CN212305863U - Positioning module and automatic walking equipment - Google Patents

Abstract

The utility model relates to a positioning module, which comprises a first shell and a second shell, wherein the first shell and the second shell enclose an inner cavity, the first shell is a metal shell, and one side of the first shell, which is back to the second shell, is provided with an interface; the algorithm board is positioned in the inner cavity and is fixed on the first shell or the second shell; an antenna module located in the inner cavity; and the positioning chip is fixed on the algorithm board and faces the first shell. When the positioning module is applied, the first shell is installed on the shell of the equipment through the interface, the first shell can transfer heat to the shell of the equipment, and the shell is exposed in the air, so that the shell can take the positioning chip to take the heat to be dissipated to the air, and the heat dissipation effect on the positioning chip is better.

Description

Positioning module and automatic walking equipment

Technical Field

The utility model relates to a navigation positioning field especially relates to a orientation module, still relates to an automatic walking equipment who has above-mentioned orientation module.

Background

Positioning modules, such as RTK modules (Real-time kinematic positioning), are widely used in autonomous walking devices, such as lawn mowers. The positioning module generally includes a housing, an algorithm board disposed in the housing, and an antenna, wherein a positioning chip is disposed on the algorithm board. The positioning chip has a large heat productivity, and in the conventional heat dissipation technology, a metal heat sink, such as a heat dissipation fin, is added on the positioning chip, and the heat of the positioning chip is transferred to the metal heat sink through heat-conducting silica gel.

The positioning module is used outdoors, if the RTK module is applied to a mower, the RTK module is used for realizing real-time positioning of the mower in the automatic walking process of the mower, and the shell of the RTK module is sealed, so that heat of the positioning chip can not be dissipated out of the cavity even if being transmitted to the radiating fins, and the radiating effect is very unsatisfactory.

SUMMERY OF THE UTILITY MODEL

Therefore, it is necessary to provide a positioning module to solve the problem that the heat dissipation effect of the positioning chip block is not ideal. In addition, an automatic walking device with the positioning module is also provided.

A positioning module is used for being installed on a machine shell of automatic walking equipment and comprises a shell, wherein the shell comprises a first shell and a second shell, an inner cavity is defined by the first shell and the second shell, the first shell is a metal shell, and an interface is arranged on the first shell; the algorithm board is positioned in the inner cavity and is fixed on the first shell or the second shell; an antenna module located in the inner cavity; and the positioning chip is fixed on the algorithm board and faces the first shell.

When the positioning module is applied, the first shell is installed on the shell of the equipment through the interface, the first shell has good heat conducting performance for the metal shell, so the first shell can rapidly transmit heat to the shell of the equipment, and the shell of the equipment is relatively large in volume and exposed in the air, so the shell can rapidly dissipate heat, so that the heat in the narrow inner space of the positioning module can be effectively guided to the air, and the heat dissipation effect of the positioning chip is good.

In one embodiment, the positioning chip is in contact with the first shell through a heat conducting medium.

In one embodiment, a metal plate is further fixed in the first housing, and the metal plate isolates the algorithm board from the antenna module.

In one embodiment, the inner wall of the first housing is formed with an annular step, and the metal plate is seated and fixed on the annular step.

In one embodiment, the antenna module is located on one side of the algorithm board, and faces away from the positioning chip.

In one embodiment, the second housing is a plastic housing.

In one embodiment, the first casing includes a bottom wall facing the casing, a channel is disposed on the bottom wall of the first casing, the channel communicates the inner cavity with the outside, and the positioning module further includes a control wire, one end of the control wire is connected to the algorithm board, and the other end of the control wire extends out of the inner cavity through the channel.

In one embodiment, an accommodating space is further formed on the outer side of the bottom wall of the first shell, the channel is communicated with the accommodating space and the inner cavity, and the other end of the control wire is connected with a connector which is accommodated in the accommodating space.

In one embodiment, the second housing and the first housing are connected by a screw or screwed by a thread, or one of the second housing and the first housing is provided with a hook, and the other is provided with a slot, and the hook is connected with the slot by a snap.

An automatic walking device is also provided, which comprises a casing and the positioning module according to any one of the above embodiments, wherein the interface of the first casing is connected to the casing.

Automatic walking equipment is in the course of the work, and the heat transfer that the location chip produced gives first casing, and the casing for lawn mower is given in the first casing of rethread, and then will give out heat through the casing and dispel the heat to the air to in the heat in the narrow and small inner space of orientation module can lead the air effectively, better to the radiating effect of location chip, orientation module can normally work.

Drawings

Fig. 1 is a schematic view of an RTK module according to an embodiment of the present invention when installed in a lawn mower.

Fig. 2 is a schematic structural diagram of an RTK module according to another embodiment of the present invention.

The relevant elements in the figures are numbered correspondingly as follows:

10. a housing; 20. a housing; 210. a first housing; 211. an interface; 212. a bottom wall; 2121. a channel; 213. a side wall; 2131. a first support table; 2132. a second support table; 2133. a step; 214. a boss; 215. a space of abdicating; 216. an accommodating space; 217. a connecting portion; 218. a sealing part; 219. an external threaded portion; 220. a second housing; 221. a base; 222. a ring portion; 223. a docking portion; 224. a seal tooth; 225. an internal thread portion; 230. a control line; 240. a connector; 250. a screw; 260. a sealing substance; 30. an algorithm board; 310. a shield case; 40. positioning the chip; 50. an antenna module; 60. a heat-conducting medium; 70. a metal plate.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do 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, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

The positioning module in the traditional technology generates larger heat when the positioning chip works, but the heat dissipation effect is poorer. In order to solve the technical problem, the utility model provides a positioning module, it has better radiating effect to the positioning chip. The following describes preferred embodiments of the present invention with reference to the accompanying drawings.

The embodiment of the utility model provides an in to explain for the example that orientation module is applied to automatic walking equipment, automatic walking equipment specifically is the lawn mower, also can be other types's such as dust catcher automatic walking equipment. The automatic walking device refers to a device capable of walking according to a preset path according to the position information of the positioning module. For example, the lawn mower may autonomously cruise and mow in a predetermined boundary area according to a predetermined program, and return to a charging station for charging according to a predetermined path after the mow is finished. How to use the positioning module is well known to those skilled in the art, and the embodiments of the present invention are not particularly expanded.

As shown in fig. 1, the positioning module is schematically shown in a configuration when it is mounted to ahousing 10 of a lawn mower. Other structures of the lawn mower not shown comprise a control device, a traveling mechanism, a cutting mechanism and the like, wherein the control device is used for controlling the traveling mechanism and the cutting mechanism to work, the traveling mechanism is used for driving the lawn mower to travel, and the cutting mechanism is used for executing the operation of the lawn mower. The control device may be an embedded Digital Signal Processor (DSP), a Microprocessor (MPU), an Application Specific Integrated Circuit (ASIC), a Programmable Logic Device (PLD), a System On Chip (SOC), a Central Processing Unit (CPU), or a Field Programmable Gate Array (FPGA). It is to be understood that the present embodiment is not limited to a specific type of control device. The running mechanism and the cutting mechanism are arranged below thecasing 10, wherein the running mechanism can be a running wheel or a crawler belt, and the number of the cutting mechanism is at least one. In fig. 1, the positioning module is mounted on the top of thehousing 10 of the lawn mower, but the position is not limited to this, and the positioning module may be mounted on thehousing 10 from below or mounted on thehousing 10 from the side.

As shown in fig. 1, the positioning module includes ahousing 20, analgorithm board 30 disposed in thehousing 20, apositioning chip 40, and anantenna module 50. Thehousing 20 is for mounting to thehousing 10 of the lawn mower.

Thehousing 20 includes afirst housing 210 and asecond housing 220. Thefirst housing 210 and thesecond housing 220 are detachably connected, and they are closed to form an inner cavity. Thefirst housing 210 has aninterface 211 for mounting to thecabinet 10. Thefirst housing 210 itself encloses a part of the aforementioned inner cavity, and comprises abottom wall 212 and aside wall 213, theside wall 213 and thebottom wall 212 together enclose a part of the aforementioned inner cavity, wherein theside wall 213 is used for interfacing with thesecond housing 220, and thebottom wall 212 faces thecasing 10 even though opposite to thecasing 10.

As shown in fig. 1, the positioning module is installed on the top of thechassis 10, and thefirst housing 210 is located below thesecond housing 220, and thefirst housing 210 is closer to thechassis 10 than thesecond housing 220. In other mounting manners, if the positioning module is mounted on thechassis 10 from below, thefirst housing 210 is located above thesecond housing 220, and thefirst housing 210 is closer to thechassis 10 than thesecond housing 220; if the positioning module is installed on thechassis 10 from the side, thefirst housing 210 and thesecond housing 220 are at the same height, and thefirst housing 210 is closer to thechassis 10 than thesecond housing 220. The side of thefirst housing 210 facing away from thesecond housing 220 is provided with aninterface 211, and theinterface 211 is used for connecting with thecasing 10. The specific type of theinterface 211 is not limited, and may be detachably connected to thehousing 10, and the connection manner may be a snap connection, a screw connection, or the like.

In addition, it should be noted that the position of theinterface 211 is not limited to the side of thefirst housing 210 facing away from thesecond housing 220. For example, as shown in fig. 1, theinterface 211 may also be disposed to be located at the left or right side of thefirst housing 210 and adjacent to thesecond housing 220. At this time, the positioning module may be installed on the top of thecasing 10, but theinterface 211 is horizontally butted right and left with the connection portion on thecasing 10.

Thealgorithm board 30 is located in the inner cavity of thehousing 20 and is fixed to thefirst housing 210. As shown in fig. 1, thealgorithm plate 30 is accommodated inside thefirst housing 210 and is fixedly connected to thefirst housing 210 by screws, wherein a ring-shaped first supportingplatform 2131 is formed in thesidewall 213 of thefirst housing 210, and thealgorithm plate 30 is supported by the first supportingplatform 2131 and is fastened by screws. Thealgorithm board 30 is provided with electronic components for implementing a positioning function, such as a power supply, a crystal oscillator (crystal oscillator), apositioning chip 40, and the like. Similar to thealgorithm board 30, theantenna module 50 is fixed to thefirst housing 210, wherein thesidewall 213 of thefirst housing 210 is further formed with a second supportingbase 2132 in a ring shape, and theantenna module 50 is supported against the second supportingbase 2132 and fastened with screws.

As shown in fig. 1, thepositioning chip 40 and theantenna module 50 are both disposed in the inner cavity of thehousing 20, and thepositioning chip 40 and theantenna module 50 are respectively located at two sides of thealgorithm board 30. Thepositioning chip 40 is located on a side of thealgorithm board 30 opposite to thesecond housing 220 and fixed to thealgorithm board 30, and theantenna module 50 is disposed on a side of thealgorithm board 30 facing thesecond housing 220 and spaced apart from thealgorithm board 30. When the positioning module is mounted on the top of thecasing 10, theantenna module 50 is located above thealgorithm board 30, and thepositioning chip 40 is located below thealgorithm board 30.

In the positioning system, an antenna module is connected to an algorithm board through a radio frequency connector, and in the traditional technology, the antenna module and the algorithm board are arranged at different positions. In this embodiment, theantenna module 50 is connected to thealgorithm board 30 through a radio frequency connector (not shown), and thewire module 50 and thealgorithm board 30 are integrated in the inner cavity surrounded by thefirst housing 210 and thesecond housing 220, so that the required radio frequency connector is short, which can reduce the loss when theantenna module 50 transmits radio frequency signals to thealgorithm board 30, and is also beneficial to assembly.

Thepositioning chip 40 generates a large amount of heat during operation, and in order to effectively dissipate heat from thepositioning chip 40, in this embodiment, thefirst casing 210 is a metal casing, which has a good heat dissipation effect, and thepositioning chip 40 is in contact with thefirst casing 210 through the heat-conductingmedium 60 to increase the heat transfer effect. Thefirst housing 210 is a metal shell, and is made of a metal material with good thermal conductivity, such as aluminum, copper, and the like. Two sides of theheat conducting medium 60 are respectively in contact with thepositioning chip 40 and thefirst housing 210.

When the positioning module is applied, thefirst housing 210 is mounted to thechassis 10 of the device through theinterface 211, thepositioning chip 40 contacts thefirst housing 210 through theheat conducting medium 60, theheat conducting medium 60 can transmit heat generated by thepositioning chip 40 to thefirst housing 210 in the field, and thefirst housing 210 itself is a metal shell with good heat conducting performance, so thefirst housing 210 can transmit the heat to thechassis 10 of the device quickly, and thechassis 10 of the device has a relatively large volume and is exposed in the air, so thechassis 10 can dissipate heat quickly, so that the heat in the narrow internal space of the positioning module can be effectively guided to the air, and the heat dissipation effect on thepositioning chip 40 is good.

In the above embodiment, thealgorithm board 30 is fixed to thefirst housing 210. It should be noted that thealgorithm board 30 can be fixed to thesecond housing 220, and the heat can be effectively dissipated as long as thealgorithm board 30 is in contact with thefirst housing 210 through theheat conducting medium 60.

In a preferred embodiment, the heat-conductingmedium 60 is a heat-conducting silicone. The heat-conducting silica gel is bonded with thepositioning chip 40 and thefirst housing 210 respectively, and on one hand, the heat-conducting silica gel plays a role in heat conduction, and on the other hand, the heat-conducting silica gel also plays a role in auxiliary connection of thealgorithm board 30 to thefirst housing 210. Moreover, the heat-conducting silica gel can well fill the gap between the contact surfaces of thepositioning chip 40 and thefirst shell 210, and air can be completely extruded out of the gap, so that the contact surfaces of the positioning chip and the first shell can be in full contact, the surface-to-surface contact is really realized, and the heat-conducting silica gel has quick response when the temperature changes, thereby realizing high-efficiency heat conduction.

Further, the inner side of thebottom wall 212 of thefirst housing 210, i.e., the side facing thesecond housing 210, is formed with aboss 214 extending toward thesecond housing 220, and thepositioning chip 40 is in contact with theboss 214 through theheat transfer medium 60. The top of theboss 214 is closer to thepositioning chip 40, so the amount of the thermal conductive silicone rubber required for connecting thepositioning chip 40 and thefirst housing 210 is less. It is also understood that the inner side of thebottom wall 212 of thefirst housing 210 is provided with a rugged structure, and theheat transfer medium 60 is adhered to the protrusions (i.e., the bosses 214) of the rugged structure. Furthermore, the outside of thebottom wall 212 of thehousing 20 forms an offsetspace 215 corresponding to theboss 214, which can avoid the components or structures on thehousing 10 when thehousing 10 is docked, so that the device is compact in size in the height direction.

In the above embodiment, when the positioning module is in the angular mode as shown in fig. 1, thealgorithm board 30 is arranged in the horizontal direction, and theboss 214 is located below thealgorithm board 30. In other embodiments, theboss 214 may be disposed on a sidewall of thefirst housing 210. Specifically, when the module is positioned in the angular manner shown in FIG. 1, thealgorithm board 30 may be placed upright with theboss 214 on the left or right side of thealgorithm board 30, with theboss 214 in contact with thealgorithm board 30 in the horizontal direction. By providing theboss 214, the size of the device can be made more compact.

In some embodiments, the receivingspace 216 is further formed on the outer side of thebottom wall 212 of thefirst housing 210, i.e. the side facing away from thesecond housing 220, thebottom wall 212 of thefirst housing 210 is provided with achannel 2121, thechannel 2121 communicates the receivingspace 216 with the inner cavity, wherein the positioning module further includes acontrol wire 230, one end of thecontrol wire 230 is connected to thealgorithm board 30, and the other end of thecontrol wire 230 extends out of the inner cavity through thechannel 2121.Control wires 230 are used to establish a communication link between the positioning module and the mower. Thehousing space 216 can house theconnector 240 connected to thecontrol wire 230, making the device compact in size in the height direction. Anaccommodation space 216 is formed outside thebottom wall 212, and theaccommodation space 216 is formed by the unevenness of the outside.

Further, as shown in fig. 1, aconnector 240 is connected to the other end of thecontrol wire 230, and theconnector 240 is accommodated in theaccommodating space 216. Theconnector 240 may be a male plug or a female plug, and is coupled with a corresponding female plug or a male plug on thehousing 10. When the positioning module is installed in thecasing 10, theconnector 240 connected to thecontrol line 230 is plugged into thecasing 10, so that thealgorithm board 30 is communicatively connected to the control motherboard in thecasing 10.

Thehousing space 216 may not be provided on the outer side of thebottom wall 212 of thefirst housing 210, and may be a flat surface. At this time, apassage 2121 is formed on the bottom wall 121 to communicate the inner cavity with the outside. Thecontrol wire 230 has one end connected to thealgorithm board 30 and the other end extending out of the inner cavity through thepassage 2121, and the other end of thecontrol wire 230 is connected to theconnector 240, and theconnector 240 is located outside thefirst housing 210.

In addition, the positioning module of the conventional technology has the following technical problems: the algorithm board and the antenna are located in the shell, wherein the algorithm board is located right below the antenna, and the algorithm board interferes with the antenna. The traditional technical solution is to add a shielding case on the algorithm board, but the shielding case is influenced by the arrangement of a plurality of electronic components on the algorithm board, and all the electronic components are difficult to cover under the shielding case.

In order to solve the above technical problem, in an embodiment of the present invention, ametal plate 70 is further fixed in thefirst casing 210, and themetal plate 70 isolates thealgorithm board 30 from theantenna module 50. As shown in fig. 1, themetal plate 70 divides the inner cavity of thehousing 20 into upper and lower independent spaces, theantenna module 50 is located in the upper space, and thealgorithm board 30 is located in the lower independent space. Themetal plate 70 separates thealgorithm board 30 and theantenna module 50 in different spaces, and all electronic components on thealgorithm board 30 are separated from theantenna module 50 by themetal plate 70, so that thealgorithm board 30 does not interfere with theantenna module 50 during operation.

In addition, thealgorithm board 30 is located in the space separated by themetal plate 70 and thefirst housing 210, themetal plate 70 and thefirst housing 210 are made of metal, and thealgorithm board 30 is connected to thefirst housing 210 to achieve grounding, so that external interference (such as interference generated by a motor of the lawn mower) does not interfere with the normal operation of thealgorithm board 30.

The manner of fixing themetal plate 70 is not limited. In one embodiment, thesidewall 213 of thefirst housing 210 further has anannular step 2133, and themetal plate 70 is supported and fixed on theannular step 2133. Specifically, the circumferential direction of themetal plate 70 is clamped to thefirst housing 210. Themetal plate 70 may be fixed to theannular step 2133 by screws.

In the above embodiment, themetal plate 70 is used to isolate thealgorithm board 30 from theantenna module 50. On the basis, in the independent space below, a shieldingcase 310 can be further arranged above thealgorithm board 30. The shieldingcover 310 shields most of the electronic components on thealgorithm board 30, and for the electronic components, the shieldingcover 310 and themetal plate 70 have double shielding effect. For example, the shieldingcover 310 shields the crystal oscillator, so that two shielding structures, namely the shieldingcover 310 and themetal plate 70, are provided between the crystal oscillator and theantenna module 50, thereby effectively achieving the purpose of shielding interference.

Thesecond housing 220 is housed above theantenna module 50. In order to avoid affecting the signal reception of theantenna module 50 and the sealing of thehousing 20, thesecond housing 220 is a plastic housing, which does not affect the antenna signal penetration, so thesecond housing 220 does not need to be provided with a window for the antenna signal to pass through, and the requirement for thesecond housing 220 is low in structural design.

Thesecond housing 220 is detachably connected to thefirst housing 210. Specifically, as shown in fig. 1, thesecond housing 220 has a base 221 having a substantially conical shape, aring portion 222, an abuttingportion 223, and aseal tooth 224, which are connected to thebase 221, wherein thering portion 222, the abuttingportion 223, and theseal tooth 224 are arranged at intervals in a radial direction of thebase 221 and gradually approach a central axis of thebase 221, and a threaded hole (not numbered) is provided in the abuttingportion 223. In this embodiment, thering portion 222, the abuttingportion 223, and theseal tooth 224 are all annular. Thefirst housing 210 is provided with an annular connectingportion 217 and anannular sealing portion 218.

When thesecond housing 220 is coupled to thefirst housing 210, thescrew 250 passes through thecoupling portion 217 of thefirst housing 210 and is screwed into the screw hole of theabutment portion 223, and the sealingportion 218 is inserted into the gap between theabutment portion 223 and the sealingtooth 224. Therefore, on one hand, thesecond housing 220 is connected with thefirst housing 210, and on the other hand, the connection between the two forms a labyrinth sealing structure, which effectively prevents moisture in the air from entering the inner cavity of thehousing 20. Further, a sealingmaterial 260 is filled between the sealingportion 218 and thesecond housing 220. The sealingsubstance 260 may further block moisture from entering the cavity from the gap between theabutment 223 and theseal tooth 224.

Theinterface 211 of thefirst housing 210 is connected to thecabinet 10. As shown in fig. 1, theinterface 211 of thefirst housing 210 is specifically a knob, the knob is fixed to thefirst housing 210 and has an internal thread, and when thefirst housing 210 is connected to thecasing 10, the internal thread of the knob is connected to an external thread provided on thecasing 10.

In other embodiments, thefirst housing 210 and thecasing 10 may be connected by a plug-in connection. For example, theinterface 211 is a collar with a certain elastic deformation capability, which is sleeved on the abuttingportion 223 of thecasing 10 and clamped on thecasing 10 by using its own elastic deformation capability. Thefirst housing 210 and thehousing 10 can also be connected in a snap-fit manner, that is, one of the first housing and the housing is provided with a snap, and the other of the first housing and the housing is provided with a slot, and the snap and the slot are connected in a snap-fit manner.

As shown in fig. 1, an embodiment of the present invention further provides an automatic walking device, specifically a lawn mower, including ahousing 10 and the positioning module of the foregoing embodiment, wherein theinterface 211 of thefirst housing 210 is connected to thehousing 10.

Automatic walking equipment is in the course of the work, and the heat thatlocation chip 40 produced passes through heat-conductingmedium 60 and transmits forfirst casing 210, and thecasing 10 for the lawn mower is transmitted tofirst casing 210 of rethread, and then dispels the heat to the air throughcasing 10 to the heat in the narrow and small inner space of orientation module can give off effectively to the air in, and is better to the radiating effect oflocation chip 40, and orientation module can normally work.

In another embodiment of the present invention, as shown in fig. 2, thesecond housing 220 of the positioning module is detachably connected to thefirst housing 210 by a screw connection. Specifically, thesecond housing 220 has an annularinternal thread 225, and thefirst housing 210 has an annularexternal thread 219. When thefirst housing 210 and thefirst housing 220 are connected, the male screw of themale screw 219 may be connected to the female screw of thefemale screw 225. Thesecond housing 220 and thefirst housing 210 enclose an inner cavity, in which only thealgorithm board 30 is illustrated, wherein a side of thealgorithm board 30 facing away from thesecond housing 220 is fixed with thepositioning chip 40. Thealgorithm board 30 is provided with ashield cover 310 at a side facing thesecond housing 220.

Thepositioning chip 40 generates a large amount of heat during operation, and in order to effectively dissipate heat from thepositioning chip 40, in this embodiment, thefirst housing 210 is a metal shell, and thepositioning chip 40 is in contact with thefirst housing 210 through theheat conducting medium 60. Thefirst housing 210 is a metal shell, which is made of a metal material with good thermal conductivity, such as aluminum, copper, etc. Two sides of theheat conducting medium 60 are respectively in contact with thepositioning chip 40 and thefirst housing 210. Preferably, the heat-conductingmedium 60 is heat-conducting silica gel.

When the positioning module is applied, thefirst housing 210 is mounted to thehousing 10 of the device through theinterface 211, thepositioning chip 40 contacts thefirst housing 210 through theheat conducting medium 60, theheat conducting medium 60 can transmit heat generated by thepositioning chip 40 to thefirst housing 210 in the field, and thefirst housing 210 itself is a metal shell with good heat conducting performance, so thefirst housing 210 can transmit the heat to thehousing 10 of the device quickly, and thehousing 10 of the device has a relatively large volume and is exposed in the air, so thehousing 10 can dissipate heat quickly, so that the heat in the narrow internal space of the positioning module can be effectively dissipated to the air, and the heat dissipation effect on thepositioning chip 40 is good.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (10)

1. A positioning module for mounting to a chassis of an automated walking device, comprising:

the shell comprises a first shell and a second shell, an inner cavity is defined by the first shell and the second shell, the first shell is a metal shell, and an interface is arranged on the first shell;

the algorithm board is positioned in the inner cavity and is fixed on the first shell or the second shell;

an antenna module located in the inner cavity;

and the positioning chip is fixed on the algorithm board and faces the first shell.

2. The positioning module of claim 1, wherein the positioning chip is in contact with the first housing through a heat conducting medium.

3. The positioning module of claim 1, wherein a metal plate is further secured within the first housing, the metal plate isolating the algorithm board from the antenna module.

4. The positioning module of claim 3, wherein the inner wall of the first housing is formed with an annular step against which the metal plate is seated and secured.

5. The positioning module of claim 1, wherein the antenna module is located on a side of the algorithm board facing away from the positioning chip.

6. The positioning module of claim 1, wherein the second housing is a plastic housing.

7. The positioning module according to claim 1, wherein the first housing comprises a bottom wall facing the casing, and a channel is disposed on the bottom wall of the first housing, and the channel communicates the inner cavity with the outside, wherein the positioning module further comprises a control wire, one end of the control wire is connected to the algorithm board, and the other end of the control wire extends out of the inner cavity through the channel.

8. The positioning module according to claim 7, wherein an accommodating space is further formed on an outer side of the bottom wall of the first housing, the channel communicates the accommodating space with the inner cavity, and a connector is connected to the other end of the control wire and is accommodated in the accommodating space.

9. The positioning module according to claim 1, wherein the second housing is connected to the first housing by a screw or screwed by a thread, or one of the second housing and the first housing is provided with a hook, and the other is provided with a slot, and the hook is engaged with the slot.

10. An autonomous walking device comprising a housing, characterized in that it further comprises a positioning module according to any of claims 1-9, the interface of the first housing being connected to the housing.

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