CN114762475A

CN114762475A - Electronic system for self-driven device

Info

Publication number: CN114762475A
Application number: CN202011630189.4A
Authority: CN
Inventors: 王宏伟; 杨德中
Original assignee: Nanjing Chervon Industry Co Ltd
Current assignee: Nanjing Chervon Industry Co Ltd
Priority date: 2020-12-30
Filing date: 2020-12-30
Publication date: 2022-07-19

Abstract

The invention discloses an electronic system for a self-driven device, comprising: a plurality of function modules for implementing respective predetermined functions; a bus module respectively connected to the plurality of functional modules, at least a portion of the plurality of functional modules configured to send respective data packets to the bus module; one of the plurality of functional modules is configured to acquire a data packet matched with a preset rule on the bus module; performing the predetermined function according to the matched data packet. By adopting the technical scheme, the invention provides a more modular and flexible electronic system of the self-driven equipment.

Description

Electronic system for self-driven device

Technical Field

The invention relates to a self-driven device and an electronic system thereof.

Background

Generally, an operating handle for pushing is provided on an outdoor gardening cutting tool such as a lawn mower, and a switch box and a control mechanism for facilitating operation and control of an operator are provided on the operating handle near a holding part. The lawn mower travels on the ground by means of the pushing force applied to the operating handle by the operator and performs the cutting operation, and the operator is very labor-intensive in operating such a push mower. With the continuous development of artificial intelligence, self-propelled devices have also been developed that are capable of self-walking. The self-driven equipment can automatically walk to execute preset related tasks, so that manual operation and intervention are not needed, manpower and material resources are greatly saved, and convenience is brought to an operator.

The appearance of self-driven equipment brings great convenience to users, and users can be relieved from heavy gardening nursing work. Such self-driven devices use complex electronic systems to implement the functions of the individual functional modules. Also, the various functional modules in current electronic systems are associated, limiting the flexibility of adding or removing functional modules.

Disclosure of Invention

To address the deficiencies of the prior art, it is an object of the present invention to provide a more modular, flexible electronic system for self-powered devices.

In order to achieve the above purpose, the invention adopts the following technical scheme:

an electronic system for a self-driven device, comprising: a plurality of function modules for implementing respective predetermined functions; a bus module respectively connected to the plurality of functional modules, at least a portion of the plurality of functional modules configured to send respective data packets to the bus module; one of the plurality of functional modules is configured to acquire a data packet matched with a preset rule on the bus module; performing the predetermined function according to the matched data packet.

Optionally, the self-driving apparatus includes: the power supply module is used for supplying electric energy to the self-driven equipment; the bus module includes: a data bus for transmitting data between the plurality of functional modules; and the power bus is used for providing the electric energy of the power supply module to the plurality of functional modules.

Optionally, the data bus includes a first data line and a second data line, and data transmitted between the plurality of functional modules is a differential signal.

Optionally, the data packet includes identification codes corresponding to the plurality of function modules one to one; one of the plurality of functional modules is configured to acquire a data packet matched with a preset identification code on the bus module.

Optionally, the bus module further includes: and the extended interface is used for accessing an extended function module so as to enable the extended function module to perform data transmission with at least one of the plurality of function modules to realize the preset function of the extended function module.

Optionally, the self-driving apparatus further includes: an extended function module;

the extended function module is configured to perform data transmission with at least one of the plurality of function modules after being operatively connected with the bus module to realize the function preset by the extended module.

Optionally, the plurality of functional modules include one or more of a mowing module, a walking module, a power supply module, a motion control module, and a boundary identification module.

Optionally, the electronic system of the self-driving device further includes: and the main control module is used for being connected with an external module so as to transmit data through the bus module and at least one of the plurality of functional modules.

Optionally, the external module includes one or more of a communication module, a human-computer interaction module, a USB module, and the like.

Optionally, the identification code includes predefined letters, numbers or a combination of letters and numbers.

The present invention is advantageous in that it provides a more modular, flexible, self-powered device electronic system.

Drawings

FIG. 1 is a schematic diagram of a self-propelled device system as an embodiment;

FIG. 2 is a schematic view of an electronic system of a smart lawn mower as an embodiment;

FIG. 3 is a block diagram of an electronic system, as an embodiment;

FIG. 4 is a schematic view of a smart lawn mower system as one embodiment;

FIG. 5 is, for one embodiment, an electronic system for use with the intelligent lawn mower system of FIG. 4;

FIG. 6 is a schematic view of an electronic system of another embodiment of a smart lawn mower;

FIG. 7 is a schematic diagram of a preset path A-D of a smart lawn mower as an embodiment;

FIG. 8 is a logic flow diagram between a plurality of functional modules of the intelligent lawn mower of one embodiment traveling along the predetermined paths A-D shown in FIG. 7;

FIG. 9 is a flow chart illustrating the operation of the intelligent lawn mower according to the embodiment of the present invention between the functional modules when the intelligent lawn mower travels along the predetermined route A-D shown in FIG. 7;

FIG. 10 is a schematic view of an electronic system of another embodiment of a smart lawn mower;

FIG. 11 is a schematic view of an electronic system of another embodiment of a smart lawn mower;

FIG. 12 is a detailed block circuit diagram of the functional blocks of one embodiment;

FIG. 13 is a detailed circuit block diagram of functional blocks of another embodiment;

FIG. 14 is a detailed circuit block diagram of functional blocks of another embodiment;

FIG. 15 illustrates, in one embodiment, a data interaction system for various functional modules of a smart lawn mower;

FIG. 16 is a data interaction system of a master module, as one embodiment.

Detailed Description

The invention is described in detail below with reference to the figures and the embodiments.

The self-propelled device system of one embodiment shown in fig. 1 is exemplified by an intelligent lawn mower system 100, and the intelligent lawn mower system 100 includes an intelligent lawn mower 10, a charging station 20, and a boundary wire 30. While the present embodiments are directed to smart mowers, it should be understood that the present invention is not limited to the disclosed embodiments, but is applicable to other types of self-propelled devices that are capable of automatically walking through a work area for work, including, but not limited to, smart mowers, snow throwers, and the like.

The intelligent lawnmower 10 includes at least a housing 11 extending in a longitudinal direction, a mowing module (not shown), a walking module (not shown), a power supply module 12, and the like.

The mowing module includes a mowing element (not shown) for performing a mowing function, the mowing element for cutting grass or vegetation. The mowing module further comprises a cutting motor for driving the mowing element to rotate at a high speed and a cutting control unit for controlling the cutting motor. The mowing module may comprise more than one mowing element and correspondingly, the number of cutting motors may correspond to the mowing element. The cutting motor is controlled by a cutting control unit. In some specific embodiments, the cutting control unit includes a control chip, such as an MCU, an ARM, and the like.

The walking module enables the intelligent lawn mower to walk on the lawn. The walking module particularly comprises at least one walking wheel (not shown), which is rotatably arranged at the bottom of the housing, a walking motor connected to the walking wheel for driving the walking wheel, and a walking control unit for controlling the walking motor. Optionally, the walking module includes preceding walking wheel and back walking wheel for preceding walking wheel is the universal wheel, and back walking wheel is the drive wheel, and the quantity of back walking wheel is two, and the quantity of preceding walking wheel also can be two, also can set to one or zero. In some embodiments, the rear road wheels include left and rear road wheels, and the respective road motors include a left road motor for driving the left road wheel and a right road motor for driving the right road wheel. Therefore, when the two walking motors drive the corresponding rear walking wheels to rotate at different rotating speeds, a speed difference is generated between the left walking wheel and the rear walking wheel, and the intelligent mower can steer. In some specific embodiments, the walking control unit is further used for monitoring the rotation speed information of the motor, the rotor position information, the motor fault and the like. The walking control unit comprises a control chip, such as an MCU, an ARM and the like.

It will be appreciated that the cutting motor and the travel motor may be one motor that drives both the mowing element and the travel wheel.

And a power supply module 12 for supplying electric energy to the intelligent mower 10. Specifically, the power supply module 12 supplies power to at least the cutting motor and the walking motor, and of course, the power supply module 12 may also supply power to other electronic components on the intelligent lawn mower, such as the cutting control unit and the walking control unit. In some embodiments, the power module 12 includes a plurality of battery packs. The battery pack is configured to be removably mounted to the smart lawn mower by a user. The battery pack further comprises a plurality of battery cell units connected in series, in parallel or in combination of series and parallel. Of course, the battery pack can be adapted to other electric tools, and the battery pack in other electric tools can be used as the battery pack for supplying power to the intelligent mower, so that the universality of the intelligent mower is improved, and the use cost is reduced.

The power module 12 also includes a power control unit for controlling the operation of the power module 12. In the embodiment, the power supply control unit is used for controlling the safe discharge of the plurality of battery packs, so that the intelligent mower can normally operate. Specifically, the power control unit includes a control chip, such as an MCU, an ARM, and the like. The power supply control unit is also used for monitoring the voltage, the current, the temperature information, the electric quantity information, the battery fault information and the like of the battery pack.

The boundary line 30 surrounds a working area of the intelligent mower 10, wherein an area located inside the boundary line 30 is a working area and an area located outside the boundary line 30 is a non-working area.

The charging station 20 is fixed on a plane and electrically connected with the boundary line 30, the charging station 20 generates a boundary signal and sends the boundary signal to the boundary line 30, a magnetic field is generated when the boundary signal flows through the boundary line 30, and the intelligent mower 10 induces the magnetic field and walks in the working area to mow. It is understood that the boundary signal is a current signal. The charging station 20 is also used for the intelligent mower 10 to return supplementary energy when the energy source is insufficient.

Fig. 2 illustrates an electronic system 40 of the intelligent lawn mower of an embodiment. The electronic system 40 of the smart lawn mower 10 further includes a bus module 41 and a plurality of functional modules.

The functional modules are used for realizing respective preset functions so as to control the intelligent mower to normally work. In this embodiment, the plurality of functional modules include: a motion control module 42, a mowing module 43, a walking module 44, a power supply module 45, a sensor control module 46, an integrated management module 47 and the like.

Wherein the motion control module 42 controls the walking of the intelligent lawn mower. Which comprises a motion sensor and a motion control unit. The motion sensor is used for detecting relevant walking parameters of the intelligent mower and sending a motion signal containing information of the relevant walking parameters to the motion control unit. Relevant walking-related parameters may include: the linear speed, the angular speed and the like of the intelligent mower. In some embodiments, the motion sensor includes a speed sensor, such as a contact speed sensor, a non-contact speed sensor, and the like. The motion control unit is used for controlling the intelligent mower to walk, so that the intelligent mower can work in a working area or return to a charging station for charging. Specifically, the motion control unit includes a control chip, such as an MCU, an ARM, or the like.

The sensor control module 46 is used to monitor the current orientation, acceleration, etc. of the intelligent mower. Which includes a sensor control unit and a plurality of sensors. The sensors are used for sensing the orientation, acceleration information and the like of the current intelligent mower and sending the orientation and the acceleration information to the sensor unit. In some embodiments, the plurality of sensors includes an Inertial Measurement Unit (IMU) capable of measuring three-axis attitude angles and accelerations of the object and sending information detected thereby to the sensor control unit. Specifically, the sensor unit includes a control chip, such as an MCU, an ARM, or the like.

The comprehensive management module 47 is used for performing comprehensive management on the intelligent mower. For example, the integrated management module 47 is used to manage the activation of the cutting motor and the travel motor. Generally, the integrated management module 47 includes an integrated management unit including a control chip, such as an MCU, an ARM, and the like.

The bus module 41 is connected with each functional module, specifically, the bus module is connected with at least the mowing module 43, the walking module 44, the power supply module 45, the sensor control module 46, the motion control module 42 and the comprehensive management module 47, so as to transmit data among the mowing module 43, the walking module 44, the power supply module 45, the sensor control module 46, the motion control module 42 and the comprehensive management module 47.

As shown in fig. 3, the bus module 41 includes a data bus 411. The data bus 411 is used to transmit data between a plurality of functional modules. The data bus 411 allows bi-directional communication between the plurality of functional modules and the data bus 411. Specifically, the data bus 411 includes a first data line 4111 and a second data line 4112. In this way, the data transmitted by the plurality of functional modules on the first data line 4111 and the second data line 4112 is a differential signal, which can remove an interference signal, so that the data transmission is more accurate.

The mowing module 43, the walking module 44, the power supply module 45, the sensor control module 46, the motion control module 42 and the comprehensive management module 47 are mutually independent and connected with a data bus 411, and data transmission is carried out among the modules through the data bus 411. At least some of the functional modules are configured to send respective data packets and/or control instructions to the bus module 41; wherein one of the plurality of functional modules is configured to obtain a data packet and/or a control instruction on the bus module 41, which matches a preset rule; and executing the predetermined function according to the matched data packet and/or control instruction.

In some embodiments, the bus module 41 further includes an expansion interface 412 for accessing the expansion function module 48 to enable the accessed expansion function module 48 to perform data transmission with at least one of the plurality of function modules to implement the control function preset by the expansion function module. For example, when a collision detection module for detecting a collision of the smart lawn mower needs to be added to the electronic system, a user may connect the collision detection module to the expansion interface without redesigning the electronic system, even though the collision detection module is connected to the data bus and the power bus.

In other embodiments, the intelligent lawn mower further comprises an extended function module 48, and the extended function module 48 is configured to perform data transmission with at least one of the plurality of function modules after being operatively connected with the bus module to realize the preset control function of the extended module 48. Taking the boundary identification module as an example, the boundary identification module includes a boundary sensor and a boundary identification unit. The boundary inductor is used for inducing the magnetic field generated when the boundary signal flows through the boundary line to be converted into a corresponding electric signal. In some embodiments, the boundary sensor includes an inductor that induces a magnetic field and generates a corresponding electromotive force, thereby converting the magnetic field into a boundary line induction signal to be transmitted to the boundary identification module. In other embodiments, the boundary sensor includes a magnetic field detection sensor that detects an alternating magnetic field and converts the alternating magnetic field into an electrical signal output. The boundary identification unit is used for judging the relative position of the intelligent mower and the boundary line according to the electric signals generated by the boundary sensor, such as the distance between the intelligent mower and the boundary line, and whether the intelligent mower is in a working area inside the boundary line or a non-working area outside the boundary line. Specifically, the boundary identifying unit includes a control chip, such as an MCU, an ARM, or the like.

After the boundary identification module is connected with the bus module 41 as an extended function module, the boundary identification module sends a data packet containing the relative position of the intelligent mower and the boundary line to a data bus at intervals of first preset time, the power control unit sends a data packet containing the information of the power supply module 45 to the data bus at intervals of second preset time, the motion control module 42 receives the data packet from the boundary identification module and the data packet from the power supply module 45 on the data bus, plans the walking route of the intelligent mower 10, calculates the walking speed of the walking wheel, and sends a control instruction containing the walking speed of the walking wheel to the data bus; the walk control unit receives control instructions on the data bus from the motion control module 42 containing the walk speed of the walk wheels and drives the walk motor to cause the intelligent mower to travel according to the planned route.

In order to enable the functional modules to obtain the data packets and/or the control commands on the bus module 41, which match with the preset rules, in some embodiments, the data packets and/or the control commands sent by the plurality of functional modules to the data bus respectively include different identification codes, that is, each functional module corresponds to a unique identification code, and the functional modules correspond to the identification codes one to one. The identification codes may be predefined letters, numbers or a combination of letters and numbers, each identification code corresponding to a functional module. Therefore, the functional module acquires the data packet and/or the control instruction required by the data bus according to the matched identification code to execute the predetermined function. For example, the motion control module 42 acquires the data packet from the boundary identification module and the data packet from the power control unit according to the identification code of the boundary identification module and the identification code of the power supply module 45 in a plurality of data packets on the data bus, so as to plan the walking route of the intelligent lawn mower, calculate the walking speed of the walking wheels, and send a control instruction containing the walking speed of the walking wheels to the data bus. In addition, the walking module 44 obtains a control command containing walking speed of the walking wheels from the motion control module 42 according to the identification code of the motion control module 42 and drives the walking motor.

The bus module 41 also includes a power bus 413. The power bus 413 is used to provide power from the power module 45 to a plurality of functional modules. The power supply bus 413 allows power to be supplied to each function module connected to the bus module 41. Specifically, the power bus 413 includes a power supply line 4131 and a power supply ground line 4132.

FIG. 3 illustrates a block diagram of an electronic system 50 of an embodiment. The electronic system includes: a bus module 41, a first module 51, a second module 52, a third module 53, etc.

The first module 51, the second module 52 and the third module 53 are used to implement respective predetermined functions. The first module 51, the second module 52 and the third module 53 are connected to the bus module independently of each other. The bus module 41 further comprises a data bus 411 and a power bus 413. Data transmission is performed between the respective modules through a data bus 411. In some embodiments, the data bus 411 includes a first data line 4111 and a second data line 4112. Thus, the data transmitted by the first, second and

third modules

51, 52 and 53 on the first and

second data lines

4111 and 4112 are differential signals. The power bus 413 is used to provide power to the first module 51, the second module 52, and the third module 53.

By adopting the scheme that the modules are independently connected with the bus module, any module can be easily removed or added into the electronic system without influencing the work of other modules. For example, if the user wants to remove the mowing module from the electronic system of fig. 2, the mowing module can simply be separated from the bus module. After such a separation, the other functional modules are still connected to the bus module and still have the capability to send and/or receive data packets and/or control instructions from the bus module.

Fig. 4 shows a schematic diagram of an intelligent lawn mower system 200. The intelligent lawn mower system 200 includes an intelligent lawn mower 210 and a terminal 220. In order to facilitate the user operation, the terminal 220 may install an application capable of operating or controlling the intelligent mower 210, the terminal 220 calls the application and sends an instruction related to the application to the intelligent mower 210, and the intelligent mower 210 is provided with a wireless communication module to receive the instruction in the application so as to enable the intelligent mower 210 to perform related operations. The terminal 220 may be a mobile device such as a mobile phone, a tablet computer, a smart watch, and AR glasses, which is not limited herein. Specifically, a storage unit is disposed in the terminal 220, and an application program for controlling the intelligent lawn mower is stored in the storage unit, and the application program can output different control instructions according to different operations of a user so as to enable the intelligent lawn mower 210 to perform related operations.

Fig. 5 illustrates, as an embodiment, an electronic system 230 applied to the smart lawn mower system 200 shown in fig. 4. The plurality of functional modules of the intelligent lawn mower 210 further includes a wireless communication module 238. Through the wireless communication module 238, the intelligent lawn mower 210 and the terminal 220 are wirelessly communicated for wireless data transmission. In the present embodiment, the wireless communication is typically short-range wireless communication, including but not limited to: zigbee, Bluetooth, wireless broadband, ultra-wideband, near field communication and the like. This solution requires that both the smart lawn mower 210 and the terminal 220 are provided with wireless communication devices, e.g. both the smart lawn mower 210 and the terminal 220 are provided with bluetooth devices.

In some embodiments, the intelligent lawn mower 210 and the terminal 220 establish a wireless communication connection, and the wireless communication module 238 receives the control instruction of the terminal 220 and sends the control instruction to the bus module 231; one of the plurality of functional modules is configured to acquire a control instruction matching a preset rule on the bus module 231; and executing the preset function according to the matched control instruction. For example, when the user operates the terminal 220 application to output a mowing instruction, the wireless communication module 238 receives the mowing instruction and sends the mowing instruction to the bus module 231, the mowing module 233 obtains the mowing instruction on the bus module 231, and the cutting control unit receives the mowing instruction to control the cutting motor to start to perform a mowing function. Specifically, the mowing module 233 acquires the mowing instruction from the wireless communication module 238 according to the identification code of the wireless communication module 238 in a plurality of data packets and/or control instructions on the bus module 231, so as to control the cutting motor to start to perform the mowing function.

The wireless communication module 238 is further configured to obtain the data packet and/or the control instruction on the bus module 231 matching the preset rule; sending the matched data packet and/or control instruction to the terminal; the terminal 220 performs the relevant operation according to the received data packet and/or the control instruction. For example, in some embodiments, the terminal 220 includes a display unit for displaying at least current charge information of the smart lawn mower. Specifically, the wireless communication module 238 is configured to obtain a data packet of the power supply module 235 on the bus module 231 matching the preset rule; sending the data packet of the power supply module 235 to the terminal 220; the display unit of the terminal 220 displays the current power information of the intelligent mower 210 according to the data packet of the power supply module 235.

Therefore, the user can control the intelligent mower 210 to perform relevant operations through the operation terminal 220, for example, control the intelligent mower to mow, and the terminal outputs a mowing instruction; controlling the mower to walk, and outputting a walking instruction by the terminal; the intelligent mower enables the self-driving device to execute relevant operations according to different control instructions, and specific operation steps are not repeated herein. In addition, the user can also monitor the state of the intelligent mower 210 through the terminal 220, for example, the power information of the intelligent mower 210, the current working state, and the like. Like this, the convenience of intelligent lawn mower operation has been improved.

Fig. 6 shows another embodiment of an electronic system 60 for a smart lawn mower. Unlike the electronic system 40 of the intelligent lawn mower of fig. 2, the plurality of functional modules shown in fig. 6 further includes a master control module 68.

The main control module 68 is configured to be connected with the bus module 61 to perform data transmission with the mowing module 63, the walking module 64, the power supply module 65, the sensor control module 66, the motion control module 62 and the comprehensive management module 67 through the bus module 61. In some embodiments, the main control module 68 is used for generating path information, navigation information, positioning information, and the like of the intelligent lawn mower, and in particular, the main control module 68 includes a control chip, such as an MCU, an ARM, and the like.

As a specific embodiment, when the intelligent mower 10 travels from point A to point B along the preset path A-D as shown in FIG. 7:

fig. 8a is a logic flow diagram between a power supply module and an integrated management module when the intelligent lawn mower travels along the preset paths a-D shown in fig. 7, referring to fig. 8a, the power supply module 65 sends a power supply data packet containing information of voltage, current, electric quantity, temperature and the like of a battery pack to the bus module 61, the integrated management module 67 acquires a data packet matching with a preset rule on the bus module 61, in some embodiments, the integrated management module 67 obtains the power supply data packet from the power supply module 65 on the bus module 61 according to the identification code included in the power supply data packet, and determines whether the battery pack status is normal, when the state of the battery pack is normal, for example, the voltage and/or current of the battery pack is within a preset range, the integrated management module 67 sends a permitted operation command including permitted operation information to the bus module 61. When the battery pack state is abnormal, for example, the battery pack power is lower than a preset value and/or the battery pack voltage and/or current exceeds a preset range, the integrated management module 67 sends a work prohibition instruction containing work prohibition information to the bus module 61.

Fig. 8b is a logic flow diagram between the main control module and the motion control module when the intelligent lawn mower travels along the preset path a-D shown in fig. 7, referring to fig. 8b, the main control module 68 generates path information, navigation information, positioning information, and the like of the intelligent lawn mower, and sends a main control data packet containing the above information to the bus module 61, the motion control module 62 obtains a data packet matching with a preset rule on the bus module 61, in some embodiments, the motion control module 62 obtains a main control data packet from the main control module 68 on the bus module 61 according to an identification code included in the main control data packet, and sends a target position data packet containing target information, such as C point position information, to the bus module 61 after processing.

Fig. 8c is a logic flow chart between the walking module and the sensing module when the intelligent lawn mower walks along the preset paths a-D shown in fig. 7, referring to fig. 8c, the walking module 64 sends a walking data packet containing motor actual measurement information, including but not limited to rotation speed information, to the bus module 61, the sensor control module 66 obtains a matched walking data packet, specifically, the sensor control module 66 obtains a data packet matched with a preset rule on the bus module 61, in some embodiments, the sensor control module 66 obtains the walking data packet from the walking module 64 on the bus module 61 according to an identification code contained in the walking data packet, and sends a pose data packet containing the walking speed and the current orientation of the intelligent lawn mower to the bus module 61 after processing.

In some embodiments, the walking module 64 obtains the matched allowable work instruction, object position data packet and pose data packet, and controls the walking wheels to continue to walk from point B to point C according to the information contained in the data packets, so as to control the intelligent lawn mower to walk along the preset path shown in fig. 7. In other embodiments, the walk module 64 obtains a matching inhibit work order, and thus the walk module 64 stops working to stop the intelligent lawn mower from advancing.

Specifically, fig. 9 shows a work flow diagram of each functional module when the intelligent mower walks along the preset paths a-D as shown in fig. 7, comprising the following steps:

s101, the power supply module 65 sends a power supply data packet;

in this step, the power supply module 65 transmits a power supply packet containing information of the battery voltage, current, temperature, and the like to the bus module 61.

S102, the comprehensive management module 67 acquires a power supply data packet;

in this step, the integrated management module 67 obtains a data packet matching the preset rule, and in some embodiments, the integrated management module 67 receives the power supply data packet from the power supply module 65 through an identification code for identifying the power supply data packet.

S103, judging whether the battery pack is normal or not by the comprehensive management module 67;

in this step, the integrated management module 67 determines whether the battery pack state is normal according to the battery pack information included in the power supply data pack, for example, determines whether the voltage of the battery pack is normal, or determines whether the output current of the battery pack is normal, or determines whether the electric quantity of the battery pack is within a preset range; if yes, executing step S104; if not, step S105 is executed.

S104, the comprehensive management module 67 sends a work permission instruction;

in this step, the integrated management module 67 sends a permission work instruction to the bus module 61.

S105, the comprehensive management module 67 sends a work prohibition instruction;

in this step, the integrated management module 67 sends a work prohibition instruction to the bus module 61.

S106, the walking module 64 obtains a work prohibition instruction;

in this step, the walking module 64 obtains the work prohibition instruction matching the preset rule, and in some embodiments, the walking module 64 obtains the work prohibition instruction by identifying the id of the integrated management module 67.

S107, stopping the work of the walking module 64;

in this step, the walk module 64 stops working to stop the intelligent mower from advancing.

S201, the master control module 68 sends a master control data packet;

in this step, the main control module 68 is configured to generate path information, navigation information, positioning information, and the like of the intelligent lawn mower, and send a main control data packet containing the above information to the bus module 61.

S202, the motion control module 62 acquires a master control data packet;

in this step, the motion control module 62 obtains the master data packet matching the predetermined rule, and in some embodiments, the motion control module 62 obtains the master data packet from the master module 68 by identifying the id of the master data packet.

S203, sending a target position data packet;

in this step, the motion control module 62 sends the target position data packet to the bus module 61 after processing according to the master control data packet, and in this embodiment, the motion control module 62 sends the target position data packet of the point C information to the bus module 61 according to the master control data packet.

S301, the walking module 64 sends a walking data packet;

in this step, the walking module 64 sends a walking data packet containing the motor measurement information to the bus module 61.

S302, the sensor control module 66 acquires a walking data packet;

in this step, the sensor control module 66 obtains a walking data packet matching the preset rule, and in some embodiments, the sensor control module 66 obtains the walking data packet from the walking module 64 by identifying an identification code of the walking data packet.

S303, sending a pose data packet;

in this step, the sensor control module 66 processes the walking data packet and sends a pose data packet containing the walking speed and the current orientation information of the intelligent mower to the bus module 61.

S108, the walking module 64 acquires an allowable working instruction;

in this step, the walking module 64 obtains the allowed work order matching with the preset rule, and in some embodiments, the walking module 64 obtains the allowed work order from the integrated management module 67 by identifying the id of the integrated management module 67.

S109, the walking module 64 identifies and acquires a target position data packet and a pose data packet;

in this step, the walking module 64 acquires a data packet matching the preset rule, and in some embodiments, the walking module 64 recognizes and receives the target position data packet and the pose data packet through the id of the motion control module 62 and the id of the sensing module.

S402, controlling the intelligent mower to walk along a preset path;

in this step, the walking module 64 controls the intelligent lawn mower to walk along the preset path according to the target position data packet and the pose data packet. In the present embodiment, the walking module 64 controls the walking wheel to continue to travel from point B to point C according to the information contained in the data packet, so as to control the intelligent lawn mower to walk along the preset path shown in fig. 7.

In some embodiments, referring to fig. 10, the master control module 68 further includes a management unit 681 and a processing unit 682. The processing unit 682 is connected to the external module 69 to obtain information of the external module and process the information to generate a processing signal to be transmitted to the management unit, and the management unit 681 is configured to generate a management command according to the processing signal and transmit the management command to the bus module 61. The management unit is further configured to receive data packets sent by other functional modules on the bus module 61 and/or control instructions to generate management module data packets, send the management module data packets to the processing unit 682, and send the management module data packets to the external module after the management module data packets are processed by the processing unit 682. Specifically, the processing unit 682 is connected with one or more external modules 69, and the external modules 69 specifically include: one or more of a wireless communication module, a man-machine interaction module, a USB module and the like.

The intelligent mower can be communicated with external equipment through the wireless communication module or the USB module so as to transmit data. The external device can be a terminal, and the terminal can be implemented as a computer, a mobile phone, a wristwatch, VR/AR glasses and other mobile devices. Therefore, the user can control the intelligent mower through the control terminal. For example, a user sends a starting instruction through the terminal, the communication module receives the starting instruction and sends the starting instruction to the processing unit, the processing unit generates a processing signal and sends the processing signal to the management unit, and the management unit generates a management instruction according to the processing signal and sends the management instruction to the bus module. The function module associated with the start of the intelligent mower executes a predetermined function to start the intelligent mower after the management command from the management unit is acquired on the bus module, for example, the mowing module 63 controls the cutting motor to start working after the control command containing the start information is acquired. Wherein the wireless communication module may include one or more of a bluetooth module, a WiFi module, and a 4G/5G module.

The man-machine interaction module is at least used for displaying the current state information of the intelligent mower. In the embodiment, the man-machine interaction module can display the electric quantity information of the intelligent mower. Specifically, the management unit 681 receives the data packets from the power control unit on the bus module, sends the data packets to the processing unit 682, processes the data packets by the processing unit 682, and sends the processed data packets to the human-computer interaction module to display information such as the current electric quantity of the plurality of battery packets. In other embodiments, the human-computer interaction module is further configured to be operable to output a control instruction, for example, a user sends a start instruction through the human-computer interaction module, the processing unit 682 generates a processing signal and sends the processing signal to the management unit 681, and the management unit 681 generates a management instruction according to the processing signal and sends the management instruction to the bus module. The function module associated with the start of the intelligent mower executes a predetermined function to start the intelligent mower after receiving a management instruction from the management unit 681 on the bus module 61, for example, the mowing module controls the cutting motor to start working after receiving a control instruction containing start information. The human-computer interaction module can comprise a display module, such as a display screen; input modules, such as touch panels, buttons, switches, etc.; a voice module, etc.

Besides the wireless communication module and the man-machine interaction module, the external module also comprises an expansion module. The expansion module includes one or more of a camera module and a GPS module. In some embodiments, the camera module is capable of collecting image data of the environment surrounding the intelligent lawn mower; the GPS module is used for acquiring the position data of the intelligent mower. The processing unit 682 acquires image data to realize timely positioning and map construction of the intelligent mower, positioning and map construction information is sent to the management unit 681, and the management unit 681 generates a corresponding route planning data packet according to preset logic and real-time data and sends the route planning data packet to the bus module. The motion sensing module receives the route planning data packet and sends a control instruction containing the walking speed of the walking wheel to a data bus; and the walking control unit receives a control instruction containing walking speed of the walking wheels from the motion control module on the data bus and drives the walking motor to enable the intelligent mower to run according to the planned route.

The management instruction generated by the management unit 681 includes an id different from each functional module. Therefore, the plurality of functional modules acquire the management command of the management unit 681 required on the bus module according to the id of the management command to execute the predetermined function.

It is understood that the management unit 681 and the processing unit 682 may be integrated on a chip, or may be two separate chips, which is not limited herein.

It is understood that the terminal 220 may replace the processing unit 682 and the external module 69. Referring to fig. 11, the terminal 220 may be a mobile device such as a mobile phone, a tablet computer, a smart watch, and AR glasses, in which a program for operating or controlling the smart mower is installed. Taking a mobile phone as an example, the mobile phone generally has a first wireless communication module, a man-machine interaction module, a camera module, a GPS module, and the like. In order to enable the intelligent mower 210 to be connected with the terminal 220 in a communication way, the main control module needs to be connected with a second wireless communication module 79, and the second wireless communication module 79 is configured to receive a control instruction in an application program of the terminal 220 and send the control instruction to the main control module 78; the main control module 78 sends the control instruction to the bus module 71; one of the plurality of functional modules is configured to acquire a control instruction on the bus module 71 that matches a preset rule; and executing a preset function according to the matched control instruction. The master control module 78 includes a management unit in the embodiment shown in fig. 10.

Therefore, the terminal 220 replaces a processing unit and an external module which need to perform a large amount of data processing operation, and the cost of the intelligent mower can be greatly reduced; in addition, the user can operate the intelligent mower through the terminal at the user's side, for example, a mobile phone, monitors the state of the intelligent mower, improves user experience, and makes user operation more convenient.

Fig. 12 shows a detailed circuit block diagram of the functional blocks of an embodiment. As shown in fig. 12, the first module 83 includes at least: a main power supply circuit 831, a control unit 833 and a functional unit 832. The first module 83 may be one of the functional modules in the embodiment shown in fig. 2, such as one of a motion control module, a mowing module, a walking module, a sensing module or a boundary identifying module.

The main power supply circuit 831 is used to supply power to the control unit 833. In some embodiments, the main power circuit 831 is connected to the power bus to convert the power from the power bus to a voltage output of the adaptive control unit. The main power supply circuit 831 may include a DC-DC conversion circuit and the like.

The functional unit 832 is connected to the control unit 833 for performing the functions of the functional modules. Functional unit 832 may be a motion sensor, cutting motor, walking motor, or boundary sensor, among others.

In order to enable the intelligent mower to reduce power consumption and save more energy, at least one of the plurality of functional modules has an operating state and a sleep state. When at least one of the functional modules is in the sleep state, the main power supply circuit 831 supplies power to the control unit 833, and the functional module receives a wake-up signal and then switches from the sleep state to the working state.

The intelligent mower further comprises a main control module 82, and the main control module 82 is at least used for sending a wake-up signal to the functional module. The main control module 82 sends a wake-up signal to the bus module 81, and the control unit 833 of the functional module switches from the sleep state to the working state after receiving the wake-up signal from the bus module 81. In a specific embodiment, when the mowing module of the intelligent mower is in the sleep mode, a user inputs a mowing instruction through the human-computer interaction module connected with the main control module 82, the main control module 82 sends a wake-up signal to the cutting control unit of the mowing module through a wire, the cutting control unit receives the wake-up signal and then switches from the dormant state to the working state, so that the mowing module can execute a mowing function, and the cutting control unit acquires a mowing instruction signal on the bus module to control the cutting motor to work in the working state.

In some embodiments, the first module 83 is configured to switch to the working state every first preset time when the first module 83 is in the sleep state, and switch from the working state to the sleep state after a second preset time. The first preset time is longer than the second preset time. For example, the first module 83 is a power supply module, and the control unit 833 is a power control unit. When the power supply module is in a dormant state, stopping providing electric energy for other functional modules, such as a walking module, a mowing module and the like, and then switching the power supply module to a working state every a first preset time so as to continuously execute the functions of detecting the battery pack state, the system power consumption state and the bus module state of the power supply module; if the power supply module detects that the battery pack is abnormal, an abnormal signal is sent to the main control module to control the intelligent mower to shut down.

In other embodiments, referring to fig. 13, the first module 93 further includes a slave supply circuit 935. The slave power supply circuit 935 is used to supply power to the functional unit 933. The slave power supply circuit 935 is connected to the master power supply circuit 931 to convert the electric energy of the master power supply circuit 931 to a voltage output of the adaptation function unit 933. The function unit 933 is connected to the control unit 932, and in this embodiment, the function unit 932 specifically includes the motion sensor, the boundary sensor, and the like. The slave supply circuit 935 is turned off when the first module 93 is in the sleep state and turned on when the first module 93 is switched to the active state.

Therefore, in order to achieve the above functions, the first module 93 further includes a wake-up circuit 934, which is connected to the slave power supply circuit 935, and controls the slave power supply circuit 935 to conduct when the first module 93 receives a wake-up signal, and further, the wake-up circuit 934 is connected to the bus module 91, and the wake-up circuit 934 is connected to the data bus 911 of the bus module 91 to receive the wake-up signal. Specifically, when the first module 93 is in the sleep state, the control unit 932 stops operating and is disconnected from the power supply circuit 935, and then the power supply circuit 935 stops supplying power to the functional element 933. When the first module 93 receives the wake-up signal, the control unit 932 switches from the sleep state to the working state after receiving the wake-up signal, and the wake-up circuit 934 also controls the slave power supply circuit 935 to be turned on after receiving the wake-up signal, so that the power supply circuit 935 supplies power to the functional unit, and the functional unit 933 is powered on and works normally.

In other embodiments, when the first module 93 is in the sleep state, the main power supply circuit 931 stops supplying power to the control unit 932, and after the functional module receives the wake-up signal, the main power supply circuit 931 continues to supply power to the control unit 932, so that the functional module is powered on to switch from the sleep state to the working state. Referring to fig. 14, in the present embodiment, the wake-up circuit 934 is directly connected to the main power supply circuit 931. The wake-up circuit 934 is configured to control the main power supply circuit 931 to be turned on when the first module 93 receives a wake-up signal. Specifically, after the wake-up circuit 934 receives the wake-up signal of the bus module 91, the main power supply circuit 931 is controlled to be turned on to provide power to the control unit 932, so that the control unit 932 is powered on to operate normally.

It is understood that the wake-up signal may be sent by the second module 94 instead of the main control module 92, and the second module 94 may be one of the functional modules in the embodiment shown in fig. 2, which is not limited herein.

Like this, have operating condition and dormant state through setting up the functional module for the functional module gets into the dormant state when awaiting orders, on the one hand, can prolong intelligent lawn mower's operating time, reduces intelligent lawn mower's frequency of charging, and on the other hand has improved intelligent lawn mower's work efficiency, also makes intelligent lawn mower more energy-conserving.

Fig. 15 illustrates, as an embodiment, a data interaction system 300 for a smart lawn mower, the data interaction system 300 including, as shown in fig. 15: and the plurality of functional modules are used for realizing respective preset functions so as to control the intelligent mower to normally work. In this embodiment, the plurality of functional modules specifically include a first functional module 310 and a second functional module 320, and the first functional module 310 and the second functional module 320 may be: the intelligent lawn mower comprises a motion control module, a mowing module, a walking module, a power supply module, a comprehensive management module, a sensor control module, a boundary identification module, a main control module and the like.

Wherein one of the plurality of functional modules, for example the first functional module 310, comprises: a file storage unit 311; a plurality of sub-functional units, such as a first sub-functional unit 312 and a second sub-functional unit 313, which are independent of each other and send respective data packets to the file storage unit, respectively, in some embodiments; and a transmission unit 314, configured to receive an external data packet and send the external data packet to the file storage unit 311, in some embodiments, the transmission unit 314 is configured to connect with other functional modules to receive data packets sent by other functional modules, for example, connect with the second functional module 320. The file storage unit is configured to: receiving a data packet from each of the transmission unit 314 and the plurality of sub-functional units; classifying and storing the received data packets into corresponding classified data packets according to a preset rule, for example, classifying and storing the data packets received from each of the transmission unit and the plurality of sub-functional units into corresponding classified data packets 1, 2, 3, 4, 5, etc. according to a preset rule; and issuing the classified data packets to the sub-function units according to subscription rules, namely issuing the classified data packets 1, 2, 3, 4 and 5 to the sub-function units respectively according to the subscription rules.

As a specific embodiment, a main control module is taken as an example for description. Fig. 16 illustrates a data interaction system of the main control module 330 as an embodiment. As shown in fig. 16, the main control module 330 includes: a transmission unit 331, a mapping unit 332, a path planning unit 333 and a file storage unit 334.

The transmission unit 331 is configured to receive an external data packet and send the external data packet to the file storage unit 334. In some embodiments, the transmission unit 331 is connected to the other control module 340 to receive the data packets sent by the other functional module. The transmission unit 331 sends the serial port data packet to the file storage unit 334 according to the received external data packet.

The mapping unit 332 is used to create a map of the mowing area for the intelligent lawn mower. In some embodiments, the intelligent lawn mower usually walks a circle along the physical boundary before the formal mowing work, and a map is established by walking a method for recording the boundary track. In the present embodiment, the mapping unit 332 transmits the mapping data packet to the file storage unit 334.

The path planning unit 333 is used for planning a walking route for the intelligent mower. In some embodiments, the master control module 330 interfaces with peripheral devices. The peripheral device may be configured as any one or more of a keyboard, mouse, microphone, touch screen, remote control and/or a mobile device such as a handle, camera, cell phone, etc. The user can directly and manually input command information through hardware such as a mouse, a keyboard, a remote controller and a mobile phone and the like, and the command information is processed through the path planning unit to plan the route of the intelligent mower. In the present embodiment, the path planning unit 333 sends the path packet to the file storage unit 334.

The file storage unit 334 receives the serial port data packet 3311, the mapping data packet 3321, and the path data packet 3331, classifies the received data packets according to a preset rule, and stores the classified data packets as corresponding classified data packets, in this embodiment, the file storage unit 334 stores the serial port data packet, the mapping data packet, and the path data packet as corresponding classified data packets according to a preset rule, specifically, the classified data packets include: a positioning message packet, a positioning state message packet, a position message packet, an instruction message packet and a path message packet.

The document storage unit 334 is further configured to issue classification packets to each sub-functional unit according to the subscription rules. In this embodiment, the file storage unit 334 sends the positioning message packet and the location message packet to the mapping unit 332 according to the subscription rule, so that the mapping unit 332 sends the mapping data packet 3321 to the file storage unit 334 according to the received classification data packet, and the mapping data packet 3321 is stored in the file storage unit 334 as the instruction message packet according to the preset rule; the file storage unit 334 further sends the location state message packet and the location message packet to the path planning unit 333 according to the subscription rule, so that the path planning unit 333 sends the path data packet 3331 to the file storage unit 334 according to the received classification data packet, and the path data packet 3331 is stored as a path message packet in the file storage unit 334 in a classification manner according to a preset rule; the transmission unit 331 also receives the instruction message packet from the mapping unit 332 and the path message packet from the path planning unit 333 according to the subscription rule, and transmits the instruction message packet and the path message packet to the other function module 340, thereby controlling the walking route of the intelligent lawn mower.

In some embodiments, at least one of the plurality of sub-functional units comprises: and the subscription unit is configured to set the subscription rule to acquire the required classification data packet. Specifically, the first subscription unit 3322 configured in the mapping unit 332 sets the first subscription rule to obtain the positioning message package and the location message package; a second subscription unit 3332 arranged in the path planning unit 333 sets a second subscription rule to obtain a location message package and a location status message package; the third subscription unit 3312 provided in the transmission unit 331 sets a third subscription rule to acquire the instruction message packet and the path message packet.

In this way, the multiple sub-functional units are independent of each other, so that data between the respective functional modules are decoupled from each other. The upgrading of the sub-function units in each function module is facilitated, and the addition/deletion of the sub-function units is facilitated without influencing the operation of other sub-function units.

The foregoing shows and describes the general principles, principal features and advantages of the invention. It should be understood by those skilled in the art that the above embodiments do not limit the present invention in any way, and all technical solutions obtained by using equivalents or equivalent changes fall within the protection scope of the present invention.

Claims

1. An electronic system for a self-propelled device,

the method comprises the following steps:

a plurality of functional modules for implementing respective predetermined functions;

a bus module connected with the plurality of functional modules respectively,

at least some of the plurality of functional modules are configured to send respective data packets to the bus module;

wherein, the first and the second end of the pipe are connected with each other,

one of the plurality of functional modules is configured to acquire a data packet matched with a preset rule on the bus module;

performing the predetermined function according to the matched data packet.

2. The electronic system for a self-driven device according to claim 1,

the self-driving apparatus includes: the power supply module is used for supplying electric energy to the self-driven equipment;

the bus module includes:

a data bus for transmitting data between the plurality of functional modules;

and the power bus is used for providing the electric energy of the power supply module to the plurality of functional modules.

3. The electronic system for a self-driven device according to claim 2,

the data bus comprises a first data line and a second data line, and data transmitted among the functional modules are differential signals.

4. The electronic system for a self-propelled device of claim 1,

the data packet comprises identification codes which correspond to the plurality of functional modules one by one;

one of the plurality of functional modules is configured to acquire a data packet matched with a preset identification code on the bus module.

5. The electronic system for a self-driven device according to claim 1,

the bus module further includes:

and the extended interface is used for accessing an extended function module so as to enable the extended function module to perform data transmission with at least one of the plurality of function modules to realize the preset function of the extended function module.

6. The electronic system for a self-driven device according to claim 1,

the self-driving apparatus further includes:

an extended function module;

the extended function module is configured to perform data transmission with at least one of the plurality of function modules after being operatively connected with the bus module to realize the preset function of the extended function module.

7. The electronic system for a self-driven device according to claim 1,

the plurality of functional modules comprise one or more of a mowing module, a walking module, a power supply module, a motion control module and a boundary identification module.

8. The electronic system for a self-driven device according to claim 1,

the electronic system of the self-driven apparatus further includes:

and the main control module is used for being connected with an external module so as to transmit data through the bus module and at least one of the plurality of functional modules.

9. The electronic system for a self-driven device according to claim 8,

the external module comprises one or more of a communication module, a man-machine interaction module, a USB module and the like.

10. The electronic system for a self-propelled device of claim 4,

the identification code comprises predefined letters, numbers or a combination of letters and numbers.