Shell assembly, mobile robot and system

Abstract

Disclosed in the present application are a shell assembly, a mobile robot and a system. The shell assembly of the present application comprises a first shell and a first positioning module and is applied to the mobile robot, wherein the first shell is arranged at the top of the mobile robot, and the first positioning module is arranged on a lower surface of the first shell. By providing the positioning module on the lower surface of the first shell of the shell assembly, the waterproof and dustproof capacity of the first positioning module is improved while the signal receiving quality is improved.

Description

Shell assembly, mobile robot and system TECHNICAL FIELD

[0001] The present application relates to the lawn mower technical field, especially to a shell assembly, a mobile robot and a system. BACKGROUND

[0002] Mobile robots include cleaning robots, cruise robots, mowing robots, etc., which can autonomously move and perform preset tasks, and are widely used in more and more fields. Mobile robots often need to realize self-positioning according to a positioning module to realize more accurate mobile track control.

[0003] If the positioning module is arranged on the bottom shell of the mobile robot, when signal transmission is performed, the signal needs to be transmitted to the positioning module on the bottom shell through the top shell. There are many electronic components on the bottom shell, and the signal interference is serious, resulting in poor signal receiving quality of the positioning module. If the positioning module is arranged on the outer side of the mobile robot, although the signal interference is less, the positioning module is prone to water ingress and failure. Therefore, in the prior art, the positioning module of the mobile robot cannot balance the waterproofness and receiving strong satellite signals. SUMMARY

[0004] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application provides a shell assembly, the lower surface of the top shell of the shell assembly is provided with a positioning module, which has high signal receiving quality and good waterproof and dustproof performance.

[0005] The present application also provides a mobile robot comprising the shell assembly.

[0006] The present application also provides a mobile robot system comprising the mobile robot.

[0007] According to the shell assembly of the first aspect of the present application, the shell assembly is applied to a mobile robot, comprising a first shell and a first positioning module, the first shell is arranged on the top of the mobile robot; the first positioning module is arranged on the lower surface of the first shell.

[0008] The shell assembly according to the present application has at least the following beneficial effects:

[0009] The present application improves the shell assembly of the mobile robot, arranges the first positioning module on the lower surface of the first shell, improves the signal receiving quality, and improves the waterproof and dustproof performance of the first positioning module.

[0010] According to some embodiments of the present application, the lower surface of the first shell is provided with an annular flange, the annular flange and the lower surface of the first shell define a containing groove, and the containing groove is used for containing the first positioning module.

[0011] Alternatively, the lower surface of the first shell is provided with a receiving groove for receiving the first positioning module.

[0012] Alternatively, the lower surface of the first shell is provided with a groove, and the edge of the groove is provided with an annular flange, the groove wall and the annular flange together define a receiving groove for receiving the first positioning module.

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

[0014] According to some embodiments of the present application, the annular flange or / and the sealing cover is provided with a second opening for the connection line of the first positioning module to pass through.

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

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

[0017] According to some embodiments of the present application, the first positioning module comprises a first antenna and a first circuit board connected with each other, and the first antenna is arranged closer to the first shell than the first circuit board.

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

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

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

[0021] According to some embodiments of the present application, the thickness of the first shell corresponding to the first positioning module is smaller than the thickness of the rest of the first shell.

[0022] According to some embodiments of the present application, the first positioning module is arranged on the central axial plane of the mobile robot, and the distance from the first positioning module to both sides of the first shell is equal.

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

[0024] According to some embodiments of the present application, the first shell further comprises a second positioning module, and a ratio of a distance between the second positioning module and the first positioning module to a length of the mobile robot is greater than or equal to 2 / 3.

[0025] According to some embodiments of the present application, the second positioning module has an installation height less than or equal to an installation height of the first positioning module.

[0026] According to some embodiments of the present application, the second positioning module is arranged in front of the first positioning module.

[0027] According to some embodiments of the present application, the shell assembly further comprises a second shell, and the second shell has a gap with the first shell, and the second shell is movably connected with the first shell.

[0028] According to some embodiments of the present application, the first shell comprises a third opening for accommodating a control module, and the third opening is arranged between the first positioning module and the second positioning module.

[0029] According to some embodiments of the second aspect of the present application, the mobile robot comprises the shell assembly, the walking module, the function module and the control module mentioned in any of the above embodiments, the walking module is used to drive the mobile robot to move, the function module is used to perform a preset action, and the control module is in communication connection with the walking module and the function module respectively.

[0030] According to some embodiments of the present application, the walking module has a driving shaft perpendicular to the central axis, and the first positioning module is arranged above the driving shaft.

[0031] According to some embodiments of the third aspect of the present application, the mobile robot system comprises the mobile robot mentioned in the second aspect of the present application, and a fixed base station for providing reference positioning information for the mobile robot.

[0032] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0033] The present application will be further described below in conjunction with the accompanying drawings and embodiments, in which:

[0034] Fig. 1 is a structural schematic diagram of a mobile robot according to an embodiment of the present application;

[0035] Fig. 2 is an exploded schematic diagram of the mobile robot of Fig. 1;

[0036] Fig. 3 is a bottom view of a first housing according to an embodiment of the present application;

[0037] Fig. 4 is an exploded schematic diagram of a sealing cover, a positioning module and the first housing according to an embodiment of the present application;

[0038] Fig. 5 is an exploded schematic diagram of a second positioning module according to an embodiment of the present application;

[0039] Fig. 6 is a bottom view of a mobile robot according to an embodiment of the present application;

[0040] Fig. 7 is a schematic diagram of a mobile robot system according to an embodiment of the present application.

[0041] Reference signs: mobile robot 10; median axial surface 11; fixed base station 20; housing assembly 100; first housing 200; annular flange 210; accommodating groove 211; first opening 212; second opening 213; sealing cover 220; first connecting hole 221; second connecting hole 222; first through hole 230; ventilation gap 231; fixed column 240; third opening 250; second housing 300; gap 310; third housing 350; first positioning module 400; first antenna 410; first circuit board 420; fixed hole 421; signal receiver 422; 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; clamping plate 522; first camera 530; second camera 540; light supplementing lamp 550; second antenna 560; third antenna 570; fourth antenna 580; second circuit board 590; mounting plate 591; optical window 592; walking module 600; driving wheel 610; driven wheel 620; functional module 700; control module 710. DETAILED DESCRIPTION

[0042] Embodiments of the present application are described in detail below with reference to the accompanying drawings, in which like or similar elements are denoted by the same or similar reference signs throughout the drawings. The embodiments described below are examples for explaining the present application and should not be construed as limiting the present application.

[0043] In the description of the present application, it should be understood that the orientation description, such as the orientation or position relationship indicated by up, down, front, back, left, right and the like, is based on the orientation or position relationship shown in the drawings, and is only for the purpose of facilitating the description of the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0044] In the description of the present application, if one of several meanings is more than one, the meaning of multiple is more than two, greater than, less than, more than, etc. are understood as not including the number, above, below, within, etc. are understood as including the number. If it is described as first, second, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the sequence of indicated technical features.

[0045] In the description of the present application, unless otherwise explicitly limited, the words such as setting, installing, connecting, etc. should be broadly understood, and those skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0046] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are included in at least one embodiment or example of the present application. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0047] Mobile robots include cleaning robots, patrol robots, mowing robots, etc., which can autonomously move and perform preset tasks, and are widely used in more and more fields. The mobile robot often needs to realize self-positioning according to the positioning module to realize more accurate mobile track control.

[0048] In the related art, the mobile robot often includes a first shell and a second shell, the first shell is located at the top of the mobile robot, and the second shell is located at the bottom of the mobile robot. The driving module, the positioning module, the functional module and the like are arranged on the second shell, and the first shell is arranged on the second shell to protect the components on the second shell. When data transmission is performed, the signal needs to pass through the first shell to be transmitted to the positioning module on the second shell, and since there are many electronic components on the second shell, the signal interference is serious.

[0049] To this end, the first aspect of the present application proposes a shell assembly, applied to a mobile robot 10, the shell assembly 100 comprising a first shell 200 and a first positioning module 400, the first shell 200 being arranged on the top of the mobile robot 10, and the first positioning module 400 being arranged on the lower surface of the first shell 200.

[0050] Unlike the prior art in which the first positioning module is arranged on the second shell, as shown in FIGS. 1-4, the first positioning module 400 of the mobile robot 10 of the present application is arranged on the lower surface of the first shell 200, thereby achieving the separation of the first positioning module 400 from other modules on the second shell 300 and reducing the interference of electronic components on the second shell 300 with signals.

[0051] Arranging the first positioning module 400 on the lower surface of the first shell 200, in the signal transmission process, the signal only needs to penetrate the first shell 200 to be received by the first positioning module 400, shortening the signal transmission distance, reducing the number of barriers for signal penetration, and improving the quality of signal transmission. Moreover, arranging the first positioning module 400 on the lower surface of the first shell 200 improves the installation height of the first positioning module 400, reducing the interference of environmental features such as grass and obstacles around the mobile robot 10 with the reception of positioning information by the first positioning module 400 during the operation of the mobile robot 10.

[0052] In addition, arranging the first positioning module 400 on the lower surface of the first shell 200 is also conducive to reducing the probability of water entering the first positioning module 400. When water drips from top to bottom, the first shell 200 can play a protective role, and the first positioning module 400 has a high installation height, and is less likely to be affected by water splashes from the bottom.

[0053] In summary, the present application improves the shell assembly 100 of the mobile robot 10 by arranging the first positioning module 400 on the lower surface of the first shell 200, thereby improving the signal reception quality while improving the waterproof and dustproof capability of the first positioning module 400.

[0054] In some embodiments, as shown in FIG. 4, the lower surface of the first housing 200 is provided with a ring-shaped flange 210, which is arranged around the first positioning module 400, so that 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 arranged on the lower surface of the first housing 200, which is the receiving groove 211 for accommodating the first positioning module 400. Alternatively, when the thickness of the first positioning module 400 is relatively large, and the groove depth of the receiving groove 211 is relatively large, a combination of the flange and the groove can be used to define the receiving groove 211, that is, the lower surface of the first housing 200 is provided with a groove, and the edge of the groove is provided with a ring-shaped flange 210, and the groove wall and the ring-shaped flange 210 together define the receiving groove 211.

[0055] Further, the receiving groove 211 has a first opening 212 for taking out or putting in the first positioning module 400, as shown in FIG. 4, the first opening 212 is located below the receiving groove 211. The housing assembly 100 further comprises a sealing cover 220, which can be detachably connected with the first housing 200 to close the first opening 212. When installing the first positioning module 400, the sealing cover 220 is first separated from the first housing 200 to facilitate the installation of 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 with the first housing 200 to form a relatively sealed structure in the receiving groove 211, so as to reduce the probability of moisture or dust entering the first positioning module 400.

[0056] In some embodiments, as shown in FIGS. 3 and 4, the ring-shaped flange 210 and / or the sealing cover 220 is provided with a second opening 213, so that the connecting line of the first positioning module 400 can be led out through the second opening 213. Further, as shown in FIGS. 3 and 4, the mobile robot 10 has a central axis surface 11, and the second opening 213 is arranged on one side deviating from the central axis surface 11. After the connecting line of the first positioning module 400 is led out from the second opening 213, it extends to the second positioning module 500 (which will be described in detail below) along the lower surface of the first housing 200. Moreover, the second opening 213 is arranged on one side deviating from the central axis surface 11 of the mobile robot 10, so that the connecting line can avoid the third opening 250 arranged in the middle of the first housing 200.

[0057] The first positioning module 400 is fixed on the sealing cover 220, and more specifically, the first positioning module 400 includes a first antenna 410 and a first circuit board 420 connected with each other. The first circuit board 420 is provided with a fixing hole 421 at the outer periphery, and the sealing cover 220 is provided with a second connecting hole 222 corresponding to the fixing hole 421. Before the first positioning module 400 is placed in the accommodating groove 211, the first positioning module 400 can be connected with the sealing cover 220, that is, a second fixing member such as a screw is sequentially inserted through the fixing hole 421 and the second connecting hole 222, so that the first positioning module 400 is fixed on the sealing cover 220, to prevent the first positioning module 400 from shaking in the accommodating groove 211. By fixing the first positioning module 400 on the sealing cover 220, the fixing hole is avoided to be formed on the first shell 200, so that the waterproof effect can be better achieved.

[0058] As shown in FIG. 4, the first shell 200 is provided with a fixed column 240 extending in the vertical direction. The fixed column 240 is provided with a reinforcing rib at the outer periphery to improve the structural stability of the fixed column 240. The fixed column 240 is provided with a threaded hole, and the sealing cover 220 is provided with a first connecting hole 221 corresponding to the threaded hole. When the sealing cover 220 is arranged on the accommodating groove 211, the first connecting hole 221 of the sealing cover 220 is aligned with the threaded hole, and a first fixing member such as a screw is inserted through the first connecting hole 221 and the threaded hole to connect the sealing cover 220 with the first shell 200. In some embodiments, the upper side of the sealing cover 220 is provided with an annular groove, and a waterproof rubber ring is arranged in the annular groove to improve the waterproof performance of the first positioning module 400.

[0059] As shown in FIG. 4, 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, the first antenna 410 is arranged closer to the first shell 200 than the first circuit board 420, so that the signal can be received by the first antenna 410 after penetrating the first shell 200, and 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 receiving quality.

[0060] 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 reflecting surface. The side of the first circuit board 420 away from the first antenna 410 is provided with a signal receiver 422. Since a radio frequency line does not need to be arranged between the signal receiver 422 and the antenna, the first positioning module 400 has high integration, small size and low cost.

[0061] Further, the size of the first antenna 410 is smaller than the size of the first circuit board 420, so that the directivity and efficiency of the antenna can be maintained. The electromagnetic wave emitted by the first antenna 410 can be better focused and reflected by the reflecting surface on the first circuit board 420, so that higher gain and better directivity can be achieved. In addition, the reflectivity of the surface of the first circuit board 420 close to the first antenna 410 is not less than 80%, so that the electromagnetic wave emitted by the first antenna 410 is reflected and focused to a specific direction.

[0062] In some embodiments, the thickness of the first shell 200 corresponding to the first positioning module 400 is lower than the thickness of the rest of the first shell 200. It should be understood that the first shell 200 corresponding to the first positioning module 400 is understood as the area of the first shell 200 covered by the projection of the first positioning module 400 on the first shell 200 in the direction close to the first shell 200, and at least the thickness of the first shell 200 in this area is lower than the thickness of the rest of the first shell 200. For example, in the foregoing embodiment, by providing a groove on the lower surface of the first shell 200 to define a space for accommodating the first positioning module 400, the thickness of the first shell 200 in this area is also reduced, thereby improving the quality of signal reception. Alternatively, the outer side of the first shell 200 corresponding to the first positioning module 400 is thinned to reduce the thickness of the first shell 200 in the specified area.

[0063] In some embodiments, the mobile robot 10 has a central axis surface extending in the advancing direction of the mobile robot 10. It should be noted that the central axis surface is part of the coordinate system of the mobile robot 10 and is a reference surface for the structural design and movement trajectory design of the mobile robot 10, and is not a physical plane. The first positioning module 400 is arranged on the central axis surface, so that the distance from the first positioning module 400 to both sides of the first shell 200 is the same in the direction perpendicular to the advancing direction of the mobile robot 10. Thus, the weight distribution on both sides of the mobile robot 10 is more symmetrical, so as to facilitate the stability of the mobile robot 10 during movement.

[0064] In some embodiments, the distance between the first positioning module 400 and the front end of the mobile robot 10 is a first distance, the distance between the first positioning module 400 and 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, so that the first positioning module 400 is away from the front end of the collision, and the impact force on the first positioning module 400 when the mobile robot 10 collides is reduced.

[0065] In the embodiments shown in FIG. 1, FIG. 2, FIG. 3 and FIG. 5, the mobile robot 10 further comprises a second positioning module 500, a ratio of a distance between the first positioning module 400 and the second positioning module 500 to a length of the body of the mobile robot 10 is greater than or equal to 2 / 3. The first positioning module 400 and the second positioning module 500 are arranged far enough apart, which can reduce the interference of the second circuit board 590 of the second positioning module 500 on the first positioning module 400. In addition, the installation height of the second positioning module 500 is less than or equal to the installation height of the first positioning module 400, so as to prevent the second positioning module 500 from blocking the signal reception of the first positioning module 400.

[0066] The second positioning module 500 is arranged at the front end of the first shell 200, and the first positioning module 400 is arranged at the rear end of the first shell 200, that is, the second positioning module 500 is arranged in front of the first positioning module 400. The first positioning module 400 can be an RTK module, and the second positioning module 500 can be a visual sensing module. Arranging the RTK module behind the visual sensing module can ensure that the RTK antenna is not interfered by the front obstacles or the visual sensing components, thereby maintaining stable signal reception and positioning accuracy.

[0067] In some embodiments, the shell assembly 100 further comprises a second shell 300 located at the bottom of the mobile robot 10, for arranging the walking module 600, the functional module 700, the control module 710 and the like. The first shell 200 and the second shell 300 have a gap 310 therebetween and are movably connected. Specifically, the first shell 200 comprises a top portion parallel to the second shell 300 and an enclosing portion arranged around the second shell 300. The first positioning module 400 is arranged on the top portion of the first shell 200. The gap 310 is between the enclosing portion and the second shell 300, and the first shell 200 and the second shell 300 are movably connected, so that the first shell 200 and the second shell 300 can be relatively displaced. The relative displacement can be a vertical displacement, which often occurs when the mobile robot 10 passes through rough road sections, potholes, speed bumps and the like. The displacement of the first shell 200 and the second shell 300 can reduce the vibration of the first shell 200, thereby reducing the probability of failure of the first positioning module 400. The relative displacement can also be a horizontal displacement, which often occurs when the mobile robot 10 suddenly brakes or collides with obstacles. The displacement of the first shell 200 and the second shell 300 can reduce the impact force on the first shell 200. It can be understood that the specific structure of the movably connected first shell 200 and the second shell 300 can be elastic connection, damping connection and the like, which can refer to the shock absorption structure of a car, and will not be described here.

[0068] The middle part of the first shell 200 is provided with a third opening 250 for accommodating the control module 710, and the third opening 250 is arranged between the first positioning module 400 and the second positioning module 500. When the first positioning module 400 and the second positioning module 500 generate heat during the movement of the mobile robot 10, the heat can be diffused and dissipated through the third opening 250, thereby avoiding heat accumulation.

[0069] In some embodiments, as shown in FIGS. 1-3 and 5, the front end of the first shell 200 is provided with a first through hole 230, and the second positioning module 500 is arranged through the first through hole 230 and connected with the first shell 200. The second positioning module 500 includes an upper shell 510 and a lower shell 520 connected with each other, and the upper shell 510 is exposed to the first shell 200 and has a first surface 511 arranged horizontally. The second positioning module 500 further includes a first camera 530 arranged on the first surface 511, and the first surface 511 is provided with a second through hole 5111 for accommodating part of the first camera 530, or the first camera 530 is arranged outside the first shell 200, and the second through hole 5111 is used for passing through a communication cable connected with the first camera 530. The first camera 530 can be a fisheye camera for obtaining environmental image information around the mobile robot 10.

[0070] Further, the upper shell 510 further has a second surface 512 connected with the first surface 511 and arranged obliquely, and the second surface 512 is arranged obliquely downward, that is, the distance from the second surface 512 to the first surface 511 gradually decreases along the advancing direction of the mobile robot 10. The oblique arrangement of the second surface 512 is to facilitate the second camera 540 in the second positioning module 500 to obtain the ground image information in the advancing direction of the mobile robot 10. Specifically, the second positioning module 500 has a hollow mounting cavity inside, and the second camera 540 is arranged in the mounting cavity. In the embodiment shown in FIG. 5, the number of second cameras 540 is two, and the two second cameras 540 are arranged on a mounting plate 591, and the mounting plate 591 is arranged parallel to the second surface 512, so that the second cameras 540 are also arranged obliquely, and the oblique direction is consistent with the oblique direction of the second surface 512, so as to obtain the image information in the advancing direction of the mobile robot 10, especially the image information of the ground in the advancing direction.

[0071] Specifically, as shown in FIG. 5, 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 arranged in the first mounting hole 5121 and the second mounting hole 5122, and the third mounting hole 5123 is provided with a light supplement lamp 550. The mounting plate 591 is further provided with an inertial sensing unit, which is arranged between the two second cameras 540. The outer side of the second surface 512 is provided with an optical window 592 for transmitting light. The mounting cavity is further provided with a second antenna 560, a third antenna 570 and a fourth antenna 580. 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 a fixed base station 20. The mounting cavity is further provided with a second circuit board 590, which has a first socket, a second socket and a third socket. 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.

[0072] As shown in FIG. 3, the lower shell 520 of the second positioning module 500 is located in the first shell 200 and connected to the lower surface of the first shell 200. It should be noted that, as shown in FIG. 5, the upper side of the lower shell 520 is provided with a clamping plate 522 for fixing the light supplement lamp 550. As shown in FIG. 3, the lower side of the lower shell 520 is provided with a heat dissipation channel 521, and the length direction of the heat dissipation channel 521 is parallel to the advancing direction of the robot. As shown in FIG. 3, the area of the first through hole 230 is larger than the area of the second positioning module 500. When the second positioning module 500 is arranged in the first through hole 230, the front end of the second positioning module 500 still has a ventilation gap 231 with the first shell 200. During the movement of the mobile robot 10, air flow can enter the inside of the first shell 200 from the ventilation gap 231 and flow along the heat dissipation channel 521 to achieve the purpose of dissipating heat for the second positioning module 500.

[0073] The second aspect embodiment of the present application proposes a mobile robot 10, as shown in FIG. 1, FIG. 2 and FIG. 6, which comprises a walking module 600, a functional module 700, a control module 710 and the shell assembly mentioned in any of the above embodiments. The walking module 600 is used to drive the mobile robot 10 to move, the functional module 700 is used to perform a preset action, and the control module 710 is in communication connection with the walking module 600 and the functional module 700 respectively.

[0074] Specifically, the walking module 600, the function module 700 and the control module 710 are arranged on the second shell 300. As shown in FIG. 2, the walking module 600 usually comprises 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 with the driving member through a driving shaft, so that the driving wheels 610 have driving force. The driven wheels 620 can be universal wheels, so as to adjust the moving direction.

[0075] The function module 700 is used to perform a preset action. For example, when the mobile robot 10 is a mowing robot as shown in FIGS. 1 and 2, the function module 700 is specifically a cutting module, which can perform a cutting operation on the lawn on the moving path of the mobile robot 10 during the movement of the mobile robot 10. Alternatively, when the mobile robot 10 is a cleaning robot (not shown in the drawings), the function module 700 is specifically a cleaning module, which can perform a cleaning operation such as mopping, wiping or sweeping on the ground on the moving path of the mobile robot 10 during the movement of the mobile robot 10.

[0076] In the mowing robot as shown in FIG. 2, the cutting module comprises a cutting frame, a cutting tool, a cutting driving motor and a lifting adjusting assembly. The cutting driving motor drives the cutting tool to rotate, so as to realize the cutting operation. The second shell 300 is provided with an opening at a position corresponding to the cutting module. The cutting tool at least partially extends to the outside of the second shell 300, so that the cutting module can cut the lawn, vegetation and the like. Moreover, the cutting tool is arranged on the cutting frame. The height of the cutting frame can be adjusted through the lifting adjusting assembly, so as to adjust the ground clearance of the cutting tool, thereby realizing the adjustment of the cutting height.

[0077] The first shell 200 is arranged on the top of the mobile robot 10 and covers the second shell 300, so as to protect the second shell 300. In the mowing robot as shown in FIG. 2, the mobile robot 10 further comprises a third shell 350. The third shell 350 and the second shell 300 form a cavity therebetween, which is used to accommodate the function module 700, the control module 710 and the like.

[0078] As shown in FIGS. 3 and 4, in order to realize the positioning and navigation of the mobile robot 10, the first positioning module 400 is used to acquire the position data of the mobile robot 10. The control module 710 is in communication connection with the walking module 600, the function module 700 and the first positioning module 400, so as to control the operation of each module. Further, the walking module 600 has a driving shaft arranged perpendicularly to the central axis plane. The first positioning module 400 is further arranged above the driving shaft. That is, in the vertical projection, the first positioning module 400 is arranged at the intersection position of the driving shaft and the central axis plane. Thus, the center of the first positioning module 400 coincides with the center of the driving shaft, which facilitates the coordinate conversion during the mapping and positioning.

[0079] The third aspect embodiment of the present application provides a mobile robot system, which comprises a fixed base station 20 and the mobile robot 10 mentioned in the second aspect embodiment. The fixed base station 20 provides reference positioning information for the mobile robot 10.

[0080] It should be explained that the principle of the mobile robot 10 positioning by the first positioning module 400 is as follows: referring to FIG. 7, the mobile robot 10 is usually used with the fixed base station 20, which is arranged on the boundary of the working area or in 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 the accurate position information to obtain the first positioning module 400 difference information. The fixed base station 20 sends the difference information to the mobile robot 10. The mobile robot 10 can also receive satellite positioning information and correct the obtained satellite positioning information by the difference information 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 high, and the displacement in the X, Y and Z directions can be obtained, so the positioning and navigation of the mobile robot 10 has high recognition sensitivity.

[0081] The embodiments of the present application are described in detail above in combination with the drawings, but the present application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the purpose of the present application. In addition, the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

Claims

1. A housing assembly applied to a mobile robot (10), characterized in that, The utility model relates to a mobile robot (10) and a shell assembly (100) of the mobile robot (10), and the shell assembly (100) comprises: a first shell (200) arranged on the top of the mobile robot (10); a first positioning module (400) arranged on the lower surface of the first shell (200).

2. The housing assembly of claim 1, wherein, The lower surface of the first shell (200) is provided with a ring-shaped flange (210), and the ring-shaped flange (210) and the lower surface of the first shell (200) define a containing groove (211) for containing the first positioning module (400). Alternatively, the lower surface of the first shell (200) is provided with a containing groove (211) for containing the first positioning module (400). Alternatively, the lower surface of the first shell (200) is provided with a groove, and the edge of the groove is provided with a ring-shaped flange (210), and the groove wall of the groove and the ring-shaped flange (210) jointly define a containing groove (211) for containing the first positioning module (400).

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

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

5. The housing assembly of claim 4, wherein, The mobile robot (10) has a central axis plane (11), and the second opening (213) is arranged on one side deviating from the central axis plane (11).

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

7. The housing assembly of any one of claims 1 to 6, wherein, The first positioning module (400) comprises a first antenna (410) and a first circuit board (420) connected with each other, and the first antenna (410) is arranged closer to the first shell (200) than the first circuit board (420).

8. The housing assembly of claim 7, wherein, The side of the first circuit board (420) deviating from the first antenna (410) is provided with a signal receiver (422).

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

11. The housing assembly of any one of claims 1 to 6, wherein, The thickness of the first positioning module (400) corresponding to the first shell (200) is smaller than the thickness of the rest part of the first shell (200).

12. The housing assembly of any one of claims 1 to 6, wherein, The first positioning module (400) is arranged on the central axis plane (11) of the mobile robot (10), and the distance from the first positioning module (400) to both sides of the first shell (200) is equal.

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

14. The housing assembly of any one of claims 1 to 6, wherein, The first shell (200) is further provided with a second positioning module (500), and the ratio of the distance between the second positioning module (500) and the first positioning module (400) to the length of the body of the mobile robot (10) is greater than or equal to 2 / 3.

15. The housing assembly of 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 of claim 14, wherein, The second positioning module (500) is arranged in front of the first positioning module (400).

17. The housing assembly of claim 14, wherein, The shell assembly (100) further comprises a second shell (300), and the second shell (300) and the first shell (200) are movably connected.

18. The housing assembly of claim 14, wherein, The first shell (200) is provided with a third opening (250) for accommodating a control module, and the third opening (250) is arranged between the first positioning module (400) and the second positioning module (500).

19. A mobile robot, characterized by Including: The shell assembly of any one of claims 1-18; A walking module (600) for driving the mobile robot (10) to move; A function module (700) for performing a preset action; A control module (710) in communication with the walking module (600) and the function module (700), respectively.

20. The mobile robot of claim 19, wherein, The walking module (600) has a drive shaft perpendicular to the central axis plane (11), and the first positioning module (400) is arranged above the drive shaft.

21. A mobile robot system, characterized by Including: The mobile robot (10) of claim 19 or 20; A fixed base station (20) for providing reference positioning information for the mobile robot (10).

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