Autonomous operating equipment

Abstract

This utility model discloses an autonomous operating device, which includes a body, a moving mechanism, and a positioning mechanism. The moving mechanism is mounted on the body and drives the body to move and turn. The positioning mechanism is connected to the body and includes a circuit board, a positioning module, and a control module. The positioning module is mounted on the circuit board and is used to receive and process signals. The control module is mounted on the circuit board and connected to the positioning module, and is used to receive and process the signals from the positioning module.

Description

Technical Field

[0001] This utility model relates to the field of outdoor work equipment technology, and in particular to an autonomous work equipment. Background Technology

[0002] Autonomous operating equipment, taking lawnmowers, whose primary function is mowing lawns, as an example, frees users from complex and tedious labor and is becoming increasingly popular. Autonomous operating equipment can automatically move within a preset work area and automatically perform work tasks. To make autonomous operating equipment perform its automated work more reliably and safely, and to provide better service to users, manufacturers are constantly upgrading the performance of autonomous operating equipment, including configuring various functional modules.

[0003] The positioning system of autonomous operating equipment (such as agricultural drones, intelligent lawnmowers, or warehousing robots) is equivalent to the eyes and brain of the equipment. Its core workflow is: signal reception → signal processing → position calculation. It receives satellite signals through an antenna, amplifies the signals and extracts navigation data, and finally calculates and obtains the three-dimensional coordinates of the three-dimensional equipment. The existing positioning system's machine-side structure includes an antenna module set on the top of the machine and a control module set in the body. The antenna module and control module are set separately and are connected by cables for signal transmission. The wiring is from the main control board inside the body to the antenna board on the roof. During maintenance, it is necessary to first identify the faulty board before deciding on the disassembly method, which is very cumbersome and not conducive to maintenance. Therefore, this structure needs to be improved. Utility Model Content

[0004] The purpose of this invention is to provide an autonomous operating device to solve the problems of the prior art.

[0005] To address the aforementioned technical problems, this utility model provides an autonomous operating device, which includes:

[0006] body;

[0007] A moving mechanism, mounted on the body of the machine, which drives the machine to move and turn; and

[0008] Positioning mechanism, the positioning mechanism being connected to the body and comprising:

[0009] Circuit board;

[0010] A positioning module, which is mounted on the circuit board, is used to receive and process signals;

[0011] A control module, which is mounted on the circuit board and connected to the positioning module, is used to receive and process signals from the positioning module.

[0012] In one embodiment, the positioning module includes:

[0013] Antenna processing module, the antenna processing module being used to receive signals; and

[0014] A baseband processing module is provided, and the control module is arranged around the antenna processing module. The baseband processing module is connected to the antenna processing module and the control module, and is used to process the signals received by the antenna processing module and transmit the processed information to the control module.

[0015] In one embodiment, the positioning mechanism further includes a power module, which is connected to the positioning module and the control module and is mounted on the circuit board.

[0016] In one embodiment, the positioning mechanism further includes a radio module, which is mounted on the circuit board and connected to the control module for remote receipt sending and receiving.

[0017] In one embodiment, the baseband processing module, the control module, the power supply module, and the radio module are arranged around the antenna processing module.

[0018] In one embodiment, the control module is connected to the positioning module and the radio module via UART interfaces, while the control module is connected to the power module via a GPIO interface.

[0019] In one embodiment, the positioning mechanism further includes multiple anti-interference components, which are respectively covered by the positioning module, the control module, the power module and the radio module, and connected to the circuit board.

[0020] In one embodiment, the anti-interference component is a metal shield, the sidewalls of which have windows for wiring, and the top is a closed Faraday cage structure.

[0021] In one embodiment, the window is provided with a guiding sealing gasket to prevent electromagnetic leakage.

[0022] In one embodiment, the positioning mechanism further includes a housing, and the circuit board is connected to the housing;

[0023] The housing is detachably connected to the body. Attached Figure Description

[0024] Figure 1 This is a perspective view of the positioning mechanism according to an embodiment of the present invention.

[0025] Figure 2This is a block diagram of the positioning mechanism according to one embodiment of the present invention.

[0026] Figure 3 This is a perspective view of an autonomous operating device according to an embodiment of the present invention. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this utility model clearer, the various embodiments of this utility model will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been provided in the various embodiments of this utility model to facilitate a better understanding of this application. However, the technical solutions claimed in the claims of this application can be implemented even without these technical details and with various variations and modifications based on the following embodiments.

[0028] Unless the context requires otherwise, throughout the specification and claims, the word “comprising” and its variations, such as “including” and “having”, shall be understood to have an open, inclusive meaning, that is, to be interpreted as “including, but not limited to”.

[0029] The embodiments of this utility model will be described in detail below with reference to the accompanying drawings to provide a clearer understanding of the purpose, features, and advantages of this utility model. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of this utility model, but are merely illustrative of the essential spirit of the technical solution of this utility model.

[0030] Throughout this specification, references to "an embodiment" or "an embodiment" indicate that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Therefore, the appearance of "in an embodiment" or "an embodiment" in various places throughout the specification does not necessarily refer to the same embodiment. Furthermore, a particular feature, structure, or characteristic may be combined in any manner in one or more embodiments.

[0031] The singular forms “a” and “the” used in this specification and the appended claims include plural references unless otherwise expressly stated herein. It should be noted that the term “or” is generally used to mean “and / or” unless otherwise expressly stated herein.

[0032] In the following description, in order to clearly demonstrate the structure and working method of this utility model, a number of directional terms will be used. However, terms such as "front", "back", "left", "right", "outside", "inside", "outward", "inward", "up", and "down" should be understood as convenient terms and not as limiting terms.

[0033] This utility model relates to an autonomous operating device 100, such as... Figure 3As shown, the autonomous operating device 100 is particularly a robot capable of autonomously moving within a preset area and performing specific tasks, typically such as a smart sweeper or vacuum cleaner for cleaning, or a smart lawnmower for mowing. The specific tasks specifically refer to tasks that treat the work surface and change its state. This utility model uses a smart lawnmower as an example for detailed description. The autonomous operating device can autonomously move on the surface of the work area, and in particular, as a smart lawnmower, it can autonomously perform mowing operations on the ground.

[0034] The autonomous operating device 100 includes a body 7, multiple sensors, a moving mechanism, and a positioning mechanism 10. The body includes a main body, a working mechanism, an energy module, a detection module, and an interaction module. The main body typically includes a chassis, which is used to install and accommodate at least one of the following functional mechanisms and modules: the moving mechanism, the working mechanism, the energy module, the detection module, the interaction module, and the control module 4.

[0035] The working mechanism is configured to perform specific operational tasks, including a working component and a prime mover that drives the working component. The energy module is configured to provide energy for the various operations of the autonomous operating equipment. The detection module is configured to have at least one sensor to sense the environmental parameters of the autonomous operating equipment or its own operational parameters. The interaction module is configured to at least receive control command information input by the user, issue information that the user needs to perceive, and communicate with other systems or devices to send and receive information. The control module 4 typically includes at least one processor and at least one non-volatile memory, in which a pre-written computer program or instruction set is stored. The processor controls the execution of the autonomous operating equipment's movement, operation, and other actions according to the computer program or instruction set.

[0036] The mobile mechanism is mounted on the body 7 and is configured to support the main body on the ground and drive the vehicle body to move and turn in a first direction on the horizontal ground. The horizontal plane mentioned here is an imaginary ideal plane, which is used to more conveniently describe the structural relationship between the components of the autonomous operating equipment. However, such an ideal plane usually does not exist in real lawns.

[0037] Positioning mechanism 10 is connected to body 7, such as Figure 3 As shown, the positioning mechanism 10 is preferably installed on the top of the body 7. The positioning mechanism 10 is used to detect the position of the autonomous operating equipment. The positioning mechanism 10 includes a circuit board 1, a positioning module 20, a control module 4, and a housing, wherein the housing is installed on the top of the body.

[0038] In one embodiment, the outer shell is connected to the body by bolts. In another embodiment, the outer shell can be detachably connected to the top of the body by a snap-fit. The top of the body may have a receiving groove or opening. The outer shell and the side wall of the receiving groove or the wall of the opening of the body are detachably connected by a snap-fit ​​or a snap block, or connected to the body by a magnetic attraction. This utility model does not limit the specific connection method between the outer shell and the body.

[0039] Circuit board 1 can be installed on the bottom wall or other parts of the casing, hidden inside the casing, to avoid being exposed to the outside of the casing and body.

[0040] The positioning module 20 and the control module 4 are respectively mounted on the circuit board 1. The positioning module 20 includes an antenna processing module 2 and a baseband processing module 3. The antenna processing module 2 is mounted in the approximate center area of ​​the circuit board and is used to receive signals. The baseband processing module 3 and the control module 4 are arranged around the antenna processing module 2. The baseband processing module 3 is connected to the antenna processing module 2 and the control module 4. The baseband processing module 3 is used to process the signals received by the antenna processing module 2 and transmit the processed information to the control module 4.

[0041] The control module 4 receives and processes signals from the baseband processing module 3. In one embodiment, the control module 4 includes, but is not limited to, a microcontroller (MCU), a CPU (central processing unit), a system-on-a-chip (SoC), or a dedicated control circuit with equivalent functionality.

[0042] By mounting both the control module 4 and the positioning module on the same circuit board 1, various cables are no longer needed to connect the control module 4 and the positioning module, and wiring inside the machine body is eliminated, reducing signal transmission loss and improving system reliability. Furthermore, during maintenance, it is not necessary to disassemble the machine body to inspect the control module 4 and the positioning module; only the outer casing needs to be removed from the machine body to inspect and replace circuit board 1, significantly reducing maintenance costs and time. In addition, the original two boards housing the control module 4 and the positioning module had an area of ​​approximately 18,654 square millimeters; now, a single circuit board 1 has an area of ​​only 12,200 square millimeters, saving space and reserving installation space for other structures.

[0043] The positioning mechanism 10 also includes a power module 6 and a radio module 5. The power module 6 and the radio module 5 are respectively mounted on the circuit board 1. The relevant components of each module are located in the same area to reduce wiring and prevent mutual interference between the modules.

[0044] The power supply module 6 is connected to the positioning module, radio module 5, and control module 4. Specifically, the control module 4 controls the power supply module 6 through a GPIO interface, and the power supply module 6 can provide stable 3.3V and 5V power to ensure the normal operation of the positioning module, radio module 5, and control module 4. The control module 4 can also control the operation of the power supply module 6 and adjust the 3.3V and 5V power output.

[0045] Control module 4 communicates with radio module 5 via a UART interface to enable remote data transmission and reception. Furthermore, control module 4 also transmits data with positioning module via the UART interface to achieve high-precision positioning information exchange.

[0046] The baseband processing module 3, control module 4, power supply module 6, and radio module 5 are arranged around the antenna processing module 2. Since the power supply module 6 needs to be connected to a power adapter, it is placed at the edge of the circuit board 1 for easy placement of a power strip connected to the power adapter.

[0047] Since the antenna processing module 2 has a large trace area, it needs to be placed at the physical center of the board, and the baseband processing module 3, control module 4, radio module 5 and power module 6 are arranged outward in sequence to reduce the trace area.

[0048] It should be understood that in other embodiments, the radio module 5 or the power module 6 may also be located in other locations within the housing or near the circuit board 1.

[0049] As a preferred embodiment, the power module 6, control module 4, radio module 5, and positioning module are all equipped with anti-interference components to shield interference signals. Multiple anti-interference components are respectively mounted on the outside of the positioning module, control module 4, power module 6, and radio module 5, and are connected to the circuit board 1.

[0050] In one embodiment, the anti-interference component is a metal shield (not shown in the figure). Multiple metal shields are respectively wrapped around the positioning module, control module 4, power module 6 and radio module 5, and the top opening is connected to the circuit board 1.

[0051] Each metal shield has windows for wiring on its sidewalls, while the top retains a complete metal shielding layer, forming a closed Faraday cage. No additional heat dissipation structure is needed; passive heat dissipation is achieved through its own thermal conductivity and the metal casing, avoiding the increase in volume, weight, and cost caused by adding an independent heat dissipation module.

[0052] Preferably, the window of the metal shield is sealed with a conductive gasket. The annular gasket is placed at the window and surrounds the circuit to suppress electromagnetic leakage.

[0053] In one embodiment, the metal shield is made of stainless steel and has a wall thickness of 0.2mm-0.3mm. It can be installed on the circuit board 1 by means of a welding frame or a clip. If welding is used, each metal shield has 6-10 welding points. The number of welding points is determined according to the size of the metal shield and should be distributed as evenly as possible around the metal shield.

[0054] The preferred embodiments of the present invention have been described in detail above, but it should be understood that, if necessary, aspects of the embodiments can be modified to utilize aspects, features, and concepts from various patents, applications, and publications to provide other embodiments.

[0055] In light of the detailed description above, these and other changes can be made to the embodiments. Generally, the terminology used in the claims should not be considered limited to the specific embodiments disclosed in the specification and claims, but should be understood to include all possible embodiments together with the full scope of equivalents enjoyed by these claims.

[0056] Those skilled in the art will understand that the above embodiments are specific examples of implementing the present invention, and in practical applications, various changes can be made to them in form and detail without departing from the spirit and scope of the present invention.

Claims

1. An autonomous work apparatus characterized by comprising: The autonomous operating equipment includes: body; A moving mechanism, mounted on the body of the machine, which drives the machine to move and turn; and Positioning mechanism, the positioning mechanism being connected to the body and comprising: Circuit board; A positioning module, which is mounted on the circuit board, is used to receive and process signals; A control module, which is mounted on the circuit board and connected to the positioning module, is used to receive and process signals from the positioning module.

2. The autonomous work apparatus according to claim 1, characterized by, The positioning module includes: Antenna processing module, the antenna processing module being used to receive signals; and A baseband processing module is provided, and the control module is arranged around the antenna processing module. The baseband processing module is connected to the antenna processing module and the control module, and is used to process the signals received by the antenna processing module and transmit the processed information to the control module.

3. The autonomous work apparatus according to claim 2, characterized by, The positioning mechanism also includes a power module, which is connected to the positioning module and the control module and is mounted on the circuit board.

4. The autonomous work apparatus according to claim 3, characterized by, The positioning mechanism also includes a radio module, which is mounted on the circuit board and connected to the control module to enable remote receipt sending and receiving.

5. The autonomous operating equipment according to claim 4, characterized in that, The baseband processing module, the control module, the power supply module, and the radio module are arranged around the antenna processing module.

6. The autonomous operating equipment according to claim 4, characterized in that, The control module is connected to the positioning module and the radio module via UART interfaces, while the control module is connected to the power module via a GPIO interface.

7. The autonomous operating equipment according to claim 4, characterized in that, The positioning mechanism also includes multiple anti-interference components, which are respectively covered by the positioning module, the control module, the power module and the radio module, and are connected to the circuit board.

8. The autonomous operating equipment according to claim 7, characterized in that, The anti-interference component is a metal shield, with windows for wiring opened on the side walls of the metal shield and a closed Faraday cage structure on the top.

9. The autonomous operating equipment according to claim 8, characterized in that, The window is equipped with a guiding sealing gasket to prevent electromagnetic leakage.

10. The autonomous operating equipment according to claim 1, characterized in that, The positioning mechanism also includes a housing, and the circuit board is connected to the housing; The housing is detachably connected to the body.

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