Shell assembly, mobile robot and system

Abstract

The utility model discloses a shell assembly, a mobile robot and a system. The shell assembly comprises a first shell and a first positioning module and is applied to the mobile robot, the first shell is arranged at the top of the mobile robot, and the first positioning module is arranged on the lower surface of the first shell. The positioning module is arranged on the lower surface of the first shell of the shell assembly, so that the waterproof and dustproof capabilities of the first positioning module are improved while the signal receiving quality is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of lawn mowers, in particular to a housing assembly, a mobile robot and a system. Background Art

[0002] Mobile robots include cleaning robots, cruising robots, lawn mowing robots, etc., which can move autonomously and execute preset tasks, and are widely used in more and more fields. Mobile robots often need to achieve self-positioning based on a positioning module to achieve more accurate movement trajectory control.

[0003] If the positioning module is arranged on the bottom shell of the mobile robot, when signal transmission is carried out, the signal needs to pass through the top shell and be transmitted to the positioning module on the bottom shell. There are many electronic components on the bottom shell, and the signal interference is relatively serious, resulting in poor signal reception quality of the positioning module. If the positioning module is arranged on the outer side surface of the mobile robot, although the signal interference is less, the positioning module is prone to water ingress and cause failures. Thus, in the prior art, the positioning module of the mobile robot cannot balance waterproof performance and receive strong satellite signals. Summary of the Utility Model

[0004] The utility model aims to at least solve one of the technical problems existing in the prior art. For this purpose, the utility model provides a housing assembly, in which a positioning module is arranged on the lower surface of the top shell of the housing assembly, and the positioning module not only has high signal reception quality but also has good waterproof and dustproof performance.

[0005] The utility model also provides a mobile robot including the housing assembly.

[0006] The utility model also provides a mobile robot system including the mobile robot.

[0007] The housing assembly according to the first aspect embodiment of the utility model is applied to a mobile robot and includes a first housing and a first positioning module. The first housing is arranged on the top of the mobile robot; the first positioning module is arranged on the lower surface of the first housing.

[0008] The housing assembly according to the embodiment of the utility model has at least the following beneficial effects:

[0009] By improving the housing assembly of the mobile robot, the first positioning module is arranged on the lower surface of the first housing, so that while improving the signal reception quality, the waterproof and dustproof ability of the first positioning module is improved.

[0010] According to some embodiments of the utility model, a ring-shaped flange is arranged on the lower surface of the first housing, and the ring-shaped flange and the lower surface of the first housing define a receiving groove for receiving the first positioning module;

[0011] Alternatively, a receiving groove is provided on the lower surface of the first housing, and the receiving groove is used for receiving the first positioning module.

[0012] Alternatively, a groove is provided on the lower surface of the first housing, and a ring-shaped flange is provided on the edge of the groove. The groove wall of the groove and the ring-shaped flange together define a receiving groove, and the receiving groove is used for receiving the first positioning module.

[0013] According to some embodiments of the present invention, the receiving groove has a first opening for taking out or putting in the first positioning module, and the housing assembly further includes a sealing cover, and the sealing cover can be detachably connected to the first housing to close the first opening.

[0014] According to some embodiments of the present invention, a second opening for the connection line of the first positioning module to pass through is provided on the ring-shaped flange and / or the sealing cover.

[0015] According to some embodiments of the present invention, the mobile robot has a central axis plane, and the second opening is provided on one side deviating from the central axis plane.

[0016] According to some embodiments of the present invention, the first positioning module is fixedly provided on the sealing cover.

[0017] According to some embodiments of the present invention, the first positioning module includes a first antenna and a first circuit board connected to each other, and the first antenna is disposed closer to the first housing than the first circuit board.

[0018] According to some embodiments of the present invention, a signal receiver is provided on a side of the first circuit board away from the first antenna.

[0019] According to some embodiments of the present invention, the size of the first antenna is smaller than the size of the first circuit board.

[0020] According to some embodiments of the present invention, the reflectivity of a surface of the first circuit board close to the first antenna is not less than 80%.

[0021] According to some embodiments of the present invention, the thickness of the first housing corresponding to the first positioning module is smaller than the thickness of the remaining part of the first housing.

[0022] According to some embodiments of the present invention, the first positioning module is disposed on the central axis plane of the mobile robot, and the distances from the first positioning module to both sides of the first housing are equal.

[0023] According to some embodiments of the present utility model, the distance between the first positioning module and the front end of the mobile robot is a first distance, and the distance between the first positioning module and the rear end of the mobile robot is a second distance, and the ratio of the first distance to the second distance is greater than 2.

[0024] According to some embodiments of the present utility model, a second positioning module is further provided on the first housing, and the ratio of the distance between the second positioning module and the first positioning module to the body length of the mobile robot is greater than or equal to 2 / 3.

[0025] According to some embodiments of the present utility model, the installation height of the second positioning module is less than or equal to the installation height of the first positioning module.

[0026] According to some embodiments of the present utility model, the second positioning module is disposed in front of the first positioning module.

[0027] According to some embodiments of the present utility model, the housing assembly further includes a second housing, there is a gap between the second housing and the first housing, and the second housing is movably connected to the first housing.

[0028] According to some embodiments of the present utility model, a third opening for accommodating the control module is provided on the first housing, and the third opening is disposed between the first positioning module and the second positioning module.

[0029] The mobile robot according to the second aspect embodiment of the present utility model includes the housing assembly, the traveling module, the function module and the control module mentioned in any of the above embodiments. The traveling module is used to drive the mobile robot to move; the function module is used to execute a preset action; the control module is respectively communicatively connected to the traveling module and the function module.

[0030] According to some embodiments of the present utility model, the traveling module has a driving shaft perpendicular to the central axis plane, and the first positioning module is disposed above the driving shaft.

[0031] The mobile robot system according to the third aspect embodiment of the present utility model includes the mobile robot mentioned in the second aspect embodiment and a fixed base station, and the fixed base station provides reference positioning information for the mobile robot.

[0032] The additional aspects and advantages of the present utility model will be partially given in the following description, partially become apparent from the following description, or be understood through the practice of the present utility model. Description of the Drawings

[0033] The following further describes the present utility model in conjunction with the drawings and embodiments, wherein:

[0034] Figure 1 Schematic diagram of the structure of the mobile robot according to an embodiment of the present utility model;

[0035] Figure 2 is Figure 1 explosion diagram of the mobile robot in

[0036] Figure 3 Bottom view of the first housing according to an embodiment of the present utility model;

[0037] Figure 4 Explosion diagram of the sealing cover, positioning module and the first housing according to an embodiment of the present utility model;

[0038] Figure 5 Explosion diagram of the second positioning module according to an embodiment of the present utility model;

[0039] Figure 6 Bottom view of the mobile robot according to an embodiment of the present utility model;

[0040] Figure 7 Schematic diagram of the mobile robot system according to an embodiment of the present utility model.

[0041] Reference numerals:

[0042] Mobile robot 10; Central plane 11; Fixed base station 20;

[0043] Housing assembly 100;

[0044] First housing 200; Annular flange 210; Accommodation groove 211; First opening 212; Second opening 213; Sealing cover 220; First connection hole 221; Second connection hole 222; First through hole 230; Ventilation gap 231; Fixed column 240; Third opening 250;

[0045] Second housing 300; Gap 310; Third housing 350;

[0046] First positioning module 400; First antenna 410; First circuit board 420; Fixed hole 421; Signal receiver 422;

[0047] Second positioning module 500; Upper housing 510; First surface 511; Second through hole 5111; Second surface 512; First mounting hole 5121; Second mounting hole 5122; Third mounting hole 5123; Lower housing 520; Heat dissipation channel 521; Card board 522; First camera 530; Second camera 540; Fill light 550; Second antenna 560; Third antenna 570; Fourth antenna 580; Second circuit board 590; Mounting plate 591; Optical window 592;

[0048] Walking module 600; Driving wheel 610; Driven wheel 620;

[0049] Functional module 700; Control module 710. Detailed implementation manner

[0050] The embodiments of the present utility model will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present utility model and should not be construed as a limitation to the present utility model.

[0051] In the description of the present utility model, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model.

[0052] In the description of the present utility model, the meaning of several is more than one, and the meaning of multiple is more than two. Understandings such as greater than, less than, exceeding, etc. do not include the present number, and understandings such as above, below, within, etc. include the present number. If there is a description of first and second, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0053] In the description of the present utility model, unless otherwise clearly defined, words such as setting, installing, connecting, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in the present utility model in combination with the specific content of the technical solution.

[0054] In the description of the present utility model, the description referring to terms such as "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0055] Mobile robots include cleaning robots, patrolling robots, lawn mowing robots, etc. They can move autonomously and perform preset tasks, and are widely used in more and more fields. Mobile robots often need to achieve self-positioning based on a positioning module to achieve more accurate control of the movement trajectory.

[0056] In related technologies, a mobile robot often includes a first housing and a second housing. The first housing is located at the top of the mobile robot, and the second housing is located at the bottom of the mobile robot. Components such as a driving module, a positioning module, and a function module are all arranged on the second housing, and the first housing covers the second housing to protect the components on the second housing. When data is transmitted, the signal needs to pass through the first housing and be transmitted to the positioning module on the second housing. Since there are many electronic components on the second housing, the signal interference is relatively serious.

[0057] Therefore, an embodiment of the first aspect of the present application proposes a housing assembly, which is applied to a mobile robot 10. The housing assembly 100 includes a first housing 200 and a first positioning module 400. The first housing 200 is arranged on the top of the mobile robot 10, and the first positioning module 400 is arranged on the lower surface of the first housing 200.

[0058] Different from the prior art in which the first positioning module is arranged on the second housing, as Figures 1 to 4 shown, the first positioning module 400 of the mobile robot 10 of the present application is arranged on the lower surface of the first housing 200, thereby realizing the separation of the first positioning module 400 from other modules on the second housing 300, and reducing the interference of the electronic components on the second housing 300 to the signal.

[0059] By arranging the first positioning module 400 on the lower surface of the first housing 200, during the signal transmission process, the signal only needs to penetrate the first housing 200 to be received by the first positioning module 400, shortening the signal transmission distance, reducing the number of barriers that the signal penetrates, and improving the signal transmission quality. Moreover, arranging the first positioning module 400 on the lower surface of the first housing 200 increases the installation height of the first positioning module 400. During the operation of the mobile robot 10, it reduces the interference of environmental features such as grass and obstacles around the mobile robot 10 to the first positioning module 400 receiving positioning information.

[0060] In addition, arranging the first positioning module 400 on the lower surface of the first housing 200 is also beneficial to reducing the probability of the first positioning module 400 getting water. When there is water dripping from top to bottom, the first housing 200 can play a protective role, and moreover, the installation height of the first positioning module 400 is relatively high, and the possibility of being affected by the water splashed from the bottom surface is small.

[0061] In summary, by improving the housing assembly 100 of the mobile robot 10, the first positioning module 400 is arranged on the lower surface of the first housing 200, which improves the waterproof and dustproof capabilities of the first positioning module 400 while enhancing the signal reception quality.

[0062] In some embodiments, as Figure 4 shown, a ring-shaped flange 210 is provided on the lower surface of the first housing 200. The ring-shaped flange 210 is arranged around the first positioning module 400. Thus, the ring-shaped flange 210 and the lower surface of the first housing 200 define a receiving groove 211, and the first positioning module 400 is arranged in the receiving groove 211 to protect the periphery of the first positioning module 400. Alternatively, a groove is provided on the lower surface of the first housing 200, and this groove is the receiving groove 211 for accommodating the first positioning module 400. Alternatively, when the thickness of the first positioning module 400 is relatively thick and the depth of the receiving groove 211 is relatively large, the flange and the groove can be combined to define the receiving groove 211. That is, a groove is provided on the lower surface of the first housing 200, and a ring-shaped flange 210 is provided on the edge of the groove. The groove wall of the groove and the ring-shaped flange 210 jointly define the receiving groove 211.

[0063] Furthermore, the receiving groove 211 has a first opening 212 for taking out or putting in the first positioning module 400. As Figure 4 shown, the first opening 212 is located below the receiving groove 211. The housing assembly 100 further includes a sealing cover 220. The sealing cover 220 can be detachably connected to the first housing 200 to close the first opening 212. When installing the first positioning module 400, first separate the sealing cover 220 from the first housing 200 to facilitate loading the first positioning module 400 into the receiving groove 211. After the first positioning module 400 is placed in the receiving groove 211, the sealing cover 220 can be connected to the first housing 200 so that a relatively sealed structure is formed in the receiving groove 211 to reduce the probability of moisture or dust entering the first positioning module 400.

[0064] In some embodiments, as Figure 3 and Figure 4 shown, a second opening 213 is provided on the ring-shaped flange 210 and / or the sealing cover 220 to enable the connection line of the first positioning module 400 to be led out through the second opening 213. Furthermore, as Figure 3 and Figure 4As shown, the mobile robot 10 has a central plane 11, and the second opening 213 is disposed on one side deviating from the central plane 11. After the connection line of the first positioning module 400 is led out from the second opening 213, it extends along the lower surface of the first housing 200 to the second positioning module 500 (the second positioning module 500 will be specifically described later). Moreover, the second opening 213 is disposed on one side deviating from the central plane 11 of the mobile robot 10, so that the connection line can avoid the third opening 250 disposed in the middle of the first housing 200.

[0065] The first positioning module 400 is fixedly arranged on the sealing cover 220. More specifically, the first positioning module 400 includes a first antenna 410 and a first circuit board 420 which are connected to each other. Fixing holes 421 are arranged on the outer periphery of the first circuit board 420, and corresponding second connection holes 222 are arranged on the sealing cover 220. Before placing the first positioning module 400 into the accommodation groove 211, the first positioning module 400 can be first connected to the sealing cover 220. That is to say, second fixing members such as screws and bolts are sequentially passed through the fixing holes 421 and the second connection holes 222, so as to fixedly arrange the first positioning module 400 on the sealing cover 220 to prevent the first positioning module 400 from shaking in the accommodation groove 211. By fixedly arranging the first positioning module 400 on the sealing cover 220, the need to open fixing hole positions on the first housing 200 is avoided, thereby better achieving the waterproof function.

[0066] As Figure 4 shown, fixing columns 240 extending in the vertical direction are arranged inside the first housing 200. Reinforcing ribs are arranged on the outer periphery of the fixing columns 240 to enhance the structural stability of the fixing columns 240. Threaded holes are arranged on the fixing columns 240, and corresponding first connection holes 221 are arranged on the sealing cover 220. When the sealing cover 220 covers the accommodation groove 211, the first connection holes 221 of the sealing cover 220 are aligned with the threaded holes, and first fixing members such as screws and bolts are passed through the first connection holes 221 to be connected with the threaded holes, thereby connecting the sealing cover 220 to the first housing 200. In some embodiments, an annular groove is arranged on the upper side surface of the sealing cover 220, and a waterproof rubber ring is arranged in the annular groove to enhance the waterproof property of the first positioning module 400.

[0067] As Figure 4 shown, the first antenna 410 and the first circuit board 420 are arranged in parallel, and the first antenna 410 is located above the first circuit board 420. That is to say, the first antenna 410 is closer to the first housing 200 than the first circuit board 420, so that the signal can be received by the first antenna 410 after penetrating the first housing 200. Moreover, the distance from the first antenna 410 to the working surface is greater than the distance from the first circuit board 420 to the working surface to improve the signal reception quality.

[0068] It should be noted that, in this embodiment, the side of the first circuit board 420 close to the first antenna 410 is coated with a reflective material, which can serve as a signal reflection surface. A signal receiver 422 is provided on the side of the first circuit board 420 away from the first antenna 410. Since there is no need to provide a radio frequency line between the signal receiver 422 and the antenna, the first positioning module 400 with this structure has a high integration level, a small volume, and a low cost.

[0069] Furthermore, the size of the first antenna 410 is smaller than that of the first circuit board 420, so as to maintain the directivity and efficiency of the antenna. The electromagnetic waves emitted by the first antenna 410 can be better focused and reflected by the reflection surface on the first circuit board 420, thereby achieving higher gain and better directivity. Moreover, the reflectivity of the surface of the first circuit board 420 close to the first antenna 410 is not less than 80%, so as to reflect and focus the electromagnetic waves emitted by the first antenna 410 in a specific direction.

[0070] In some embodiments, the thickness of the first housing 200 corresponding to the first positioning module 400 is lower than the thickness of the rest of the first housing 200. It should be understood that the first housing 200 corresponding to the first positioning module 400 should be understood as the area of the first housing 200 covered by the projection of the first positioning module 400 on the first housing 200 along the direction close to the first housing 200. At least the thickness of the first housing 200 in this area is lower than the thickness of the rest of the first housing 200. For example, in the foregoing embodiment, a groove is provided on the lower surface of the first housing 200 to define a space for accommodating the first positioning module 400, and at the same time, the thickness of the first housing 200 in this area is also reduced, thereby improving the quality of signal reception. Or, a thinning design is performed on the outer side surface of the first housing 200 corresponding to the first positioning module 400 to reduce the thickness of the first housing 200 at the set area.

[0071] In some embodiments, the mobile robot 10 has a central axis plane, which extends along the forward direction of the mobile robot 10. It should be noted that the central axis plane is a part of the self-coordinate system of the mobile robot 10 and is a reference plane for the structural design and movement trajectory design of the mobile robot 10, rather than a physical plane. The first positioning module 400 is arranged on the central axis plane. Thus, along the direction perpendicular to the forward direction of the mobile robot 10, the distances from the first positioning module 400 to both sides of the first housing 200 are the same. Thereby, the weight distribution on both sides of the mobile robot 10 is relatively symmetrical, so as to facilitate maintaining the stability of the mobile robot 10 during movement.

[0072] In some embodiments, the distance between the first positioning module 400 and the front end of the mobile robot 10 is a first distance, and the distance between the first positioning module 400 and the rear end of the mobile robot 10 is a second distance. The ratio of the first distance to the second distance is greater than 2, so that the first positioning module 400 can be far away from the collision front end, and the impact force on the first positioning module 400 when the mobile robot 10 collides can be reduced.

[0073] In embodiments such as Figure 1 , Figure 2 , Figure 3 and Figure 5 shown, the mobile robot 10 further includes a second positioning module 500. The ratio of the distance between the second positioning module 500 and the first positioning module 400 to the body length of the mobile robot 10 is greater than or equal to 2 / 3. Setting the first positioning module 400 and the second positioning module 500 far enough apart can reduce the interference of the second circuit board 590 of the second positioning module 500 on the first positioning module 400. Moreover, the installation height of the second positioning module 500 is less than or equal to the installation height of the first positioning module 400 to prevent the second positioning module 500 from blocking the first positioning module 400 from receiving signals.

[0074] The second positioning module 500 is disposed at the front end of the first housing 200, and the first positioning module 400 is disposed at the rear end of the first housing 200. That is, the second positioning module 500 is disposed in front of the first positioning module 400. The first positioning module 400 may be an RTK module, and the second positioning module 500 may be a vision sensing module. Setting the RTK module behind the vision sensing module can ensure that the RTK antenna is not interfered by the front obstacles or vision sensing components, so as to maintain stable signal reception and positioning accuracy.

[0075] In some embodiments, the housing assembly 100 further includes a second housing 300, which is located at the bottom of the mobile robot 10 and is used to arrange the traveling module 600, the functional module 700, the control module 710, etc. There is a gap 310 between the first housing 200 and the second housing 300, and the first housing 200 is movably connected to the second housing 300. Specifically, the first housing 200 includes a top parallel to the second housing 300 and an enclosing portion wound around the second housing 300. The first positioning module 400 is arranged on the top of the first housing 200. There is a gap 310 between the enclosing portion and the second housing 300, and the first housing 200 is movably connected to the second housing 300, so that relative displacement can occur between the first housing 200 and the second housing 300. This relative displacement can be a displacement in the vertical direction, which often occurs when the mobile robot 10 passes through rough roads, potholes, speed bumps, etc. The displacement of the first housing 200 and the second housing 300 can weaken the vibration of the first housing 200, thereby reducing the probability of failure of the first positioning module 400. This relative displacement can also be a displacement in the horizontal direction, which often occurs when the mobile robot 10 brakes suddenly or hits an obstacle. The displacement of the first housing 200 and the second housing 300 can weaken the impact force received by the first housing 200. It can be understood that the specific structure of the movable connection between the first housing 200 and the second housing 300 can be an elastic connection, a damping connection, etc., which can refer to the shock absorption structure of an automobile and will not be elaborated here.

[0076] A third opening 250 is provided in the middle of the first housing 200. The third opening 250 is used to accommodate the control module 710. The third opening 250 is arranged between the first positioning module 400 and the second positioning module 500. During the movement of the mobile robot 10, when the first positioning module 400 and the second positioning module 500 generate heat, the heat can be diffused and dissipated through the third opening 250, avoiding heat accumulation.

[0077] In some embodiments, such as Figures 1 to 3 , and Figure 5As shown, a first through hole 230 is formed at the front end of the first housing 200. The second positioning module 500 is disposed through the first through hole 230 and connected to the first housing 200. The second positioning module 500 includes an upper housing 510 and a lower housing 520 which are connected to each other. The upper housing 510 is exposed outside the first housing 200 and has a first surface 511 disposed horizontally. The second positioning module 500 further includes a first camera 530 disposed on the first surface 511. A second through hole 5111 is formed on the first surface 511. The second through hole 5111 is used to accommodate a part of the first camera 530. Alternatively, the first camera 530 is disposed outside the first housing 200, and the second through hole 5111 is used to pass a communication cable connecting the first camera 530. The first camera 530 may be a fish-eye camera, which is used to obtain environmental image information around the mobile robot 10.

[0078] Further, the upper housing 510 further has a second surface 512 which is connected to the first surface 511 and is inclined. The second surface 512 is inclined downward, that is, along the advancing direction of the mobile robot 10, the distance from the second surface 512 to the first surface 511 gradually decreases. The inclination of the second surface 512 facilitates the second camera 540 in the second positioning module 500 to obtain ground image information in the advancing direction of the mobile robot 10. Specifically, the interior of the second positioning module 500 has a hollow installation cavity, and a second camera 540 is disposed in the installation cavity. As Figure 5 shown in the embodiment, the number of the second cameras 540 is two, and the two second cameras 540 are disposed on a mounting plate 591. The mounting plate 591 is disposed parallel to the second surface 512, so that the second cameras 540 are also inclined, and the inclination direction is the same as the inclination direction of the second surface 512, so as to obtain image information in the advancing direction of the mobile robot 10, especially the ground image information in the advancing direction.

[0079] Specifically, as Figure 5As shown in the figure, the second surface 512 is provided with a first mounting hole 5121, a second mounting hole 5122, and a third mounting hole 5123. Two second cameras 540 are respectively disposed through the first mounting hole 5121 and the second mounting hole 5122, and a fill light 550 is disposed in the third mounting hole 5123. An inertial sensing unit is further provided on the mounting plate 591, and the inertial sensing unit is disposed between the two second cameras 540. An optical window 592 is provided on the outer side of the second surface 512 for transmitting light. A second antenna 560, a third antenna 570, and a fourth antenna 580 are further provided in the installation cavity. The second antenna 560 can receive WIFI signals, the third antenna 570 can receive 4G signals, and the fourth antenna 580 is a LORA antenna and can be used for communication with the fixed base station 20. A second circuit board 590 is further provided in the installation cavity. The second circuit board 590 has a first socket, a second socket, and a third socket, and the second socket is located between the first socket and the third socket. The two second cameras 540 are respectively connected to the first socket and the third socket, and the first camera 530 is connected to the second socket.

[0080] As Figure 3 shown, the lower housing 520 of the second positioning module 500 is located inside the first housing 200 and is connected to the lower surface of the first housing 200. It should be noted that, as Figure 5 shown, a clamping plate 522 is provided on the upper side surface of the lower housing 520, and the clamping plate 522 is used to fix the above-mentioned fill light 550. As Figure 3 shown, a heat dissipation channel 521 is provided on the lower side surface of the lower housing 520, and the length direction of the heat dissipation channel 521 is parallel to the advancing direction of the robot. As Figure 3 shown, the area of the first through hole 230 is larger than the area of the second positioning module 500. After the second positioning module 500 is disposed through the first through hole 230, there is still a certain ventilation gap 231 between the front end of the second positioning module 500 and the first housing 200. During the movement of the mobile robot 10, the air flow can enter the interior of the first housing 200 from the above-mentioned ventilation gap 231 and flow along the heat dissipation channel 521 to achieve the purpose of dissipating heat from the second positioning module 500.

[0081] In a second aspect embodiment of the present application, a mobile robot 10 is proposed. As Figure 1 、 Figure 2 and Figure 6 shown, the mobile robot 10 includes a traveling module 600, a function module 700, a control module 710, and the housing assembly mentioned in any one of the above embodiments. Among them, the traveling module 600 is used to drive the mobile robot 10 to move, the function module 700 is used to execute preset actions, and the control module 710 is respectively communicatively connected to the traveling module 600 and the function module 700.

[0082] Specifically, the walking module 600, the functional module 700, and the control module 710 are disposed on the second housing 300. As Figure 2 shown, the walking module 600 generally includes a driving member, two driving wheels 610, and two driven wheels 620. The driving member can be a motor or an engine. The driving wheels 610 are connected to the driving member through a drive shaft, so that the driving wheels 610 have driving force. The driven wheels 620 can be universal wheels to achieve adjustment of the moving direction.

[0083] The functional module 700 is used to execute a preset action. For example, when the mobile robot 10 is a lawn mowing robot as shown in Figure 1 and Figure 2 shown, the functional module 700 is specifically a cutting module, which can perform cutting operations on the lawn on the traveling path during the traveling process of the mobile robot 10; or, when the mobile robot 10 is a cleaning robot (not shown in the figure), the functional module 700 is specifically a cleaning module, which can perform cleaning operations such as mopping, wiping, and sweeping on the ground on the traveling path during the traveling process of the mobile robot 10.

[0084] In, for example, Figure 2 the cutting module of the lawn mowing robot includes a cutting frame, a cutting tool, a cutting drive motor, and a lifting adjustment assembly. The cutting drive motor drives the cutting tool to rotate to achieve cutting operations. An opening is provided at a position on the second housing 300 corresponding to the cutting module, and at least a part of the cutting tool extends outside the second housing 300, so that the cutting module can cut the lawn, vegetation, etc. And, the cutting tool is disposed on the cutting frame, and the height of the cutting frame can be adjusted through the lifting adjustment assembly, so as to adjust the ground clearance of the cutting tool to achieve adjustment of the cutting height.

[0085] The first housing 200 is disposed on the top of the mobile robot 10 and covers the second housing 300 to protect the second housing 300. In, for example, Figure 2 the lawn mowing robot shown, the mobile robot 10 further includes a third housing 350. A cavity is formed between the third housing 350 and the second housing 300 for accommodating the functional module 700, the control module 710, etc.

[0086] As Figure 3 and Figure 4As shown in the figure, to achieve the positioning and navigation of the mobile robot 10, the first positioning module 400 is used to obtain the position data of the mobile robot 10. The control module 710 is communicatively connected to the walking module 600, the function module 700, and the first positioning module 400 respectively to control the operation of each module. Further, the walking module 600 has a drive shaft arranged perpendicular to the central axis plane, and the first positioning module 400 is also arranged above the drive shaft. That is, in the projection along the vertical direction, the first positioning module 400 is arranged at the intersection position of the drive shaft and the central axis plane. Thus, the center of the first positioning module 400 coincides with the center of the drive shaft, which is convenient for coordinate conversion during map building and positioning.

[0087] An embodiment of the third aspect of the present application proposes a mobile robot system, which includes a fixed base station 20 and the mobile robot 10 mentioned in the embodiment of the second aspect above. Among them, the fixed base station 20 provides reference positioning information for the mobile robot 10.

[0088] It should be explained that the principle of the mobile robot 10 using the first positioning module 400 for positioning is as follows: Refer to Figure 7 As shown in the figure, the mobile robot 10 is often used in combination with the fixed base station 20. The fixed base station 20 is arranged on the boundary or within the working area. The fixed base station 20 stores its own accurate position information. The fixed base station 20 can receive satellite positioning information and compare the satellite positioning information with its accurate position information to obtain the differential information of the first positioning module 400. The fixed base station 20 sends the differential information to the mobile robot 10. The mobile robot 10 can also receive satellite positioning information and correct the obtained satellite positioning information through the differential information, so as to obtain accurate positioning information. It can be understood that the positioning accuracy of the first positioning module 400 using the differential positioning method is relatively high, and it can obtain the displacements in the X, Y, and Z directions. Therefore, it has a high recognition sensitivity for the positioning and navigation of the mobile robot 10.

[0089] The above has described the embodiments of the present invention in detail with reference to the drawings. However, the present invention is not limited to the above embodiments. Within the knowledge scope of those of ordinary skill in the art to which the present invention pertains, various changes can be made without departing from the gist of the present invention. In addition, without conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

Claims

1. A housing assembly applied to a mobile robot (10), characterized in that, Comprising: A first housing (200) disposed on the top of the mobile robot (10); A second housing (300) having a gap with the first housing (200); A first positioning module (400) disposed on the lower surface of the first housing (200) to separate the first positioning module (400) from other modules on the second housing (300); Wherein, a second positioning module (500) is further provided on the first housing (200), and the second positioning module (500) is disposed in front of the first positioning module (400).

2. The housing assembly according to claim 1, wherein A ring-shaped flange (210) is provided on the lower surface of the first housing (200), and the ring-shaped flange (210) and the lower surface of the first housing (200) define a receiving groove (211) for receiving the first positioning module (400); Alternatively, a receiving groove (211) is provided on the lower surface of the first housing (200) for receiving the first positioning module (400); Alternatively, a groove is provided on the lower surface of the first housing (200), and a ring-shaped flange (210) is provided on the edge of the groove. The groove wall of the groove and the ring-shaped flange (210) together define a receiving groove (211) for receiving the first positioning module (400).

3. The housing assembly according to claim 2, wherein The receiving groove (211) has a first opening (212) for taking out or putting in the first positioning module (400). The housing assembly (100) further includes a sealing cover (220) which can be detachably connected to the first housing (200) to close the first opening (212).

4. The housing assembly according to claim 3, wherein A second opening (213) for the connection line of the first positioning module (400) to pass through is provided on the ring-shaped flange (210) or / and the sealing cover (220).

5. The housing assembly according to claim 4, characterized in that, The mobile robot (10) has a central plane (11), and the second opening (213) is disposed on one side deviating from the central plane (11).

6. The housing assembly according to claim 3, wherein, The first positioning module (400) is fixedly provided on the sealing cover (220).

7. The housing assembly according to any one of claims 1 to 6, characterized in that, The first positioning module (400) includes a first antenna (410) and a first circuit board (420) which are connected to each other. The first antenna (410) is disposed closer to the first housing (200) than the first circuit board (420).

8. The housing assembly according to claim 7, characterized in that, A signal receiver (422) is provided on the side of the first circuit board (420) away from the first antenna (410).

9. The housing assembly according to claim 7, wherein, The size of the first antenna (410) is smaller than the size of the first circuit board (420).

10. The housing assembly according to claim 7, wherein, The reflectivity of the surface of the first circuit board (420) close to the first antenna (410) is not less than 80%.

11. The housing assembly according to any one of claims 1 to 6, characterized in that The thickness of the first housing (200) corresponding to the first positioning module (400) is smaller than the thickness of the remaining part of the first housing (200).

12. The housing assembly according to any one of claims 1 to 6, characterized in that, The first positioning module (400) is disposed on the central axis plane (11) of the mobile robot (10), and the distances from the first positioning module (400) to both sides of the first housing (200) are equal.

13. The housing assembly according to any one of claims 1 to 6, characterized in that, The distance from the first positioning module (400) to the front end of the mobile robot (10) is a first distance, the distance from the first positioning module (400) to the rear end of the mobile robot (10) is a second distance, and the ratio of the first distance to the second distance is greater than 2.

14. The housing assembly according to any one of claims 1 to 6, characterized in that, The ratio of the distance between the second positioning module (500) and the first positioning module (400) to the body length of the mobile robot (10) is greater than or equal to 2 / 3.

15. The housing assembly according to claim 14, wherein, The installation height of the second positioning module (500) is less than or equal to the installation height of the first positioning module (400).

16. The housing assembly according to claim 14, wherein, The second housing (300) is movably connected to the first housing (200).

17. The housing assembly according to claim 14, wherein, A third opening (250) for accommodating a control module is provided on the first housing (200), and the third opening (250) is disposed between the first positioning module (400) and the second positioning module (500).

18. A mobile robot, characterized in that, Comprising: The housing assembly according to any one of claims 1 to 17; A traveling module (600) for driving the mobile robot (10) to move; A function module (700) for performing a preset action; A control module (710) communicatively connected to the traveling module (600) and the function module (700) respectively.

19. The mobile robot according to claim 18, characterized in that, The traveling module (600) has a drive shaft perpendicular to the central axis plane (11), and the first positioning module (400) is disposed above the drive shaft.

20. A mobile robot system, characterized in that, Comprising: The mobile robot (10) according to claim 18 or 19; A fixed base station (20) for providing reference positioning information to the mobile robot (10).

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