, antenna 13, mounting shell 14, fixing member 15, second plane 16, protrusion 17, limiting column 18, signal indicator light 19, photovoltaic panel assembly 20, photovoltaic panel 21, mounting frame 22, limiting card slot 221, first side wall 222, first guide channel 2221, first clamp arm 2222, second side wall 223, second guide channel 2231, second clamp arm 2232, bottom wall 224, battery 30, first end 31, second end 32, support module 40, axis 41, support rod 42, first mounting portion 421, wiring space 422, first wiring hole 4221, second wiring hole 4222, mounting base 43, second mounting portion 431, third mounting portion 432, first shell 433, first limiting slot 43 31, first through hole 4332, first receiving hole 4333, first connecting portion 4334, limiting groove 4335, first plane 4336, second shell 434, second limiting groove 4341, second through hole 4342, second receiving hole 4343, second connecting portion 4344, accommodating cavity 435, plug hole 436, first wire hole 437, first power supply line 4371, first wiring channel 4372, second wire hole 438, second power supply line 4381, second wiring channel 4382, ground plug 44, first plug pin 441, second plug pin 442, first section 4421, second section 4422, third plug pin 443, third section 4431, fourth section 4432, sealing member 45, connector 46, first sealing ring 47, second sealing ring 48, third sealing ring 49, third power supply line 50. DETAILED DESCRIPTION

[0045] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0046] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0047] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0048] See also Figure 1-2 As shown, the present application provides a reference station 100 , which includes a positioning module 10 , a photovoltaic panel assembly 20 , a battery 30 and a support module 40 .

[0049] The positioning module 10 receives satellite signals and calculates the distance between the satellite and the reference station 100, and then transmits this information to a mobile station (such as a self-moving device such as a lawn mowing robot) via radio signals, thereby achieving accurate positioning of the mobile station.

[0050] The storage battery 30 is electrically connected to the positioning module 10 and the photovoltaic panel assembly 20. The photovoltaic panel assembly 20 is used to convert light energy into electrical energy, and the storage battery 30 is used to store the electrical energy converted by the photovoltaic panel assembly 20 and supply the converted electrical energy to the positioning module 10.

[0051] Furthermore, the reference station 100 has a balance area. When the center of gravity of the reference station 100 is located in the balance area, the reference station 100 can remain stably installed at a specified position, thereby reducing the possibility of the reference station 100 tipping over due to the center of gravity deviating from the balance area.

[0052] Furthermore, the support module 40 has an axis 41. The axis 41 passes through the balancing area and is perpendicular to the plane where the balancing area is located.

[0053] For further information, see Figure 3 As shown, the support module 40 is structured to have a first mounting portion 421 , a second mounting portion 431 and a third mounting portion 432 . The positioning module 10 is disposed on the first mounting portion 421 , the battery 30 is disposed on the second mounting portion 431 , and the photovoltaic panel assembly 20 is disposed on the third mounting portion 432 .

[0054] In a first embodiment, the first mounting portion 421 , the second mounting portion 431 and the third mounting portion 432 are distributed around the axis 41 , so that the projection of the center of gravity of the reference station 100 along the axis 41 is located within the balance area.

[0055] Further, in one embodiment, the support module 40 is structured to have a first branch, a second branch and a third branch that deviate from the axis 41. The first mounting portion 421 is disposed on the first branch, the second mounting portion 431 is disposed on the second branch, and the third mounting portion 432 is disposed on the third branch.

[0056] When the positioning module 10, the battery 30 and the photovoltaic panel assembly 20 are respectively arranged on the supporting module 40, the projection of the center of gravity of the reference station 100 along the axis 41 is located in the balance area, so that the reference station 100 can be stably installed at the target installation position.

[0057] In the second embodiment, one of the first mounting portion 421, the second mounting portion 431, and the third mounting portion 432 is located on the axis 41. The other two of the first mounting portion 421, the second mounting portion 431, and the third mounting portion 432 are distributed on opposite sides of the axis 41. The projection of the center of gravity of the reference station 100 along the axis 41 is located within the balance area, so that the reference station 100 can be stably installed at the target installation position.

[0058] Furthermore, in the first embodiment, the first mounting portion 421 is located on the supporting module 40 and corresponds to the axis 41, and the second mounting portion 431 and the third mounting portion 432 are distributed on opposite sides of the axis 41 along the radial direction, so that the projection of the center of gravity of the second mounting portion 431 and the battery 30 supported thereon and the third mounting portion 432 and the photovoltaic panel assembly 20 supported thereon along the direction of the axis 41 is located within the projection area.

[0059] In the second embodiment, the second mounting portion 431 is located on the supporting module 40 and corresponds to the axis 41 , and the first mounting portion 421 and the third mounting portion 432 are distributed on opposite sides of the axis 41 .

[0060] In the third embodiment, the third mounting portion 432 is located on the supporting module 40 and corresponds to the axis 41 , and the second mounting portion 431 and the first mounting portion 421 are distributed on opposite sides of the axis 41 .

[0061] Furthermore, the support module 40 includes a support rod 42 and a mounting base 43 , and the mounting base 43 is disposed on the support rod 42 .

[0062] In one embodiment, the top structure of the support rod 42 forms the first mounting portion 421, and the mounting base 43 forms the second mounting portion 431 and the third mounting portion 432. The second mounting portion 431 and the third mounting portion 432 are distributed on opposite sides of the support rod 42 along a first direction. The first direction is a direction in the radial direction of the support rod 42.

[0063] By arranging the battery 30 and the photovoltaic panel assembly 20 on the mounting base 43, respectively, the power supply module formed by the battery 30 and the photovoltaic panel assembly 20 is easy to disassemble and install. Thus, the reference station 100 is modularly arranged, so as to facilitate assembly, transportation, storage, and handling of the reference station 100.

[0064] Preferably, the balance area is the area where the cross section of the support rod 42 along its radial direction is located. When the projection of the center of gravity of the reference station 100 along the axis 41 is located in the balance area, the reference station 100 can be stably installed at the target installation position.

[0065] Furthermore, when the positioning module 10 is installed on the first mounting portion 421 , the battery 30 is installed on the second mounting portion 431 , and the photovoltaic panel assembly 20 is installed on the third mounting portion 432 , the projection of the center of gravity of the reference station 100 along the axis 41 is located within the balance area.

[0066] Preferably, a projection of the center of gravity of the reference station 100 along the axis 41 coincides with the axis 41 .

[0067] By directly installing the positioning module 10 on the support rod 42 , it can be ensured that the positioning module 10 remains stable during use, thereby reducing the impact of errors caused by movement, vibration or installation on the positioning module 10 , thereby improving the positioning accuracy and reliability of the positioning module 10 .

[0068] For further information, please refer to Figure 1-2 As shown, the support module 40 further includes a ground plug 44 , which is connected to the bottom of the support rod 42 , and is used to fix the reference station 100 at the target installation position.

[0069] Furthermore, the ground plug 44 includes a first plug pin 441 and a second plug pin 442. The first plug pin 441 extends along the length direction of the axis 41 in a direction away from the support rod 42. The second plug pin 442 is rotatably connected to the first plug pin 441 or the support rod 42, so that the second plug pin 442 can be arranged below the second mounting portion 431 or the third mounting portion 432, so that when the reference station 100 is installed at the target installation position, the stability of the reference station 100 can be improved by the second plug pin 442, and the reference station 100 can be installed at the target installation position more stably under the action of external force (such as being blown by the wind).

[0070] Furthermore, the second insertion pin 442 includes a first section 4421 and a second section 4422 , the first section 4421 extends outwardly along the first direction and is connected to the second section 4422 , and the second section 4422 extends in a direction away from the support rod 42 .

[0071] By setting the first section 4421 along the first direction, so that the extension direction of the first section 4421 is the same as the extension direction of the second mounting portion 431 or the third mounting portion 432, when the second section 4422 is inserted and fixed in the target mounting position, the second pin 442 can be used to support and strengthen the base station 100 along the first direction, thereby improving the stability of the base station 100.

[0072] Furthermore, one end of the first section 4421 away from the second section 4422 is threadedly connected to the first pin 441, so that the phase of the second pin 442 relative to the first pin 441 can be adjusted as needed, so that the extension direction of the first section 4421 is consistent with the first direction of extension of the second mounting portion 431, or the extension direction of the first section 4421 is consistent with the first direction of extension of the third mounting portion 432, so that when the second section 4422 is inserted into the target installation position, it can support and strengthen the battery 30 and the photovoltaic panel 21.

[0073] Furthermore, the ground plug 44 further includes a third plug pin 443, the third plug pin 443 includes a third section 4431 and a fourth section 4432, the third section 4431 extends radially outwardly along the axis 41 and is connected to the fourth section 4432, and the fourth end extends in a direction away from the support rod 42. The third section 4431 is fixedly connected between the fourth section 4432 and the first plug pin 441.

[0074] In one embodiment, the third section 4431 extends outwardly along the first direction. The third section 4431 extends in the opposite direction to the first section 4421 along the first direction, so that the fourth section 4432 and the second section 4422 are located on the opposite side of the first plug pin 441 along the first direction. Therefore, the second plug pin 442 and the third plug pin 443 can be used to strengthen the battery 30 and the photovoltaic panel 21, respectively.

[0075] Further, when the second section 4422 is inserted under one side of the battery 30, the fourth section 4432 is inserted under one side of the photovoltaic panel 21; or, when the second section 4422 is inserted under one side of the photovoltaic panel 21, the fourth section 4432 is inserted under one side of the battery 30.

[0076] Furthermore, the third section 4431 extends along a second direction, wherein the second direction is one of the radial directions of the axis 41, and the second direction and the first direction are two different directions. By providing the third pin 443, the reference station 100 can be further strengthened so that the reference station 100 can be installed more stably at the target installation position.

[0077] Furthermore, the support rod 42 has a wiring space 422, a first wiring hole 4221 and a second wiring hole 4222 along the axis 41. The first wiring hole 4221 and the second wiring hole 4222 are communicated with the wiring space 422 respectively.

[0078] The first wiring hole 4221 is formed on the side of the support rod 42 and is close to the first mounting portion 421. The second wiring hole 4222 is formed on the side of the support rod 42 and is close to the ground plug 44.

[0079] See also Figure 4As shown, when an external power supply is needed to power the base station 100, the third power line 50 can enter the wiring space 422 through the second wiring hole 4222 and extend out of the support rod 42 from the first wiring hole 4221. The end of the third power line 50 extending out of the support rod 42 is electrically connected to the positioning module 10.

[0080] In this embodiment, by opening the wiring space 422 on the support pole 42, not only can the third power supply line 50 be protected and prevented from being exposed outdoors, thereby reducing the risk of damage and / or aging of the third power supply line 50, but it can also avoid placing the third power supply line 50 outside the support pole 42, causing the third power supply line 50 to be entangled on the support pole 42, causing the third power supply line 50 to be exposed and appear messy.

[0081] Furthermore, the support rod 42 is made of a light and hard material, such as an aluminum alloy or hard engineering plastic, and the wiring space 422 is provided on the support rod 42, so that the overall weight of the support module 40 can be further reduced.

[0082] For further information, see Figure 6 As shown, the mounting base 43 is formed with a plug hole 436, and the plug hole 436 is located at the center of the mounting base 43. The mounting base 43 is sleeved on the support rod 42 through the plug hole 436, so that the mounting base 43 is limited by the support rod 42, thereby preventing the mounting base 43 from moving along the radial direction of the support rod 42. At the same time, passing the support rod 42 through the mounting base 43 also facilitates the disassembly and assembly of the support rod 42 and the mounting base 43.

[0083] For further information, see Figure 3 , 5 As shown in FIG. 6 , the mounting base 43 includes a first shell 433 and a second shell 434 . The first shell 433 and the second shell 434 are sealed and connected to form a receiving cavity 435 , the insertion hole 436 , the second mounting portion 431 and the third mounting portion 432 .

[0084] Further, the second mounting portion 431 is located in the accommodating cavity 435 , and the third mounting portion 432 is located outside the accommodating cavity 435 .

[0085] Further, the battery 30 has a first end 31 and a second end 32 that are arranged opposite to each other. The second mounting portion 431 includes a first limiting groove 4331 and a second limiting groove 4341. The first limiting groove 4331 is provided on the first shell 433 and is used to limit the first end 31, and the second limiting groove 4341 is provided on the second shell 434 and is used to limit the second end 32.

[0086] By limiting the first end 31 and the second end 32 of the battery 30 in the first limiting groove 4331 and the second limiting groove 4341 respectively, the battery 30 can be stably accommodated in the accommodating cavity 435 .

[0087] Furthermore, by sealingly connecting the first shell 433 and the second shell 434 , the accommodating cavity 435 can be made into a sealed cavity, thereby having a better waterproof effect, and further achieving waterproof protection for the battery 30 located in the accommodating cavity 435 .

[0088] Furthermore, by accommodating the battery 30 in the accommodating cavity 435 and arranging the photovoltaic panel assembly 20 on one side of the mounting base 43, the space utilization of the mounting base 43 can be effectively improved, while also simplifying the installation process, enhancing structural strength, reducing maintenance requirements, and improving the consistency and aesthetics of the entire base station 100.

[0089] For further information, please refer to Figure 3 As shown, the positioning module 10 is also configured to have a fixing hole 12. The fixing hole 12 is opened on the mounting shell 14. The first shell 433 is located above the second shell 434 in the vertical direction and is configured to have a first through hole 4332, and the second shell 434 is configured to have a second through hole 4342. The second through hole 4342 corresponds to the first through hole 4332 and the fixing hole 12 in the vertical direction.

[0090] When the upper surface of the first shell 433 abuts against the lower surface of the mounting shell 14, the fixing member 15 sequentially passes through the second through hole 4342 and the first through hole 4332 and is fixedly connected in the fixing hole 12 to fix the mounting base 43 with the positioning module 10. Thus, the mounting base 43 can be fixedly connected to the support rod 42 through the positioning module 10.

[0091] Preferably, the fixing hole 12 is a blind hole, so that liquid can be effectively prevented from entering the interior of the positioning module 10 through the fixing hole 12, thereby improving the waterproof performance of the positioning module 10. Therefore, even if the reference station 100 is installed outdoors or in a humid environment, the positioning module 10 can be protected from being corroded by liquid in the environment, thereby extending the service life of the reference station 100.

[0092] Preferably, a first sealing ring 47 is disposed between the first through hole 4332 and the second through hole 4342. The fixing member 15 passes through the second through hole 4342, the first sealing ring 47, and the first through hole 4332 and is fixedly connected in the fixing hole 12.

[0093] Furthermore, the first shell 433 has a first plane 4336 that is in contact with the mounting shell 14, and the mounting shell 14 has a corresponding second plane 16. The mounting shell 14 is formed with a protrusion 17 corresponding to the second plane 16. The fixing hole 12 is opened at the protrusion 17. The first through hole 4332 is a countersunk structure. When the first plane 4336 abuts against the second plane 16, the protrusion 17 sinks into the first through hole 4332, so that the mounting base 43 and the positioning module 10 can be more stably connected under the fixation of the fixing member 15.

[0094] In some embodiments, the mounting shell 14 may be provided with a plurality of the fixing holes 12 , and the first shell 433 may be provided with a first through hole 4332 corresponding to each of the fixing holes 12 , and a second through hole 4342 may be provided corresponding to each of the first through holes 4332 .

[0095] Furthermore, please combine Figure 5 As shown, a plurality of limiting posts 18 and / or limiting grooves 4335 are formed on the first plane 4336, and a matching limiting groove 4335 or limiting post 18 is formed on the first shell 433 corresponding to each limiting post 18. When the mounting base 43 is connected to the positioning module 10, a limiting post 18 is inserted into a corresponding limiting groove 4335. Thus, the mounting base 43 and the positioning module 10 will not be relatively displaced along the radial direction of the limiting post 18.

[0096] For further information, see Figure 6 As shown, the mounting base 43 is formed with a first wire passing hole 437 and a second wire passing hole 438 communicating with the accommodating cavity 435 corresponding to the third mounting portion 432 , and the first wire passing hole 437 and the second wire passing hole 438 are respectively connected to the accommodating cavity 435 .

[0097] Furthermore, the first shell 433 and the second shell 434 are connected to form the first wire passing hole 437 and the second wire passing hole 438 .

[0098] The first power supply line 4371 led out from the photovoltaic panel assembly 20 passes through the first wire hole 437 and enters the accommodating cavity 435 to be connected to the battery 30. The first power supply line 4371 is used to transmit the electric energy converted by the photovoltaic panel assembly 20 to the battery 30.

[0099] The second power supply line 4381 led out from the battery 30 passes through the second wire hole 438 and extends out of the accommodating cavity 435 to be connected to the positioning module 10. The second power supply line 4381 is used to transmit the stored electric energy to the positioning module 10.

[0100] Furthermore, a second sealing ring 48 is provided at the first wire hole 437, and the first power supply line 4371 is passed through the second sealing ring 48. A third sealing ring 49 is provided at the second wire hole 438, and the second power supply line 4381 is passed through the third sealing ring 49.

[0101] Furthermore, the mounting base 43 is configured to form a first wiring channel 4372 corresponding to the first mounting portion 421 and the first wiring hole 437 . The first wiring channel 4372 is connected to the first wiring hole 437 , and a portion of the first power supply line 4371 is received in the first wiring channel 4372 .

[0102] The first wiring channel 4372 is provided to accommodate the first power supply line 4371, so as to organize the first power supply line 4371, make the base station 100 more beautiful, and protect the accommodated part of the first power supply line 4371.

[0103] The mounting base 43 is structured to form a second wiring channel 4382 corresponding to the first mounting portion 421 and the second wiring hole 438 , and a portion of the second power supply line 4381 is accommodated in the second wiring channel 4382 .

[0104] The first wiring channel 4372 is provided to accommodate the first power supply line 4371, so as to organize the first power supply line 4371, make the base station 100 more beautiful, and protect the accommodated part of the first power supply line 4371.

[0105] Furthermore, the second wiring channel 4382 is separated from the first wiring channel 4372, so as to further improve the arrangement effect of the first power supply line 4371 and the second power supply line 4381, and thus the first power supply line 4371 and the second power supply line 4381 are intertwined with each other.

[0106] For further information, please refer to Figure 1-3 As shown, the positioning module 10 includes an antenna 13, and the antenna 13 is vertically located above the photovoltaic panel assembly 20 and the battery 30. Therefore, the photovoltaic panel assembly 20 and the battery 30 will not affect the reception of satellite signals by the antenna 13 during operation.

[0107] Furthermore, the positioning module 10 further includes a signal indicator light 19, which is disposed on the mounting shell 14. The antenna 13 is vertically located above the signal indicator light 19. Thus, the signal indicator light 19 does not affect the reception of satellite signals by the antenna 13 when it is working.

[0108] For further information, see Figure 7-9 As shown, the photovoltaic panel assembly 20 includes a photovoltaic panel 21 and a mounting frame 22, and the photovoltaic panel 21 is mounted on the mounting frame 22. The mounting frame 22 is detachably connected to the third mounting portion 432 via a fixing member 15.

[0109] Furthermore, the mounting frame 22 is structured to form a limiting slot 221 , and the third mounting portion 432 is detachably disposed in the limiting slot 221 .

[0110] Furthermore, the mounting frame 22 includes a first side wall 222, a second side wall 223 and a bottom wall 224, the first side wall 222 and the second side wall 223 are arranged opposite to each other, and the bottom wall 224 is connected to the same side of the first side wall 222 and the second side wall 223, so that the first side wall 222, the second side wall 223 and the bottom wall 224 cooperate to form the limiting slot 221.

[0111] In the first embodiment, the first side wall 222 has a first guide channel 2221, and the mounting frame 22 is formed with a first clamping arm 2222 corresponding to the first guide channel 2221, and the first clamping arm 2222 partially protrudes from the first guide channel 2221. The first side wall 222, the second side wall 223, the bottom wall 224, and the first clamping arm 2222 form the limiting clamping groove 221.

[0112] The third mounting portion 432 enters the limiting slot 221 along the first guiding channel 2221 and abuts against the bottom wall 224 , and is limitedly engaged through the first engaging arm 2222 , so that the mounting frame 22 is engaged in the limiting slot 221 .

[0113] In the second embodiment, the second side wall 223 has a second guide channel 2231, and the mounting frame 22 is formed with a second clamping arm 2232 corresponding to the second guide channel 2231, and the second clamping arm 2232 partially protrudes from the second guide channel 2231. The first side wall 222, the second side wall 223, the bottom wall 224, and the second clamping arm 2232 form the limiting clamping slot 221.

[0114] The third mounting portion 432 enters the limiting slot 221 along the second guide channel 2231 and abuts against the bottom wall 224 , and is limitedly engaged through the second engaging arm 2232 , so that the mounting frame 22 is engaged in the limiting slot 221 .

[0115] In the third embodiment, the first side wall 222 has a first guide channel 2221 , and the mounting frame 22 is formed with a first clamping arm 2222 corresponding to the first guide channel 2221 , and a portion of the first clamping arm 2222 protrudes from the first guide channel 2221 .

[0116] The second side wall 223 has a second guide channel 2231. The mounting frame 22 is formed with a second clamping arm 2232 corresponding to the second guide channel 2231. The second clamping arm 2232 partially protrudes from the second guide channel 2231. The first guide channel 2221 and the second guide channel 2231 are arranged opposite to each other.

[0117] The first side wall 222 , the second side wall 223 , the bottom wall 224 , the first clamping arm 2222 , and the second clamping arm 2232 are configured to form the limiting clamping slot 221 .

[0118] The third mounting portion 432 enters the receiving space along the first guide channel 2221 and the second guide channel 2231 and abuts against the bottom wall 224 , and is limitedly engaged with the mounting frame 22 through the first clamping arm 2222 and the second clamping arm 2232 and is located in the limiting clamping slot 221 .

[0119] The third mounting portion 432 is connected by providing the limiting slot 221 , so that the mounting frame 22 and the third mounting portion 432 can be quickly disassembled, so as to facilitate the disassembly and assembly of the photovoltaic panel assembly 20 .

[0120] For further information, please refer to Figure 5-6 As shown, the first shell 433 is structured to form a first receiving hole 4333 and a first connecting portion 4334. The second shell 434 is structured to form a second receiving hole 4343 and a second connecting portion 4344.

[0121] The first receiving hole 4333 is disposed correspondingly to the second receiving hole 4343. The first connecting portion 4334 is disposed correspondingly to the second connecting portion 4344.

[0122] A sealing member 45 and a connecting member 46 are provided between the first shell 433 and the second shell 434. The sealing member 45 is sealedly connected between the first connecting portion 4334 and the second connecting portion 4344, so that the first shell 433 and the second shell 434 are sealedly connected.

[0123] The connecting member 46 is sealed and connected between the end surface of the first receiving hole 4333 and the end surface of the second receiving hole 4343 , so that the first receiving hole 4333 and the second receiving hole 4343 are sealed and connected, and the insertion hole 436 is formed.

[0124] Furthermore, when the support rod 42 is inserted into the insertion hole 436 , the connector 46 is also sealed and connected to the outer side wall of the corresponding support rod 42 , thereby achieving a sealed connection between the support rod 42 and the mounting base 43 .

[0125] The connection member 46 and the sealing member 45 can improve the stability and reliability of the mounting base 43 to prevent the battery 30 from being damaged by the external environment.

[0126] In one embodiment, one of the first connection portion 4334 or the second connection portion 4344 is a sealing groove, the sealing member 45 is disposed in the sealing groove, and the other of the first connection portion 4334 and the second connection portion 4344 is a protrusion. The protrusion can be inserted into the sealing groove and hold the sealing member 45 in the sealing groove so that the first shell 433 and the second shell 434 are sealed and connected.

[0127] Furthermore, the cross-section of the connecting piece 46 is an "H"-shaped structure with two upper and lower openings, wherein the opening end of the first receiving hole 4333 is sealed and inserted into the upper opening of the connecting piece 46, and the opening end of the second receiving hole 4343 is sealed and inserted into the lower opening of the connecting piece 46.

[0128] For further information, please refer to Figure 3As shown, in one embodiment, the first mounting portion 421 is a first threaded portion, the positioning module 10 includes a mounting shell 14, and the mounting shell 14 is constructed to have a second threaded portion 11, and the second threaded portion 11 is adapted to the first threaded portion so that the positioning module 10 can be detachably connected to the supporting module 40.

[0129] When the first threaded portion is an external thread, the second threaded portion 11 is an internal thread; when the first threaded portion is an internal thread, the second threaded portion 11 is an external thread.

[0130] In other embodiments, the first mounting portion 421 and the positioning module 10 may also be connected by screw locking, or by mutual clamping.

[0131] Furthermore, the photovoltaic panel assembly 20 is rotatably disposed on the support module 40. Thus, the angle of the photovoltaic panel 21 can be adjusted according to the incident angle of sunlight, so that the photovoltaic panel assembly 20 can receive light energy more fully.

[0132] At the same time, the photovoltaic panel assembly 20 can also be changed in angle to avoid the photovoltaic panel assembly 20 interfering with the signal of the positioning module 10 .

[0133] Further, when the first mounting portion 421 is arranged to deviate from the axis 41, the positioning module 10 is rotatably arranged on the supporting module 40. This allows the position of the positioning module 10 relative to the supporting module 40 to be rotatably adjusted, so that when the signal of the positioning module 10 is poor or is interfered by the photovoltaic panel assembly 20, the positioning module 10 can be rotated to improve the signal strength received.

[0134] On the other hand, the present application also provides a self-propelled robot system, which includes the reference station 100 described in any of the above embodiments. Therefore, the self-propelled robot system has the beneficial effects of any of the above embodiments, which will not be described again.

[0135] Furthermore, the self-moving robot system also includes a self-moving robot, and the reference station 100 is used to position the self-moving robot.

[0136] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0137] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0138] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A reference station, characterized in that: The reference station (100) has a balancing area, and the reference station (100) comprises: A positioning module (10), used for performing a positioning function; A photovoltaic panel assembly (20) for converting light energy into electrical energy; A storage battery (30) is electrically connected to the positioning module (10) and the photovoltaic panel assembly (20) respectively, and is used to store electrical energy and supply power; The support module (40) is structured to form a first mounting portion (421), a second mounting portion (431) and a third mounting portion (432), the positioning module (10) is mounted on the first mounting portion (421), the storage battery (30) is mounted on the second mounting portion (431), the photovoltaic panel assembly (20) is mounted on the third mounting portion (432), and the support module (40) has an axis (41), the axis (41) passes through the balancing area and is perpendicular to the plane where the balancing area is located; One of the first mounting portion (421), the second mounting portion (431), and the third mounting portion (432) is located on the axis (41), and the other two of the first mounting portion (421), the second mounting portion (431), and the third mounting portion (432) are distributed on opposite sides of the axis (41), and a projection of the center of gravity of the reference station (100) along the direction of the axis (41) is located within the balance area; or the first mounting portion (421), the second mounting portion (431), and the third mounting portion (432) are distributed on the circumference of the axis (41), and a projection of the center of gravity of the reference station (100) along the direction of the axis (41) is located within the balance area.

2. The reference station according to claim 1, characterized in that: The support module (40) comprises a support rod (42) and a mounting base (43), wherein the mounting base (43) is arranged on the support rod (42), and the top structure of the support rod (42) forms the first mounting portion (421), and the mounting base (43) forms the second mounting portion (431) and the third mounting portion (432).

3. The reference station according to claim 2, characterized in that: The second mounting portion (431) and the third mounting portion (432) are arranged on opposite sides of the axis (41) along the first direction; A ground plug (44) is provided at the bottom of the support rod (42), and the ground plug (44) includes a first plug pin (441) and a second plug pin (442), wherein the first plug pin (441) extends along the length direction of the support rod (42) in a direction away from the first mounting portion (421), and the second plug pin (442) includes a first section (4421) and a second section (4422), wherein the first section (4421) is connected between the second section (4422) and the first plug pin (441) or the support rod (42), wherein the second plug pin (442) is rotatable relative to the first plug pin (441) or the support rod (42) so that the first section (4421) extends outward along the first direction, and the second section (4422) extends in a direction away from the support rod (42).

4. The reference station according to claim 3, characterized in that: The ground plug (44) includes a third plug pin (443), and the third plug pin (443) includes a third section (4431) and a fourth section (4432), wherein the third section (4431) is connected between the first plug pin (441) and the fourth section (4432), wherein the third section (4431) extends radially outwardly along the support rod (42), and the fourth section (4432) extends in a direction away from the support rod (42).

5. The reference station according to claim 4, characterized in that: The third section (4431) extends outwardly along the first direction, and the fourth section (4432) and the second section (4422) are located on opposite sides of the first pin (441) along the first direction.

6. The reference station according to claim 3, characterized in that: The support rod (42) has a wiring space (4223), a first wiring hole (4221) and a second wiring hole (4222); the first wiring hole (4221) and the second wiring hole (4222) are respectively connected to the wiring space (4223), and the first wiring hole (4221) is close to the first mounting portion (421), and the second wiring hole (4222) is close to the ground plug (44).

7. The reference station according to claim 2, characterized in that: The mounting base (43) is structured to form a plug hole (436), and the mounting base (43) is sleeved on the support rod (42) through the plug hole (436).

8. The reference station according to claim 7, characterized in that: The mounting base (43) comprises a first shell (433) and a second shell (434); the second mounting portion (431) comprises a first limiting groove (4331) provided on the first shell (433) and a second limiting groove (4341) provided on the second shell (434); the first shell (433) and the second shell (434) are connected so that the first limiting groove (4331) and the second limiting groove (4341) respectively limit the opposite ends of the battery (30).

9. The reference station according to claim 8, characterized in that: The positioning module (10) is also structured to have a fixing hole (12), the first shell (433) is located above the second shell (434) in the vertical direction, and the first shell (433) is structured to have a first through hole (4332), and the second shell (434) is structured to have a second through hole (4342), and the fixing member (15) passes through the second through hole (4342) and the first through hole (4332) in sequence and is fixedly connected in the fixing hole (12) so that the mounting base (43) is fixedly connected to the positioning module (10).

10. The reference station according to claim 8, characterized in that: The first shell (433) and the second shell (434) are connected to form a receiving cavity (435), a first wire passing hole (437) and a second wire passing hole (438), and the first wire passing hole (437) and the second wire passing hole (438) are respectively connected to the receiving cavity (435); The second mounting portion (431) is disposed in the accommodating cavity (435); a first power supply line (4371) led out from the photovoltaic panel assembly (20) passes through the first wire hole (437) and enters the accommodating cavity (435) to be connected to the battery (30); a second power supply line (4381) led out from the battery (30) passes through the second wire hole (438) and extends out of the accommodating cavity (435) to be connected to the positioning module (10).

11. The reference station according to claim 10, characterized in that: The mounting base (43) is configured to form a first wiring channel (4372) corresponding to the first mounting portion (421) and the first wiring hole (437), the first wiring channel (4372) is connected to the first wiring hole (437), and the first power supply line (4371) is partially received in the first wiring channel (4372); and The mounting base (43) is structured to form a second wiring channel (4382) corresponding to the first mounting portion (421) and the second wiring hole (438), and the second power supply line (4381) is partially accommodated in the second wiring channel (4382), wherein the second wiring channel (4382) is separated from the first wiring channel (4372).

12. The reference station according to any one of claims 1 to 11, characterized in that: The positioning module (10) comprises an antenna (13), and the antenna (13) is located above the photovoltaic panel assembly (20) and the storage battery (30) in the vertical direction.

13. The reference station according to any one of claims 1 to 11, characterized in that: The positioning module (10) comprises an antenna (13) and a signal indicator light (19), wherein the antenna (13) is located above the signal indicator light (19) in a vertical direction.

14. The reference station according to any one of claims 1 to 11, characterized in that: The photovoltaic panel assembly (20) comprises a photovoltaic panel (21) and a mounting frame (22); the photovoltaic panel (21) is arranged on the mounting frame (22), and the mounting frame (22) is structured to form a limit slot (221); The third mounting portion (432) is detachably disposed in the limiting slot (221).

15. The reference station according to any one of claims 8 to 11, characterized in that: The first shell (433) is structured to form a first receiving hole (4333), and the second shell (434) is structured to form a second receiving hole (4343); The mounting base (43) includes a connecting piece (46), and the connecting piece (46) is sealingly connected between the first receiving hole (4333) and the second receiving hole (4343) so that the first receiving hole (4333) and the second receiving hole (4343) are connected to form the plug hole (436). When the mounting base (43) is sleeved outside the support rod (42) through the plug hole (436), the support rod (42) and the connecting piece (46) are sealedly connected.

16. The reference station according to claim 1, characterized in that: The positioning module (10) and / or the photovoltaic panel assembly (20) are rotatably arranged on the supporting module (40).

17. A self-propelled robot system, characterized in that: It comprises the reference station (100) according to any one of claims 1 to 16; and a self-moving robot, wherein the reference station (100) is used to position the self-moving robot.

Images