Self-moving working equipment

Abstract

The utility model relates to the field of robots, in particular to self-moving working equipment which comprises an equipment body, a working unit, a main control circuit board and a positioning module, the working unit is arranged at the bottom of the equipment body and used for executing preset working tasks, the main control circuit board is arranged in the equipment body, and the positioning module is arranged on the main control circuit board in the advancing direction of the self-moving working equipment. The equipment main body is provided with a front end and a rear end which are opposite to each other, the positioning module is arranged in the equipment main body and is used for acquiring a positioning signal of the self-moving working equipment in real time, and the positioning module and the main control circuit board are arranged in a staggered manner in the advancing direction, so that the interference of electronic devices on the main control circuit board on the positioning signal transceiving of the positioning module can be greatly reduced; and the positioning accuracy of the self-moving working equipment is improved.

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] Self-mobile working equipment, such as smart lawn mowers, needs to work and move within a specified boundary. While moving, it is necessary to plan the optimal working path to reduce working time and improve work efficiency. However, in traditional technologies, self-mobile working equipment is subject to a lot of electromagnetic interference from other devices, and it is impossible to accurately locate the current position of the self-mobile working equipment, resulting in the inability to plan the path, or the planned path does not conform to the actual working condition of the self-mobile working equipment. Therefore, how to design the positioning antenna module of the self-mobile working equipment to reduce electromagnetic interference in the surrounding environment and improve positioning accuracy has become a technical problem that needs to be solved. Utility Model Content

[0003] The main purpose of the present application is to propose a self-moving working device to solve the technical problem that there is much electromagnetic interference from other devices in the surrounding environment of the existing self-moving working device and the current position of the self-moving working device cannot be accurately located.

[0004] To achieve the above-mentioned purpose, an embodiment of the present application provides a self-moving working device, the self-moving working device comprising:

[0005] Equipment body;

[0006] A working unit, which is arranged at the bottom of the device body and is used to perform a preset working task;

[0007] A main control circuit board, the main control circuit board is arranged in the device body, the device body has a front end and a rear end opposite to each other in the direction of travel of the self-moving working device, and the main control circuit board is located near the front end of the device body;

[0008] A positioning module is arranged in the device body. The positioning module is located near the rear end of the device body and is electrically connected to the main control circuit board, and is used to send and receive positioning signals to obtain the position information of the self-moving working device.

[0009] The present application provides a self-mobile working device, which includes a device body, a working unit, a main control circuit board, and a positioning module. The working unit is arranged at the bottom of the device body and is used to perform a preset working task. The main control circuit board is arranged in the device body. In the direction of travel of the self-mobile working device, the device body has a relative front end and a rear end. The positioning module is arranged in the device body. The positioning module is used to obtain the positioning signal of the self-mobile working device in real time to plan the path of the self-mobile working device, or to monitor whether the self-mobile working device moves according to the preset planned path. In the process of sending and receiving positioning signals by the positioning module, it is easily affected by other factors in the surrounding environment. The interference of electromagnetic wave signals from other devices leads to inaccurate positioning signals, which in turn leads to abnormal path planning of the self-mobile working equipment or failure to follow the preset planned path. Based on this, the present application proposes to locate the main control circuit board near the front end of the device body, and the positioning module near the rear end of the device body. The positioning module is separately arranged from the main control circuit board, and the positioning module is electrically connected to the main control circuit board for sending and receiving positioning signals to obtain the position information of the self-mobile working equipment. Compared with arranging the positioning module on or near the main control circuit board, the interference of other electronic devices on the main control circuit board with the sending and receiving positioning signals of the positioning module can be greatly reduced, thereby improving the accuracy of positioning of the self-mobile working equipment.

[0010] In an optional implementation, the positioning module and the main control circuit board are staggered in the height direction of the device body.

[0011] In an optional embodiment, the positioning module is arranged near the top of the device body.

[0012] In an optional embodiment, the device body includes a top cover, a middle shell and a chassis assembled in sequence along the height direction, the main control circuit board is arranged in a receiving cavity between the middle shell and the chassis, part of the middle shell is fitted with part of the top cover, the middle shell is provided with a receiving groove with an opening toward the top cover, and the positioning module is installed in the receiving groove.

[0013] In an optional embodiment, a shielding layer is provided on the peripheral wall of the receiving groove, and the shielding layer is used to shield the signal of the main control circuit board.

[0014] In an optional embodiment, the positioning module includes an antenna housing, a positioning antenna, and an antenna circuit board. The antenna housing includes an antenna top shell and an antenna bottom shell connected to each other along the height direction of the device body. The antenna top shell is adjacent to or in contact with the top of the device body. The antenna circuit board is arranged on the antenna bottom shell. The positioning antenna is arranged between the antenna top shell and the antenna circuit board and is electrically connected to the antenna circuit board.

[0015] In an optional embodiment, the antenna circuit board is also provided with an antenna connector, the antenna housing is provided with a through hole, and the antenna connector extends out through the through hole; the self-mobile working device also includes an electrical connecting wire, one end of the electrical connecting wire is electrically connected to the antenna connector, and the other end of the electrical connecting wire is electrically connected to the main control circuit board.

[0016] In an optional embodiment, the self-moving working device further includes a driving board, which is disposed in the device body and electrically connected to the main control circuit board, and the driving board is located in a front end area close to the device body.

[0017] In an optional implementation, the driving board and the positioning module are staggered in height direction and are located directly below the main control circuit board.

[0018] In an optional embodiment, the self-mobile working device also includes a visual detection circuit board, which is arranged in the device body and electrically connected to the main control circuit board, and the visual detection circuit board is located near the front end area of ​​the device body. 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 embodiments are briefly introduced below.

[0020] Figure 1 It is a simplified side view of a self-moving working device provided by an embodiment of the present application;

[0021] Figure 2 It is a stereogram from a first perspective of a mobile working device provided in an embodiment of the present application;

[0022] Figure 3 is a stereogram from a second viewing angle of a mobile working device provided in an embodiment of the present application;

[0023] Figure 4 is a schematic diagram of a positioning system provided in an embodiment of the present application;

[0024] Figure 5 This is a schematic diagram of a self-moving working device provided in an embodiment of the present application. Figure 1 ;

[0025] Figure 6 This is a partial exploded schematic diagram of a self-moving working device provided in an embodiment of the present application. Figure 1 ;

[0026] Figure 7 is a cross-sectional view of a self-moving working device along the traveling direction provided by an embodiment of the present application;

[0027] Figure 8 yes Figure 7 A partial schematic diagram of the middle A area;

[0028] Fig. 9 is a cross-sectional schematic diagram of a positioning module provided in an embodiment of the present application;

[0029] Fig.10 is an exploded schematic diagram of a positioning module provided in an embodiment of the present application;

[0030] Fig.11 It is a partial schematic diagram of a receiving slot provided in an embodiment of the present application;

[0031] Fig.12 It is a stereoscopic view of the bottom of a middle shell provided by an embodiment of the present application;

[0032] Fig.13 is another stereoscopic view of the bottom of the middle shell provided by an embodiment of the present application;

[0033] Fig.14 This is a partial exploded schematic diagram of a self-moving working device provided in an embodiment of the present application. Figure 2 ;

[0034] Fig.15 is a cross-sectional schematic diagram of a bottom of a receiving groove provided in an embodiment of the present application having a shielding layer;

[0035] Fig.16 This is a schematic diagram of a self-moving working device provided in an embodiment of the present application. Figure 2 .

[0036] Description of some figures:

[0037] Self-moving working equipment 100; equipment body 11; working unit 12; main control circuit board 13; positioning module 14; chassis 16; top cover 15; cutter head assembly 17; driving wheel assembly 18; universal wheel assembly 19; travel direction D1; front end 11a; rear end 11b; vertical center axis L1; middle shell 20; receiving slot 21; height direction D2; cutter head lifting assembly 22; cutter head motor 23; antenna shell 24; positioning antenna 25; antenna circuit board 26; antenna top shell 27; antenna bottom shell 28; antenna connector 29; through hole 30; electrical connection line 42; first receiving space 31; second receiving space 32; assembly step surface 33; installation step surface 34; through hole 35; preset gap 36; opening 37; shielding layer 38; drive board 39; visual detection circuit board 40; visual detection assembly 41; bottom cover 43; base station 200; satellite system 300. DETAILED DESCRIPTION

[0038] The technical solution of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the embodiments described in the present application are only a part of the embodiments, not all of the embodiments. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of the present application.

[0039] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments 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 mutually exclusive, independent, or alternative to other embodiments. It can be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0040] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example: a component or device including one or more parts is not limited to the one or more parts listed, but optionally includes one or more parts that are not listed but inherent to the exemplified product, or one or more parts that it should have based on the described function.

[0041] The embodiment of the present application provides a self-moving working device 100. The self-moving working device 100 includes but is not limited to self-moving and self-propelled devices such as an intelligent lawn mower, an intelligent cleaning robot, an intelligent car, and an intelligent sprinkler truck.

[0042] See also Figure 1The self-moving working device 100 includes a device body 11, a working unit 12, a main control circuit board 13 and a positioning module 14.

[0043] Among them, see Figure 1 The device body 11 includes but is not limited to the body structure of the self-mobile working device 100. For example, the device body 11 also includes but is not limited to the chassis 16, the top cover 15, the battery assembly, etc. Among them, the chassis 16 is the main bearing member, which is used to bear most of the structure. The top cover 15 covers the chassis 16, and the top cover 15 and the chassis 16 surround to form a receiving space to accommodate the cutter head lifting assembly, the battery assembly, etc.

[0044] See also Figures 1 to 3 The working unit 12 includes but is not limited to a blade disc assembly 17, a dust collection assembly, and a cleaning assembly. The working unit 12 is arranged at the bottom of the device body 11, and is used to perform preset work tasks. The preset work tasks include but are not limited to mowing, trimming grass, vacuuming and cleaning. In this embodiment, the inventive concept of the present application is specifically described by taking the self-mobile working device 100 as an intelligent lawn mower as an example. For other structures, reference can be made to the inventive concept described below. In this embodiment, the working unit 12 is taken as a blade disc assembly 17 as an example to illustrate the inventive concept of the present application.

[0045] Optional, see Figures 1 to 3 The self-mobile working equipment 100 also includes a driving wheel assembly 18, and the driving wheel assembly 18 is installed at a position near the rear end of the chassis 16. The rear end described in the present application is an end that is arranged opposite to the front end. The rear end described in the present application is the end position of the self-mobile working equipment 100 in the backward direction. The driving wheel assembly 18 includes at least one pair of driving wheels and a driving motor that drives the pair of driving wheels. The driving motor drives the driving wheels to roll, and the driving wheels rub against the ground to form a driving force that drives the self-mobile working equipment 100 to move. By controlling the rotation direction and speed of the pair of driving wheels, the self-mobile working equipment 100 can move forward, backward, turn left, turn right, turn, etc. Figure 2 Some parts are omitted from the top cover 15. Figure 3 Some components are omitted from the middle chassis 16 .

[0046] Optional, see Figures 1 to 3The self-mobile working equipment 100 also includes a universal wheel assembly 19, which is installed at a position near the front end of the chassis 16. The front end mentioned in the present application refers to the end position on the travel direction D1 of the self-mobile working equipment 100. The universal wheel assembly 19 can be freely turned within the horizontal reference plane to flexibly move in various directions, so that the self-mobile working equipment 100 can maintain a stable balance in different environments. The universal wheel assembly 19 and the driving wheel assembly 18 are arranged at the bottom of the equipment body 11 in front and behind to drive the body part of the equipment body 11 of the self-mobile working equipment 100 to move. The travel direction of the self-mobile working equipment 100 is the direction in which the driving wheel assembly 18 points to the universal wheel assembly 19.

[0047] Before executing a task, the mobile working device 100 generally relies on a positioning system to plan a better working path, thereby reducing working time and improving working efficiency.

[0048] See also Figure 4 Specifically, the positioning system includes a base station 200 and a mobile station (including the aforementioned positioning module 14). The base station 200 can be fixedly set at a preset location outdoors to receive the radio frequency signal transmitted by the satellite system 300 to provide a reference for the positioning of the mobile station. The mobile station is set on the self-mobile working device 100, receives the radio frequency signal transmitted by the satellite system 300 and the reference data of the base station 200, and obtains accurate positioning information relative to the position of the base station 200.

[0049] The satellite system 300 includes one or any combination of GPS (Global Positioning System), GLONASS (Global Orbiting Navigation Satellite System 300), GALILEO (Galileo System), and BeiDou System.

[0050] See also Figure 1 The main control circuit board 13 is arranged in the device body 11. Specifically, the main control circuit board 13 is arranged in the space between the top cover 15 and the bottom plate 16. The main control circuit board 13 is used to set a digital signal processor (DSP), a central processing unit (CPU), a single chip microcomputer, a power management chip, etc.

[0051] See also Figure 1 , in the traveling direction D1 of the self-mobile working device 100, the device body 11 has a front end 11a and a rear end 11b opposite to each other. The main control circuit board 13 is located near the front end 11a of the device body 11. In other words, the distance between the main control circuit board 13 and the front end 11a is greater than the distance between the main control circuit board 13 and the rear end 11b. Further, along the vertical central axis L1 in the traveling direction D1 of the self-mobile working device 100, the main control circuit board 13 is arranged between the vertical central axis L1 and the front end 11a of the self-mobile working device 100.

[0052] The aforementioned mobile station includes a positioning module 14. The positioning module 14 is disposed in the device body 11. Specifically, the main control circuit board 13 is disposed in the space between the top cover 15 and the bottom plate 16.

[0053] See also Figure 5 and Figure 6 Furthermore, the device body 11 also includes a middle shell 20, which is disposed between the top cover 15 and the bottom plate 16. At least part of the middle shell 20 is in contact with the top cover 15. Multiple parts of the middle shell 20 are recessed toward the side where the bottom plate 16 is located to form multiple receiving grooves 21 for receiving devices. Part of the receiving grooves 21 are blocked by the top cover 15 to form a closed receiving cavity. Part of the receiving grooves 21 correspond to the openings on the top cover 15 to form open receiving grooves 21. Figure 5 Some parts are omitted on the top cover 15

[0054] See also Figure 7 and Figure 8 The positioning module 14 is received in one of the closed receiving cavities between the middle shell 20 and the top cover 15 to achieve waterproof and dustproof effects on the positioning module 14 .

[0055] See also Figure 7 and Figure 8 , the positioning module 14 is located near the rear end 11b of the device body 11. In the travel direction D1 of the self-mobile working device 100, the rear end 11b of the device body 11, the positioning module 14, the main control circuit board 13, and the front end 11a of the device body 11 are arranged in sequence. The positioning module 14 is arranged between the vertical central axis L1 in the travel direction D1 of the self-mobile working device 100 and the rear end 11b of the device body 11.

[0056] The positioning module 14 is electrically connected to the main control circuit board 13, and is used to send and receive positioning signals to obtain the position information of the self-moving working device 100, and then perform path planning of the self-moving working device 100, or monitor in real time whether the self-moving working device 100 runs according to the planned path.

[0057] For further information, see Figure 7 and Figure 8, in the travel direction D1 of the self-mobile working device 100, the positioning module 14 and the main control circuit board 13 are offset. The orthographic projection of the positioning module 14 in the height direction D2 of the self-mobile working device 100 is located outside the main control circuit board 13. Further, in the travel direction D1 of the self-mobile working device 100, there is a preset distance between the positioning module 14 and the main control circuit board 13. The present application does not make a specific limitation on the preset distance, and optionally, the preset distance is greater than or equal to 0.1 cm. For example, the preset distance is 1 cm, or 2 cm, or 3 cm, or 4 cm, or 5 cm, or 6 cm, or 8 cm, or 10 cm, or 12 cm, or 14 cm, or 16 cm, or 20 cm, or 30 cm, etc.

[0058] In the conventional technology, the positioning module 14 is arranged on the main control circuit board 13, so that the power management chip on the main control circuit board 13 can power the positioning module 14. The main control circuit board 13 is also provided with other electronic devices, such as a digital signal processor (DSP), a central processing unit (CPU), a single chip microcomputer, a power management chip, capacitors, inductors, etc. On the one hand, the alternating current in some electronic devices will form an electromagnetic wave interference signal, causing interference to the positioning module 14 in receiving and sending positioning signals; on the other hand, the capacitors and inductors in some electronic devices may couple with the antenna in the positioning module 14, thereby interfering with the positioning module 14 in receiving and sending positioning signals. In the third direction, the penetration of the positioning signal is relatively poor. When the positioning module 14 receives and sends positioning signals, there are other higher devices in the surrounding environment that block it, which may cause the positioning module 14 to be unable to receive the reference data from the base station 200 or the radio frequency signal transmitted by the satellite system 300, resulting in a delay or inaccuracy in the positioning signal received by the mobile working device 100, and it is impossible to achieve accurate positioning, affecting work efficiency.

[0059] Based on this, the present application sets a certain distance between the positioning module 14 and the main control circuit board 13 in the height direction D2 of the self-mobile working equipment 100, so that the positioning module 14 is relatively far away from the components on the main control circuit board 13, so as to reduce the interference of electromagnetic interference signals generated by other components on the main control circuit board 13 on the positioning signal received and sent by the positioning module 14.

[0060] The present application provides a self-mobile working device 100, which includes a device body 11, a working unit 12, a main control circuit board 13, and a positioning module 14. The working unit 12 is arranged at the bottom of the device body 11, and is used to perform a preset working task. The main control circuit board 13 is arranged in the device body 11. In the travel direction D1 of the self-mobile working device 100, the device body 11 has a front end 11a and a rear end 11b relative to each other. The positioning module 14 is arranged in the device body 11. The positioning module 14 is used to obtain the positioning signal of the self-mobile working device 100 in real time to plan the path of the self-mobile working device 100, or to monitor whether the self-mobile working device 100 walks according to the preset planned path. In the process of sending and receiving positioning signals by the positioning module 14, it is easily affected by the surrounding environment. The interference of electromagnetic wave signals of other devices in the self-mobile working device 100 leads to inaccurate positioning signals, which in turn leads to abnormal path planning of the self-mobile working device 100 or failure to walk according to the preset planned path. Based on this, the present application proposes to locate the main control circuit board 13 at the front end 11a close to the device body 11, and the positioning module 14 is located at the rear end 11b close to the device body 11. The positioning module 14 is separately arranged from the main control circuit board 13, and the positioning module 14 is electrically connected to the main control circuit board 13 for sending and receiving positioning signals to obtain the position information of the self-mobile working device 100. Compared with arranging the positioning module 14 on or near the main control circuit board 13, the interference of other electronic devices on the main control circuit board 13 on the sending and receiving positioning signals of the positioning module 14 can be greatly reduced, thereby improving the accuracy of locating the current position point of the self-mobile working device 100.

[0061] In an alternative embodiment, see Figure 7 The self-mobile working device 100 further includes a cutter disc lifting assembly 22, which is arranged along the height direction D2 of the self-mobile working device 100. The top end of the cutter disc lifting assembly 22 passes through the top cover 15, and the bottom end of the cutter disc lifting assembly 22 is connected to the cutter disc assembly 17 to drive the cutter disc assembly 17 to rise and fall.

[0062] In the travel direction D1 of the self-mobile working device 100, the main control circuit board 13, the blade disc lifting assembly 22, and the positioning module 14 are arranged in sequence. On the one hand, a relatively large distance is created between the main control circuit board 13 and the positioning module 14 to reduce the electromagnetic wave interference signal generated by the main control circuit board 13 and the interference of electronic devices on the positioning signal. In addition, the blade disc lifting assembly 22 is set according to the distance between the main control circuit board 13 and the positioning module 14 to drive the blade disc assembly 17 to rise and fall, so that the self-mobile working device 100 can adjust the mowing height.

[0063] For further information, see Figure 7In the height direction D2 of the self-mobile working equipment 100, the cutter motor 23 of the cutter assembly 17 is located below the main control circuit board 13, and the cutter of the cutter assembly 17 is located outside the chassis 16 at a position corresponding to the cutter motor 23, so that the cutter of the cutter assembly 17 avoids the driving wheel assembly 18 and the universal wheel assembly 19.

[0064] Optional, see Figure 1 , the positioning module 14 and the main control circuit board 13 are staggered in the height direction D2 of the device body 11. Since the self-mobile working device 100 is in motion during the working process, the position and orientation of the self-mobile working device 100 are uncertain, and the distance and orientation of the base station 200 relative to the self-mobile working device 100 are uncertain, so the positioning module 14 needs to have good omnidirectionality in the upper hemisphere radiation space. By staggering the positioning module 14 and the main control circuit board 13 in the height direction D2 of the device body 11, compared with setting the positioning module 14 and the main control circuit board 13 at the same height, the positioning signal sent and received by the positioning module 14 toward the surrounding side can be effectively reduced from being affected by the interference signal or coupling device on the main control circuit board 13.

[0065] Optional, see Figure 1 The positioning module 14 is arranged near the top of the device body 11 . That is, the positioning module 14 is arranged near the top cover 15 of the device body 11 .

[0066] In this embodiment, the positioning module 14 processes the carrier phase observations of the two measuring stations (base station 200 and positioning module 14) in real time through RTK (Real-time kinematic) carrier phase difference technology, sends the carrier phase collected by the base station 200 to the receiver (RF transceiver chip) of the positioning module 14, and performs difference calculation of coordinates, so as to obtain higher positioning accuracy from the mobile working device 100 in real time. In this positioning measurement technology, the base station 200 and the positioning module 14 need to at least jointly receive the RF signals transmitted by a predetermined number of identical satellites in the satellite system 300. When the number of identical satellites in the satellite system 300 received by the base station 200 and the positioning module 14 does not meet the predetermined number, the base station 200 cannot provide sufficient reference data for the positioning module 14, and the positioning fails. In this case, the height of the positioning module 14 needs to be set relatively high. The present application sets the positioning module 14 at a position close to the top of the device body 11 to reduce the obstruction of the receiving angle of the satellite signals that the positioning module 14 can receive, promote the base station 200 and the positioning module 14 to receive the same number of radio frequency signals of satellites in the satellite system 300, and facilitate the realization of a more accurate positioning signal through the RTK carrier phase difference technology.

[0067] The structure of the positioning module 14 is described below with reference to the accompanying drawings.

[0068] Optional, see Fig. 9 and Fig.10 The positioning module 14 is installed in the device body 11 in a packaged modular form. Specifically, the positioning module 14 includes an antenna housing 24, a positioning antenna 25 and an antenna circuit board 26.

[0069] See also Fig. 9 and Fig.10 The antenna housing 24 includes an antenna top shell 27 and an antenna bottom shell 28 connected to each other along the height direction D2 of the device body 11. The side of the antenna top shell 27 facing away from the antenna bottom shell 28 is adjacent to or in contact with the top cover 15. The antenna circuit board 26 is arranged between the antenna bottom shell 28 and the antenna top shell 27. Furthermore, the antenna circuit board 26 is arranged in the antenna bottom shell 28. The positioning antenna 25 is arranged between the antenna top shell 27 and the antenna circuit board 26, and is electrically connected to the antenna circuit board 26. The positioning antenna 25 is arranged in the space surrounded by the antenna top shell 27. The positioning antenna 25 is used to send and receive positioning signals from the satellite system 300 and the base station 200.

[0070] The material of the antenna housing 24 is an insulating material to avoid interference with the signal receiving and transmitting of the positioning antenna 25. The positioning antenna 25 includes but is not limited to a patch antenna, a metal bracket antenna, a flexible circuit board antenna formed on a flexible circuit board, a laser directly formed antenna formed by laser direct forming, and a printed directly formed antenna formed by printing direct forming.

[0071] The positioning signal received and sent by the positioning antenna 25 includes but is not limited to at least one of a GPS signal, a GLONASS signal, a GALILEO signal, a BeiDou satellite signal, and the like.

[0072] The antenna circuit board 26 includes but is not limited to at least one of a radio frequency transceiver chip, a filter, a low-loss amplifier, a power amplifier, a matching circuit, etc.

[0073] In other embodiments, the positioning module 14 may not include an antenna housing, and may be directly disposed in the receiving groove 21 of the middle shell 20. This can reduce the overall volume and space occupied by the positioning module 14, and increase the heat dissipation space of the antenna circuit board 26.

[0074] For further information, see Fig. 9The antenna circuit board 26 is further provided with an antenna connector 29. Optionally, the antenna connector 29 is provided on the side of the antenna circuit board 26 away from the positioning antenna 25. A through hole 30 is provided on the antenna housing 24. Optionally, a through hole 30 is provided on the antenna bottom housing 28. The antenna connector 29 extends out through the through hole 30 of the antenna bottom housing 28.

[0075] See also Figure 8 The self-mobile working device 100 further includes an electrical connection line 42. One end of the electrical connection line 42 is electrically connected to the antenna connector 29. The other end of the electrical connection line 42 passes through a through hole on the middle shell 20 and is electrically connected to the main control circuit board 13.

[0076] The specific installation method of the positioning module 14 in the device body 11 is described below with reference to the accompanying drawings.

[0077] See also Figure 7 The device body 11 includes a top cover 15, a middle shell 20 and a bottom plate 16 which are sequentially assembled along the height direction D2. The main control circuit board 13 is arranged in the receiving cavity between the middle shell 20 and the bottom plate 16. A portion of the middle shell 20 fits with a portion of the top cover 15. The middle shell 20 is provided with a receiving groove 21 which opens toward the top cover 15. The positioning module 14 is installed in the receiving groove 21. The top cover 15 covers the opening of the receiving groove 21.

[0078] In an alternative implementation, see Fig.11 The middle shell 20 is recessed on the side facing the chassis 16 to form a first receiving space 31 and a second receiving space 32 along the height direction D2. The first receiving space 31 is located on the side of the second receiving space 32 away from the chassis 16. The radial dimension of the first receiving space 31 is larger than that of the second receiving space 32. The inner wall of the first receiving space 31 is connected to the inner wall of the second receiving space 32 to form an assembly step surface 33.

[0079] For further optional information, see Fig. 9 The housing of the positioning module 14 (eg, the antenna bottom housing 28) has a mounting step surface 34 that matches the mounting step surface 33. When the positioning module 14 is placed in the receiving groove 21 through the opening of the receiving groove 21, the mounting step surface 33 can support the mounting step surface 34.

[0080] In an alternative implementation, see Figure 8 and Fig.12, a through hole 35 is provided at the bottom of the receiving groove 21 of the middle shell 20. A preset gap 36 is provided between the bottom of the positioning module 14 and the bottom of the receiving groove 21. One end of the electrical connection line 42 is electrically connected to the antenna connector 29, and the other end of the electrical connection line 42 passes through the preset gap 36 between the antenna bottom shell 28 and the bottom of the receiving groove 21, and then passes through the through hole 35 at the bottom of the receiving groove 21, and is electrically connected to the main control circuit board 13. Fig.12 Some components are omitted on the inner side of the middle shell 20.

[0081] In the present embodiment, a preset gap 36 is formed between the antenna bottom shell 28 and the bottom of the receiving groove 21. On the one hand, it is for the electrical connection line 42 to pass through. On the other hand, it can also form a heat dissipation space to perform air convection heat dissipation on the antenna circuit board 26. In addition, it can also form a receiving space for accommodating other devices.

[0082] Furthermore, a plurality of heat dissipation holes may be provided on the side wall of the receiving groove 21 to form air convection holes to dissipate heat for the positioning module 14 .

[0083] In another alternative embodiment, see Fig.13 and Fig.14 The bottom of the receiving groove 21 is an opening 37. One end of the electrical connection line 42 is electrically connected to the antenna connector 29, and the other end of the electrical connection line 42 passes through the opening 37 of the receiving groove 21 and is electrically connected to the main control circuit board 13. Fig.13 Some components are omitted on the inner side of the middle shell 20.

[0084] For further information, see Fig.13 and Fig.14 The device body 11 further includes a bottom cover 43, which covers the opening 37 of the receiving groove 21 and is fixedly connected to the side wall of the receiving groove 21. The top cover 15, the part of the middle shell 20 forming the side wall of the receiving groove 21 and the bottom cover 43 surround a closed space for receiving the positioning module 14.

[0085] The aforementioned through hole 35 may be provided on the bottom cover 43 to facilitate electrical connection of one end of the electrical connection line 42 to the antenna connector 29 , and the other end of the electrical connection line 42 passes through a preset gap 36 between the antenna bottom shell 28 and the bottom cover 43 , and then passes through the through hole 35 of the bottom cover 43 and is electrically connected to the main control circuit board 13 .

[0086] In this embodiment, the bottom of the receiving groove 21 is set to be an opening 37 , and a bottom cover 43 is provided to cover the opening 37 of the receiving groove 21 , so as to simplify the molding difficulty of the middle shell 20 and meet the installation requirements for the positioning module 14 .

[0087] Optional, see Fig.15A shielding layer 38 is disposed on the peripheral wall of the receiving groove 21. The shielding layer 38 is used to shield the signal from the main control circuit board 13.

[0088] Optionally, the shielding layer 38 may be disposed on the bottom wall of the receiving groove 21, such as the bottom of the receiving groove 21 in the aforementioned embodiment, or the surface of the bottom cover 43. The shielding layer 38 is grounded. The shielding layer 38 prevents external electromagnetic wave signals from interfering with the positioning module 14 by absorbing electromagnetic wave signals from the outside of the receiving groove 21 (for example, from the main control circuit board 13) and transmitting the electromagnetic wave signals to the reference ground. In addition, by arranging the shielding layer 38 on the bottom wall of the receiving groove 21, the influence of the shielding layer 38 on the receiving and sending of positioning signals by the positioning antenna 25 can be reduced. In addition, the shielding layer 38 may be disposed on part of the side wall of the receiving groove 21, for example, the side wall portion close to the bottom wall of the receiving groove 21, and further example may be the side wall of the aforementioned second receiving space 32. The top height of the shielding layer 38 is less than the height of the positioning antenna 25.

[0089] The shielding layer 38 can be disposed on the peripheral wall of the receiving groove 21 in the form of a coating layer, a film layer, etc.

[0090] The shielding layer 38 is made of a conductive material, and specific materials include but are not limited to at least one of iron, copper, aluminum, steel, silver fiber, carbon fiber, etc.

[0091] The grounding method of the shielding layer 38 can be electrically connected to the antenna connector 29 through structures such as conductive wires, grounding springs, and conductive connectors, and electrically connected to the reference ground of the antenna circuit board 26 through the antenna connector 29. It can also be electrically connected to the reference ground of other devices in the mobile working equipment 100 through conductive wires.

[0092] Optional, see Figure 7 and Fig.16 The self-moving working device 100 further includes a driving board 39 . The driving board 39 is disposed in the housing and is electrically connected to the main control circuit board 13 . Fig.16 The top cover 15 omits some components.

[0093] The drive board 39 is a motor drive board 39, which is a circuit board for controlling the operation of the cutter disc motor 23. The drive board 39 includes but is not limited to a main control chip, a power interface, a motor drive chip, a sensor interface, etc. The power interface on the drive board 39 can be electrically connected to the power management chip on the main control circuit board 13 to ensure power supply to the motor. The main control chip can be electrically connected to the main control circuit board 13 to receive a control signal from the main control circuit board 13, and generate a pulse signal suitable for driving the motor according to the control signal. The motor drive chip is electrically connected to the cutter disc motor 23. The motor drive chip receives the pulse signal from the main control chip and converts it into a corresponding voltage and current and outputs it to the cutter disc motor 23.

[0094] The driving plate 39 is located near the front end 11a of the device body 11. In this way, in the travel direction D1 of the self-moving working device 100, the positioning module 14 and the driving plate 39 are staggered. The positive projection of the positioning module 14 in the height direction D2 of the self-moving working device 100 is located outside the driving plate 39 to avoid the electronic components on the driving plate 39 from interfering with the signal of the positioning module 14.

[0095] Furthermore, the cutter disc lifting assembly 22 is disposed between the driving plate 39 and the positioning module 14 .

[0096] Optionally, the driving plate 39 and the positioning module 14 are staggered in the height direction D2. Compared with setting the positioning module 14 and the driving plate 39 at the same height, this can effectively reduce the positioning signal received and sent by the positioning module 14 toward the peripheral side from being affected by interference signals or coupling devices on the driving plate 39.

[0097] The driving board 39 is located directly below the main control circuit board 13 .

[0098] Specifically, the main control circuit board 13, the drive board 39 and the cutter motor 23 are sequentially arranged along the height direction D2 of the mobile working device 100, so that the drive board 39 is electrically connected to the main control circuit board 13 and the cutter motor 23. Specifically, the positioning module 14 is closer to the top cover 15 than the drive board 39.

[0099] See also Figure 7 , Fig.12 , Fig.13 and Fig.16 The self-mobile working device 100 further includes a visual detection circuit board 40. The visual detection circuit board 40 is disposed in the housing and is electrically connected to the main control circuit board 13. The visual detection circuit board 40 is located in a region close to the front end 11a of the device body 11.

[0100] For further information, see Figure 7 and Fig.16 The self-mobile working device 100 further includes a visual detection component 41, which is disposed in the front end 11a area of ​​the device body 11. The visual detection component 41 includes but is not limited to an infrared detection device, a radar, a camera, etc. The visual detection component 41 can be used for obstacle detection, auxiliary positioning, path planning, cleaning target detection, or finding a charging pile, etc.

[0101] The visual detection circuit board 40 is disposed at the bottom of the visual detection component 41 and is electrically connected to the visual detection component 41 to provide electrical signals, control signals, etc. to the visual detection component 41. A main control chip, etc., is also disposed on the visual detection circuit board 40.

[0102] Thus, in the traveling direction D1 of the self-mobile working device 100, the positioning module 14 is staggered with the visual detection circuit board 40. The positive projection of the positioning module 14 in the height direction D2 of the self-mobile working device 100 is located outside the visual detection circuit board 40 to avoid the electronic components on the visual detection circuit board 40 from interfering with the signal of the positioning module 14.

[0103] Furthermore, in the traveling direction D1 of the self-movable working device 100 , the positioning module 14 , the cutter head lifting assembly 22 , the cutter head motor 23 , and the visual detection circuit board 40 are arranged in sequence.

[0104] Optionally, the visual inspection circuit board 40 and the positioning module 14 are staggered in the height direction D2, which can effectively reduce the positioning signal sent and received by the positioning module 14 toward the peripheral side from being affected by the interference signal or coupling device on the visual inspection circuit board 40, compared with setting the positioning module 14 and the visual inspection circuit board 40 at the same height. Specifically, the positioning module 14 is closer to the top cover 15 than the visual inspection circuit board 40.

[0105] 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 device, characterized in that: The self-mobile working equipment comprises: Equipment body; A working unit, which is arranged at the bottom of the device body and is used to perform a preset working task; A main control circuit board, the main control circuit board is arranged in the device body, the device body has a front end and a rear end opposite to each other in the direction of travel of the self-moving working device, and the main control circuit board is located near the front end of the device body; A positioning module is arranged in the device body. The positioning module is located near the rear end of the device body and is electrically connected to the main control circuit board, and is used to send and receive positioning signals to obtain the position information of the self-moving working device.

2. The self-moving working device according to claim 1, characterized in that: The positioning module and the main control circuit board are staggered in the height direction of the device body.

3. The self-moving working device according to claim 2, characterized in that: The positioning module is arranged near the top of the device body.

4. The self-moving working device according to claim 1, characterized in that: The device body includes a top cover, a middle shell and a bottom plate which are assembled in sequence along the height direction. The main control circuit board is arranged in a receiving cavity between the middle shell and the bottom plate. A portion of the middle shell fits with a portion of the top cover. The middle shell is provided with a receiving groove with an opening toward the top cover. The positioning module is installed in the receiving groove.

5. The self-moving working device according to claim 4, characterized in that: A shielding layer is provided on the peripheral wall of the receiving groove, and the shielding layer is used to shield the signal of the main control circuit board.

6. The self-moving working device according to claim 1, characterized in that: The positioning module includes an antenna housing, a positioning antenna, and an antenna circuit board. The antenna housing includes an antenna top shell and an antenna bottom shell that are connected to each other along the height direction of the device body. The antenna top shell is adjacent to or in contact with the top of the device body. The antenna circuit board is arranged on the antenna bottom shell. The positioning antenna is arranged between the antenna top shell and the antenna circuit board and is electrically connected to the antenna circuit board.

7. The self-moving working device according to claim 6, characterized in that: The antenna circuit board is also provided with an antenna connector, and the antenna housing is provided with a through hole, through which the antenna connector extends; the self-mobile working device also includes an electrical connecting wire, one end of which is electrically connected to the antenna connector, and the other end of the electrical connecting wire is electrically connected to the main control circuit board.

8. The self-moving working device according to any one of claims 1 to 7, characterized in that: The self-moving working device also includes a driving board, which is arranged in the device body and electrically connected to the main control circuit board. The driving board is located in a front end area close to the device body.

9. The self-moving working device according to claim 8, characterized in that: The driving board and the positioning module are staggered in height direction and are located directly below the main control circuit board.

10. The self-moving working device according to claim 1, characterized in that: The self-moving working device also includes a visual detection circuit board, which is arranged in the device body and electrically connected to the main control circuit board. The visual detection circuit board is located in a front end area close to the device body.

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