Robotic and mowing system

Abstract

The application provides a robot and a mowing system, and belongs to the technical field of self-walking devices. The robot comprises a body, a first positioning assembly and at least one protruding structure. The body comprises a first shell, the first positioning assembly is arranged on the first shell, at least part of the first positioning assembly is exposed to the first shell, the first positioning assembly has a sensing area, the first positioning assembly is configured to obtain environmental information in the sensing area, and the protruding structure is arranged in protrusion on the first shell and located outside the sensing area. The protruding structure can avoid the shielding or interference of other components arranged in protrusion in the robot on the sensing assembly, improve the sensing accuracy, and ensure the normal operation of the robot.

Description

Technical Field

[0001] This application belongs to the technical field of automated walking equipment, and more specifically, relates to a robot and a lawn mowing system. Background Technology

[0002] Sensing components are one of the most important parts of a robot, used to acquire information about the robot's surrounding environment to enable functions such as autonomous navigation and obstacle avoidance. Currently, sensing components on robots are easily obstructed or interfered with by other components, leading to a decrease in sensing accuracy and affecting the normal operation of the robot. Utility Model Content

[0003] The purpose of this application is to provide a robot and a lawn mowing system to solve the problem that sensing components in the prior art are easily blocked or interfered with by other components.

[0004] To achieve the above objectives, the first aspect of this application provides a robot, comprising: The body, including the first outer shell; A first positioning component is disposed on the first housing, at least a portion of the structure of the first positioning component is exposed on the first housing, and the first positioning component has a sensing area and is configured to acquire environmental information within the sensing area; At least one protruding structure is provided on the first housing and located outside the sensing area.

[0005] In some embodiments of the first aspect, the first positioning component has a sensing center and a central axis passing through the sensing center; The sensing area is a conical region formed around the central axis with the sensing center as the vertex, and the angle of the conical region is 120°~160°; or, the sensing area is a fan-shaped region extending in a direction perpendicular to the central axis with the sensing center as the center, and configured to be able to rotate around the central axis, and the central angle of the fan-shaped region is 60°~80°.

[0006] In some embodiments of the first aspect, the sensing center has a first distance from the front end of the body and a second distance from the rear end of the body, the ratio of the first distance to the second distance being 0.3 to 0.7.

[0007] In some embodiments of the first aspect, the protrusion structure includes a support assembly located at the rear end of the body, the support assembly being used to connect to the robot's grass clipping assembly.

[0008] In some embodiments of the first aspect, the body further includes a second outer shell connected to the first outer shell and at least covering a portion of the support assembly, the second outer shell also being located outside the sensing area.

[0009] In some embodiments of the first aspect, the protrusion structure includes a button assembly configured to control the robot, the button assembly being located between the first positioning component and the rear end of the robot body.

[0010] In some embodiments of the first aspect, the first housing includes a first mounting portion detachably connected to the first positioning component; the first positioning component includes at least one of a lidar module or a real-time dynamic carrier differential module.

[0011] In some embodiments of the first aspect, the first mounting part includes a mounting surface, the angle between the mounting surface and the working base surface of the robot is 5° to 10°; the distance between the mounting surface and the working base surface gradually increases along the direction from the front end to the rear end of the robot body; the mounting surface is used to mount at least one of the lidar module and the real-time dynamic carrier differential module.

[0012] In some embodiments of the first aspect, the first positioning component is a lidar module, which is detachably mounted on the mounting surface. The angle between the central axis of the lidar and the vertical direction is 5° to 10°, and the vertical direction is perpendicular to the working base surface of the robot.

[0013] In some embodiments of the first aspect, the first positioning component is a real-time dynamic carrier differential module, the real-time dynamic carrier differential module including a first housing and a carrier antenna, the bottom of the first housing being connected to the first mounting portion, the carrier antenna being located inside the first housing and connected to the top of the first housing.

[0014] In some embodiments of the first aspect, the carrier antenna is spaced apart from the mounting surface.

[0015] In some embodiments of the first aspect, the first mounting portion further includes an annular flange surrounding the periphery of the mounting surface, the annular flange having a mounting groove for connecting to the bottom of the housing of the lidar module or the real-time dynamic carrier differential module.

[0016] In some embodiments of the first aspect, the robot further includes a second positioning component, which is detachably disposed on the first housing and located between the first positioning component and the front end of the robot body.

[0017] In some embodiments of the first aspect, the first housing is provided with a receiving cavity, and the first positioning component and the second positioning component are both disposed in the receiving cavity. A heat dissipation component is provided in the receiving cavity, and the heat dissipation component is located between the first positioning component and the second positioning component. The heat dissipation component is used to dissipate heat from the first positioning component and the second positioning component.

[0018] In some embodiments of the first aspect, the body further includes a decorative shell that covers the first outer shell and shields the opening of the receiving cavity, wherein the first positioning component and the protruding structure are both protruding from the decorative shell.

[0019] In some embodiments of the first aspect, the robot further includes a walking component and a mowing component disposed at the bottom of the body, the walking component being used to move the body, and the mowing component being used to perform mowing operations; the first positioning component is located at the top of the body.

[0020] A second aspect of this application provides a lawn mowing system, including a base station and a robot as described in the first aspect and any of its embodiments, the robot being a lawn mowing robot, and the base station being configured to at least power the lawn mowing robot.

[0021] The beneficial effects of the robot and lawn mowing system provided in this application are as follows: Compared with the prior art, the robot of this application improves the sensing accuracy and ensures the normal operation of the robot by exposing at least part of the first positioning component to the first shell and placing the protruding structure provided on the body outside the sensing area of ​​the first positioning component. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the robot's structure in an embodiment of this application; Figure 2 This is an exploded view of the robot in an embodiment of this application; Figure 3 This is a schematic diagram showing the relative positions of the sensing area and the protruding structure in an exemplary embodiment of this application; Figure 4 This is a schematic diagram showing the relative positions of the sensing area and the protruding structure in another exemplary embodiment of this application; Figure 5 This is a cross-sectional view of the robot in an embodiment of this application; Figure 6 for Figure 5 Enlarged view of section A; Figure 7 This is a side view of the robot in an embodiment of this application; Figure 8 This is a schematic diagram of the robot's structure in another embodiment of this application; Figure 9 This is a side view of the robot in another embodiment of this application; Figure 10 This is another exploded view of the robot in an embodiment of this application; Figure 11 for Figure 10 Enlarged view of section B.

[0024] The following are the labeling elements in the figure: 100 - Body; 110 - Chassis; 120 - First outer shell; 121 - First mounting part; 121a - Mounting surface; 121b - Mounting groove; 1211 - Annular flange; 122 - Second mounting part; 120a - First bottom wall; 120b - Second bottom wall; 120c - Side wall; 1201 - Receiving cavity; 1201a - First receiving cavity; 1201b - Second receiving cavity; 130 - Second outer shell; 140 - Decorative shell; 1401 - First clearance hole; 1 402 - Second clearance hole; 1403 - Camera opening; 1404 - Heat dissipation hole; 200 - First positioning component; 210 - First cover; 220 - Carrier antenna; 300 - Second positioning component; 400 - Walking component; 410 - First walking wheel; 420 - Second walking wheel; 500 - Mowing component; 600 - Hay clipping handling component; 610 - Hay collection box; 620 - Hay guard box; 700 - Support component; 800 - Button component; 900 - Heat dissipation component. Detailed Implementation

[0025] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0026] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0027] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0028] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0029] Reference Figures 1-7 Firstly, embodiments of this application provide a robot, which may be a lawnmower robot, a cleaning robot, or a service robot, etc. This robot is capable of walking on a working surface, such as the ground, a lawn surface, or other flat surfaces. The following detailed description uses a lawnmower robot as an example. It is understood that the content described in the following embodiments can also be applied to other types of automated walking devices such as cleaning robots or service robots.

[0030] Reference Figure 1 and Figure 2The robot includes a body 100, which is the main structure of the robot and is used to support and install the various components of the robot. In some embodiments, the body 100 may include a chassis 110 and a shell disposed on the chassis 110. The chassis 110 may be a bottom support structure made of materials such as metal or high-strength plastic, providing stable support for other parts of the robot and ensuring the structural strength of the robot. The shell covers the chassis 110, forming the outer contour of the robot, and can protect internal components, improve the robot's appearance, and optimize aerodynamic performance. The shell may be a one-piece structure, such as being integrally injection molded or die-cast from materials such as plastic or metal. Alternatively, the shell may be a modular structure, such as being composed of multiple shell components, to facilitate the installation, maintenance, and replacement of the robot's internal components. In a specific example, the shell may include a first shell 120, a second shell 130 protruding from the first shell 120, and a decorative shell 140 covering the first shell 120. The first outer shell 120 and the second outer shell 130 can be connected as a whole, or they can be assembled separately using fasteners or snap-fit ​​connections. The decorative shell 140 can also be detachably connected to the first outer shell 120 using fasteners or snap-fit ​​connections, so that the various components installed on the first outer shell 120 can be maintained after the decorative shell 140 is removed.

[0031] The robot also includes a first positioning component 200, which is mounted on the body 100 and used to sense surrounding environmental information during robot movement to provide navigation, obstacle avoidance, and other functions. In some embodiments, the first positioning component 200 may include a lidar module, which emits a laser beam and receives reflected signals to obtain three-dimensional information about the surrounding environment. The lidar module features high precision and high resolution, enabling it to generate accurate environmental maps in real time, providing reliable navigation and obstacle avoidance for the robot. In other embodiments, the first positioning component 200 may also include a real-time kinematic (RTK) module. The RTK module receives satellite signals and improves positioning accuracy through differential technology, providing centimeter-level positioning services for the robot. This high-precision positioning capability allows the robot to travel more accurately along a preset path when performing lawn mowing tasks, reducing deviations and improving the uniformity and efficiency of lawn mowing. In other embodiments, the first positioning component 200 may also be other types of positioning devices, such as an ultrasonic sensor module. It is understandable that the first positioning component 200 may include only one type of positioning module, such as only using a lidar module or only using a real-time dynamic carrier differential module, or it may include multiple different types of positioning modules at the same time, such as simultaneously equipping a lidar module and a real-time dynamic carrier differential module, so as to provide more comprehensive and accurate environmental perception and positioning capabilities according to different application scenarios and needs.

[0032] The first positioning component 200 can be mounted on the first housing 120. At least a portion of the first positioning component 200 is exposed outside the first housing 120, and the first positioning component 200 has a sensing area M and is configured to acquire environmental information within the sensing area M. During robot movement, the first positioning component 200 continuously scans the surrounding environment, transmits the acquired environmental information to the robot's control module in real time, and then feeds it back to the robot's walking component 400, providing navigation, obstacle avoidance, and other functions for the robot's movement. By exposing at least a portion of the first positioning component 200 to the outside of the first housing 120, the first housing 120 is prevented from entering the sensing area M, thus reducing the likelihood of obstructing the sensing area M.

[0033] The robot may also include a protruding structure that protrudes from the first outer shell 120 and is located outside the sensing area M. This prevents the protruding structure from obstructing the sensing range of the first positioning component 200, ensuring that the first positioning component 200 is not interfered with by the protruding structure on the robot itself during operation, thereby improving the robot's environmental perception and operational stability. The protruding structure can be a structure or component that needs to protrude from the surface of the first outer shell 120 due to structural characteristics or usage requirements. For example, the protruding structure could be a button that needs to protrude from the surface of the first outer shell 120, a second outer shell 130 that protrudes from the first outer shell 120, or other components disposed within the second outer shell 130.

[0034] Reference Figure 3 The protruding structure located outside the sensing area M can be a portion where the orthographic projections of the sensing area M and the protruding structure on the vertical reference plane do not overlap. For example, the orthographic projection of the sensing area M on the vertical reference plane may be fan-shaped, and the orthographic projection of the protruding structure on the vertical reference plane may be located locally below the sensing area M. The highest point P2 of the protruding structure may be lower than the lowest point P1 of the corresponding portion of the sensing area M, thus ensuring that the protruding structure does not obstruct the sensing of the first positioning component 200. Of course, the orthographic projection shape of the sensing area M on the vertical reference plane can also be, for example, a trapezoid, a triangle, or an irregular shape.

[0035] Reference Figure 4 The location of the protruding structure outside the sensing area M can also mean that the orthographic projection of the protruding structure onto the horizontal reference plane does not overlap with the orthographic projection of the sensing area M of the first positioning component onto the horizontal reference plane. For example, if the orthographic projection of the sensing area M onto the horizontal reference plane is circular, the orthographic projection of the protruding structure onto the horizontal plane is located outside the circular sensing area M. That is, the distance between the nearest point P2 of the protruding structure to the sensing area M and the center of the sensing area M is greater than the radius of the sensing area M, thus preventing occlusion of the sensing area M. Of course, the shape of the orthographic projection of the sensing area M onto the horizontal reference plane is not limited to a circle; it can also be a rectangle, an ellipse, or an irregular shape, etc.

[0036] In other examples, the protrusion located outside the sensing area M can also mean that the sensing area M and the orthographic projection of the protrusion on the vertical reference plane do not overlap, and the orthographic projection of the protrusion on the horizontal reference plane does not overlap with the orthographic projection of the sensing area M of the first positioning component on the horizontal reference plane.

[0037] In practical applications, the following method can be used to determine whether a protruding structure is located inside the sensing area M: The shape and extent of the sensing area M are known. The robot is placed in a test environment, ensuring that there are no obstacles in the sensing area M. The first positioning component is activated for sensing. By determining whether a signal feedback corresponding to the protruding structure can be detected in the sensing area M, it can be determined whether the protruding structure is located inside the sensing area M. If no signal feedback corresponding to the protruding structure is detected in the sensing area M, it indicates that the protruding structure does not obstruct the sensing area M, i.e., the protruding structure is located outside the sensing area M. Conversely, if a signal feedback corresponding to the protruding structure is detected in the sensing area M, it indicates that the protruding structure obstructs the sensing area M.

[0038] The sensing area M is the maximum area of ​​environmental information that the first positioning component 200 can sense. The size and shape of the sensing area M can be determined based on the type of the first positioning component 200. (Refer to...) Figure 7 In a specific example, the first positioning component 200 may have a sensing center S1 and a central axis S2 passing through the sensing center S1. When the first positioning component 200 is a real-time dynamic carrier differential module, the sensing area M is a conical region formed around the central axis S2 with the sensing center S1 as the vertex, and the angle α1 of the conical region has a preset angle range.

[0039] Reference Figures 5-7 Specifically, when the first positioning component 200 is a real-time dynamic carrier differential module, it may include a first housing 210 and a carrier antenna 220 disposed inside the first housing 210. The first housing 210 may be a hollow shell structure with an open bottom, and its shape may be cylindrical, square, or other shapes suitable for the internal carrier antenna 220 layout and external installation requirements. The carrier antenna 220 may be spiral, sheet-like, or other shapes capable of efficiently receiving satellite signals. In one example, the carrier antenna 220 is placed inside the first housing 210 and connected to the top of the first housing 210, that is, the top of the carrier antenna 220 is directly fixed to the inner top wall of the first housing 210, thereby increasing the installation height of the carrier antenna 220 to better receive satellite signals and reduce signal obstruction and interference from the surrounding environment. Of course, the carrier antenna 220 may also be connected to other suitable positions on the first housing 210 according to actual needs.

[0040] It should be noted that when the first positioning component 200 is a real-time dynamic carrier differential module, the sensing center S1 can be the intersection of the top surface of the carrier antenna 220 and the central axis S2. Figure 7 and Figure 10In the example shown, the top surface of the carrier antenna 220 is a circular plane, and the sensing center S1 can be the center point of the circle on the top surface of the carrier antenna 220. Of course, the carrier antenna 220 can also be an antenna of other shapes, and the sensing center S1 is determined according to the actual shape of the antenna and the signal transmission characteristics.

[0041] After the first positioning component 200 is installed on the body 100, the central axis S2 can be perpendicular to the robot's working base surface X2, or it can be an inclined axis with an angle of less than 90° to the working base surface X2. The angle between the central axis S2 and the working base surface X2 depends on the installation method of the first positioning component 200. During the operation of the first positioning component 200, the sensing signal originates from the sensing center S1 and spreads outwards along the central axis S2, forming a conical scanning range within the sensing area M. In some embodiments, the angle of the conical region can be 120° to 160°.

[0042] Reference Figure 8 and Figure 9 When the first positioning component 200 is a lidar module, the sensing area M is a fan-shaped area extending in a direction perpendicular to the central axis S2 with the sensing center S1 as the center, and is configured to rotate around the central axis S2. Specifically, when the first positioning component 200 is a lidar module, it may include a second housing 230 and at least one laser emitter (not shown in the figure) disposed inside the second housing 230, and a laser heater is rotatably connected inside the second housing 230. At this time, the sensing center S1 can be the intersection of the laser emission direction of the laser emitter and the central axis S2, and the central axis S2 is the rotation axis of the laser heater. When the laser emitter is stationary, the laser emitter emits a laser beam, which spreads outward in a fan shape in a direction perpendicular to the central axis S2 with the sensing center S1 as the starting point, forming a fan-shaped area; when the laser emitter rotates, the fan-shaped area can rotate and scan 360 degrees around the central axis S2, thereby acquiring three-dimensional information of the surrounding environment. In some examples, the central angle α2 of the fan-shaped area is 60°~80°.

[0043] Reference Figure 7In the robot's forward direction X1, the body 100 has a front end 101 and a rear end 102. Specifically, the front end 101 of the body 100 refers to the end facing forward when the robot moves forward, and the rear end 102 of the body 100 refers to the end facing backward when the robot moves forward. The first positioning component 200 can be located between the front end 101 and the rear end 102, and the sensing center S1 has a first distance L1 with the front end 101, and a second distance L2 with the rear end 102. The first distance L1 can be smaller than the second distance L2. The first distance L1 can be the maximum distance between the sensing center S1 and the front end 101 of the body 100 in the forward direction X1, and the second distance L2 can be the maximum distance between the sensing center S1 and the rear end 102 of the body 100 in the forward direction X1. With this configuration, the first positioning component 200 is closer to the front end 101 of the robot body 100, allowing its sensing area M to cover a wider range of the environment in front of the robot. This provides the robot with earlier and more accurate environmental information perception, enabling it to plan ahead and better cope with obstacles or changes in its path, thus improving its autonomous movement capability and safety in complex environments. Furthermore, since the first positioning component 200 is at least partially exposed within the first outer shell 120, its sensing signal transmission and reception are less affected by external interference, allowing for more stable and accurate acquisition of environmental information, further ensuring the reliability of the robot's navigation and obstacle avoidance functions.

[0044] In some embodiments, the ratio of the first spacing and the second spacing can be 0.3 to 0.7, so that the position of the first positioning component 200 is more reasonable, which can ensure sufficient perception of the environment in front, and will not affect the overall structural layout and stability of the robot due to being too far forward.

[0045] Reference Figure 10 and Figure 11 In some embodiments, the first housing 120 may include a first mounting portion 121, which may be a partial structure of the first housing 120 between the front end 101 and the rear end 102. The shape of the first mounting portion 121 may be adapted to the structure of the first positioning component 200, which is detachably connected to the first mounting portion 121. This facilitates the removal and installation of the first positioning component 200 on the first housing 120, thereby simplifying the installation and maintenance of the first positioning component 200 by the user. For example, when the first positioning component 200 is at least one of a lidar module or a real-time dynamic carrier differential module, both the lidar module and the real-time dynamic carrier differential module can be connected to the first mounting portion 121, allowing the user to select either the lidar module or the real-time dynamic carrier differential module for installation according to their needs, thus improving the flexibility and adaptability of module installation.

[0046] Reference Figure 10 and Figure 11In one specific example, the first mounting portion 121 may include a mounting surface 121a and a mounting groove 121b surrounding the mounting surface 121a. The mounting surface 121a can be used to mount a lidar module, and the mounting groove 121b can be used to mount a real-time dynamic carrier differential module. Specifically, the first housing 120 may be provided with an annular flange 1211 surrounding the mounting surface 121a, and the mounting groove 121b is disposed on the annular flange 1211, which can provide a waterproof effect.

[0047] The mounting surface 121a is tilted towards the front end 101 of the robot body 100, with an angle of 5° to 10° between it and the robot's working base surface X2. Specifically, the distance between the tilted mounting surface 121a and the working base surface X2 increases from the front end 101 to the rear end 102 of the robot. The LiDAR module is mounted on the mounting surface 121a, so that the LiDAR module also has a certain tilt angle relative to the robot's working base surface X2, thereby expanding the sensing range of the LiDAR module, especially enhancing its ability to detect low obstacles in front of the robot. In actual working scenarios, this tilted setting allows the LiDAR module to more effectively capture information about objects near the ground, reducing the occurrence of situations where obstacles are too low to be detected in time, further improving the accuracy and safety of robot navigation and obstacle avoidance. At the same time, the tilt of the mounting surface towards the front end 101 of the robot body 100 can also, to a certain extent, avoid interference from direct sunlight on the LiDAR module, ensuring that it can operate stably under different lighting conditions and obtain accurate environmental data.

[0048] Reference Figure 9 The central axis S2 of the lidar module can also form an angle β of 5° to 10° with the vertical direction, where the vertical direction is perpendicular to the robot's working base plane X2. Specifically, when the central axis S2 of the lidar module forms an angle of 5° to 10° with the vertical direction, the coverage range of the laser beam can be further optimized. This helps the lidar module to effectively detect obstacles on the horizontal plane while enhancing its ability to perceive oblique or suspended obstacles, such as tree branches and low beams. Furthermore, because the central axis S2 of the lidar module is tilted, the height of the fan-shaped area of ​​the internal laser emitter is higher when it rotates around the central axis S2 and reaches the rear end 102 of the robot body 100. This allows the protruding structure of the robot near the rear end 102 of the robot body 100 to be set at a higher height. This provides more space for the design of the protruding structure at the rear end of the robot without obstructing the lidar module's sensing area M.

[0049] When installing the real-time dynamic carrier differential module on the first mounting part 121, the bottom of the first housing 210 can be nested within the mounting groove 121b, thereby positioning the first housing 210. Furthermore, screws or other fasteners or snap-fit ​​structures can be used to further connect and fix the first housing 210 and the first mounting part 121, ensuring the stability of the first housing 210's mounting position on the first housing 120. Further, the carrier antenna 220 can be spaced apart from the first mounting part 121. Specifically, the bottom end of the carrier antenna 220 can have a preset distance from the base of the first mounting part 121, thereby avoiding signal interference between the carrier antenna 220 and the first mounting part 121, and also facilitating better reception of satellite signals by the carrier antenna 220.

[0050] In some embodiments, the robot may further include a second positioning component 300, which may be disposed at the front end 101 of the robot body 100 and acquire local environmental information in front of the robot, complementing the first positioning component 200. In a specific example, the second positioning component 300 may include a vision module, which may include at least one camera, which is positioned facing the front end 101 of the robot body 100 to acquire image information of the front end 101 of the robot body 100, and analyze the acquired image information through image processing technology to identify obstacles in front of the robot, the boundary of the working area, and other information.

[0051] The second positioning component 300 can also be mounted on the first housing 120. In a specific example, the first housing 120 may further include a second mounting portion 122, which is located in front of the first mounting portion 121 in the robot's forward direction X1, and the second positioning component 300 is detachably mounted on the second mounting portion 122. Specifically, the second mounting portion 122 is a partial structure of the first housing 120 near the front end of the body 100, and the shape of the second mounting portion 122 can be designed based on the structural characteristics of the second positioning component 300. For example, when the second positioning component 300 is a vision module, the second mounting portion 122 can be configured as a groove structure that fits the shape of the vision module, so that the vision module can be securely embedded therein.

[0052] Reference Figure 10 and Figure 11In some embodiments, the first housing 120 may further be provided with a receiving cavity 1201, within which the first positioning component 200 and the second positioning component 300 may be disposed. The receiving cavity 1201 is a recessed receiving structure on the first housing 120, providing installation space for the first positioning component 200 and the second positioning component 300. Specifically, the receiving cavity 1201 may be a single cavity structure on the first housing 120, or it may be multiple interconnected cavity structures. In a specific example, the receiving cavity 1201 may include a first receiving cavity 1201a and a second receiving cavity 1201b, with the first positioning component 200 installed in the first receiving cavity 1201a and the second positioning component 300 installed in the second receiving cavity 1201b. Specifically, the first outer casing 120 may include a first bottom wall 120a, a second bottom wall 120b, and two side walls 120c. The two side walls 120c are symmetrically arranged. The first bottom wall 120a and the second bottom wall 120b are both connected between the two side walls 120c. The first bottom wall 120a is located between the front end 101 and the rear end 102, and the second bottom wall 120b is located close to the front end 101. A first receiving cavity 1201a is formed between the two side walls 120c and the first bottom wall 120a. The first positioning component 200 may be disposed within the first receiving cavity 1201a. In this case, the first mounting portion 121 is a partial structure of the first outer casing 120 at the first bottom wall 120a. The second positioning component 300 may be disposed within the second receiving cavity 1201b. In this case, the second mounting portion 122 may be a partial structure of the first outer casing 120 at the second bottom wall 120b.

[0053] A decorative shell 140 is disposed on the first outer shell 120. The decorative shell 140 can cover the opening of the receiving cavity, and the first positioning component 200 and each protruding structure can protrude from the decorative shell 140. Specifically, after the decorative shell 140 is installed on the top of the first outer shell 120, it completely covers the opening of the entire receiving cavity 1201. The portion of the decorative shell 140 corresponding to the first positioning component 200 can have a first clearance hole 1401, so that a portion of the first positioning component 200 can pass through the first clearance hole 1401 and protrude from the decorative shell 140 through the first clearance hole 1401. Thus, the first positioning component 200 and the second positioning component 300 are hidden within the space formed by the decorative shell 140 and the first outer shell 120, with only the necessary sensing parts or protruding structures exposed outside the decorative shell 140. This design ensures the overall aesthetics of the robot, avoids potential damage or contamination caused by direct exposure of internal components, and ensures that the positioning components can properly perform their environmental perception and positioning functions. When the second positioning component 300 is a vision module, the part of the decorative shell 140 facing the front end 101 may also be provided with a camera opening 1403. The camera in the vision module faces the camera opening 1403 so that it can obtain image information in front of the robot through the camera opening 1403.

[0054] Reference Figure 2 In some embodiments, the portion of the decorative shell 140 facing the front end 101 may also have a heat dissipation hole 1404 connecting the receiving cavity and the external space. During the robot's forward movement, external cold air can enter the receiving cavity through the heat dissipation hole 1404 to dissipate heat from the first positioning component 200 and the second positioning component 300 inside the receiving cavity. In some embodiments, the decorative shell 140 may also have an exhaust hole connecting the receiving cavity and the external space. The exhaust hole may be a gap at the connection between the decorative shell 140 and the first outer shell 120, so as to exhaust the hot air that has entered the receiving cavity and undergone heat exchange to the outside of the robot, thereby achieving good heat dissipation for the first positioning component 200 and the second positioning component 300.

[0055] In some embodiments, the robot may further include a heat dissipation component 900, which may be disposed within the receiving cavity for dissipating heat from the first positioning component 200 and the second positioning component 300. Specifically, the heat dissipation component 900 may be a metal device with good thermal conductivity, such as copper or aluminum, which absorbs the heat generated by the first positioning component 200 and the second positioning component 300 during operation and conducts it to the outside of the receiving cavity, thereby achieving effective heat dissipation. In a specific example, the heat dissipation component 900 may include multiple spaced-apart heat dissipation fins to increase the contact surface between the heat dissipation component 900 and the airflow, thereby improving heat dissipation efficiency. Alternatively, the heat dissipation component 900 may also be a fan disposed within the receiving cavity, which drives the airflow within the receiving cavity through fan rotation, forming forced convection heat dissipation.

[0056] In some embodiments, the robot may further include a locomotion component 400, which is disposed at the bottom of the body 100 and used to drive the body 100 to move. In a specific example, the locomotion component 400 may include a first locomotion wheel 410 and a second locomotion wheel 420, which are respectively disposed on the front and rear sides of the chassis 110. The first locomotion wheel 410 may be a steering wheel, and the second locomotion wheel 420 may be a drive wheel. Through the cooperation of the first locomotion wheel 410 and the second locomotion wheel 420, the robot can flexibly perform forward, backward, and turning movements to meet the movement requirements in different working scenarios. In other embodiments, the locomotion mechanism may also be a tracked locomotion mechanism or other types of locomotion mechanisms, as long as it can achieve stable movement of the robot on the working surface.

[0057] In some embodiments, the robot may further include a mowing assembly 500 for performing mowing operations. In a specific example, the mowing assembly 500 may include a mowing disc and a drive motor. The mowing disc is disposed at the bottom of the chassis 110 and is used to cut grass on the lawn; the drive motor is connected to the mowing disc and is used to drive the mowing disc to rotate. The mowing disc may be a circular disc composed of multiple blades, and the drive motor may be a DC motor or an AC motor. During robot movement, the drive motor drives the mowing disc to rotate, thereby realizing the robot's mowing function.

[0058] In some embodiments, the robot may further include a grass clipping assembly 600 and a support assembly 700, the support assembly 700 being connected to the housing, and the grass clipping assembly 600 being connected to the support assembly 700, the grass clipping assembly 600 being used to process grass clippings generated during the mowing process.

[0059] Reference Figure 1 In one example, the grass clipping handling assembly 600 may include a grass collection box 610 located at the rear end 102 of the body 100 and connected to the support assembly 700. The grass collection box 610 has a collection chamber for receiving grass clippings generated during mowing, with the collection opening facing the body 100. During the robot's mowing operation, the grass clippings generated can be collected from the collection opening. Furthermore, the support assembly 700 may be flipped and connected to the second housing, thereby rotating the grass collection box 610 so that the collection opening of the grass collection box 610 rotates to a downward orientation, thus performing a tipping action to pour the grass clippings into a designated location. (See reference...) Figure 8 and Figure 9 In another example, the grass clipping treatment assembly 600 may include a grass shield 620 having a grass shield cavity with a downward-facing opening for guiding the cut grass clippings out of the downward-facing opening of the grass shield 620 to the ground, reducing grass clippings splashing and improving mowing efficiency.

[0060] In some embodiments, the robot may further include a button assembly 800, which is disposed on the body 100 and configured to operate and control the robot. Specifically, the button assembly 800 may include one or more buttons, each button being connected to a functional module disposed on the body 100, so that the robot can be controlled to perform corresponding actions through the corresponding button. In a specific example, the button assembly 800 may include a start button and a stop button, both of which are connected to the walking component 400. After the start button is pressed, the walking component 400 is powered on, thereby controlling the robot to start walking; after the stop button is pressed, the walking component 400 is de-powered, thereby stopping the robot's movement. The button assembly 800 may also be disposed on the first housing 120 and protrude from the decorative housing 140. Specifically, the first housing 120 may be provided with a mounting position, which may be a mounting groove or the like that matching the shape of the button assembly 800. The decorative shell 140 may be provided with second clearance holes 1402 corresponding to the positions of each button in the button assembly 800. When the device is installed on the first shell 120, each button passes through each second clearance hole 1402 and protrudes to the upper surface of the decorative shell 140 through the clearance holes, so as to facilitate the user's operation of each button.

[0061] It is understood that the second outer shell 130 protruding from the first outer shell 120, the support component 700 disposed within the second outer shell 130, or the button component 800 protruding from the first outer shell 120, all protrude from the first outer shell 120. That is, the second outer shell 130, the support component 700, and the button component 800 are all protruding structures on the robot. These protruding structures should all be located outside the sensing area M of the first positioning component 200 to avoid interference with the sensing function of the first positioning component 200 and ensure that the first positioning component 200 can accurately acquire information about the surrounding environment. For example, when the robot is in a complex working environment, the first positioning component 200 can receive signals from all directions normally without being obstructed by the protruding structures, thereby providing reliable data support for the robot's navigation, obstacle avoidance, and other functions, and thus improving the robot's adaptability and operational efficiency in complex environments.

[0062] A second aspect of this application provides a lawn mowing system, including a robot and a base station as described in the first aspect embodiment above. The robot is a lawn mowing robot, and the base station is used at least to charge the lawn mowing robot. During operation, the base station serves as an energy replenishment station for the lawn mowing robot, ensuring its continuous and stable operation. Specifically, when the lawn mowing robot's battery is low or requires maintenance, it can automatically return to the base station for charging or related operations. The base station is equipped with a charging device that matches the lawn mowing robot's charging interface, enabling efficient and safe replenishment of the lawn mowing robot's power.

[0063] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A robot, characterized in that, include: The body, including the first outer shell; A first positioning component is disposed on the first housing, at least a portion of the structure of the first positioning component is exposed on the first housing, and the first positioning component has a sensing area and is configured to acquire environmental information within the sensing area; At least one protruding structure is provided on the first housing and located outside the sensing area.

2. The robot according to claim 1, characterized in that, The first positioning component has a sensing center and a central axis passing through the sensing center; The sensing area is a conical region formed around the central axis with the sensing center as the vertex, and the angle of the conical region is 120°~160°; or, the sensing area is a fan-shaped region extending in a direction perpendicular to the central axis with the sensing center as the center, and configured to be able to rotate around the central axis, and the central angle of the fan-shaped region is 60°~80°.

3. The robot according to claim 2, characterized in that, The sensing center has a first distance from the front end of the body and a second distance from the rear end of the body, and the ratio of the first distance to the second distance is 0.3 to 0.

7.

4. The robot according to claim 1, characterized in that, The protruding structure includes a support component located at the rear end of the body, the support component being used to connect with the robot's grass clipping processing component.

5. The robot according to claim 4, characterized in that, The body also includes a second outer shell, which is connected to the first outer shell and at least covers part of the support assembly. The second outer shell is also located outside the sensing area.

6. The robot according to claim 1, characterized in that, The protruding structure includes a button assembly configured to operate and control the robot, and the button assembly is located between the first positioning component and the rear end of the robot body.

7. The robot according to any one of claims 1-6, characterized in that, The first housing includes a first mounting portion, which is detachably connected to the first positioning component; the first positioning component includes at least one of a lidar module or a real-time dynamic carrier differential module.

8. The robot according to claim 7, characterized in that, The first mounting part includes a mounting surface, the angle between the mounting surface and the working base surface of the robot is 5°~10°; the distance between the mounting surface and the working base surface gradually increases along the direction from the front end to the rear end of the robot body; the mounting surface is used to mount at least one of the lidar module and the real-time dynamic carrier differential module.

9. The robot according to claim 8, characterized in that, The first positioning component is a lidar module, which is detachably mounted on the mounting surface. The angle between the central axis of the lidar and the vertical direction is 5° to 10°, and the vertical direction is perpendicular to the working base surface of the robot.

10. The robot according to claim 8, characterized in that, The first positioning component is a real-time dynamic carrier differential module. The real-time dynamic carrier differential module includes a first housing and a carrier antenna. The bottom of the first housing is connected to the first mounting part, and the carrier antenna is located inside the first housing and connected to the top of the first housing.

11. The robot according to claim 10, characterized in that, The carrier antenna is spaced apart from the mounting surface.

12. The robot according to claim 8, characterized in that, The first mounting part further includes an annular flange surrounding the periphery of the mounting surface. The annular flange is provided with a mounting groove, which is used to connect to the bottom of the housing of the lidar module or the real-time dynamic carrier differential module.

13. The robot according to any one of claims 1-6, characterized in that, The robot also includes a second positioning component, which is detachably disposed on the first housing and located between the first positioning component and the front end of the robot body.

14. The robot according to claim 13, characterized in that, The first housing is provided with a receiving cavity, and the first positioning component and the second positioning component are both disposed in the receiving cavity. A heat dissipation component is provided in the receiving cavity, and the heat dissipation component is located between the first positioning component and the second positioning component. The heat dissipation component is used to dissipate heat from the first positioning component and the second positioning component.

15. The robot according to claim 14, characterized in that, The body also includes a decorative shell, which covers the first outer shell and covers the opening of the receiving cavity. The first positioning component and the protruding structure both protrude from the decorative shell.

16. The robot according to any one of claims 1-6, characterized in that, The robot also includes a walking component and a mowing component located at the bottom of the body. The walking component is used to move the body, and the mowing component is used to perform mowing operations. The first positioning component is located at the top of the body.

17. A lawn mowing system, characterized in that, The system includes a base station and a robot as described in any one of claims 1-16, wherein the robot is a lawnmower robot, and the base station is configured to at least power the lawnmower robot.

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