WO2019052473A1 - 自移动设备及其自动工作系统 - Google Patents

自移动设备及其自动工作系统 Download PDF

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Publication number
WO2019052473A1
WO2019052473A1 PCT/CN2018/105246 CN2018105246W WO2019052473A1 WO 2019052473 A1 WO2019052473 A1 WO 2019052473A1 CN 2018105246 W CN2018105246 W CN 2018105246W WO 2019052473 A1 WO2019052473 A1 WO 2019052473A1
Authority
WO
WIPO (PCT)
Prior art keywords
working
self
mobile device
head
module
Prior art date
Application number
PCT/CN2018/105246
Other languages
English (en)
French (fr)
Inventor
王家达
赵凤丽
Original Assignee
苏州宝时得电动工具有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201721166271.XU external-priority patent/CN207639110U/zh
Priority claimed from CN201710817830.7A external-priority patent/CN109831949A/zh
Application filed by 苏州宝时得电动工具有限公司 filed Critical 苏州宝时得电动工具有限公司
Priority to EP18857187.1A priority Critical patent/EP3682721A1/en
Priority to CN201880005872.3A priority patent/CN110366368A/zh
Publication of WO2019052473A1 publication Critical patent/WO2019052473A1/zh
Priority to US16/816,767 priority patent/US11780078B2/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B51/00—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D43/00—Mowers combined with apparatus performing additional operations while mowing
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G20/00—Cultivation of turf, lawn or the like; Apparatus or methods therefor
    • A01G20/40—Apparatus for cleaning the lawn or grass surface
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
    • A01G3/08—Other tools for pruning, branching or delimbing standing trees
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/086—Proximity sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0019—End effectors other than grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087—Dual arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning

Definitions

  • the invention relates to a self-mobile device and an automatic working system thereof.
  • a self-mobile device comprising:
  • a traveling mechanism disposed on the body and configured to drive the walking of the self-moving device
  • control module configured to control the walking mechanism to drive the self-moving device to walk in a defined area
  • control module is configured to control an operating state of the connecting arm and/or the working head.
  • the connecting arm can move autonomously under the control of the control module.
  • extension range of the connecting arm exceeds a range covered by the projection of the body in the horizontal direction.
  • the connecting arm is coupled to the body and movable relative to the body.
  • the connecting component is coupled to the body and movable relative to the body.
  • connection assembly includes a fixed end that is movably coupled to the body, the body includes a fixing portion for fixing the fixed end, and the fixed end is rotatable relative to the fixing portion .
  • the connecting component includes at least two sub-connecting members, and the at least two sub-connecting members are relatively movable.
  • the connecting structure includes a holding portion for fixing the working head.
  • the holding portion includes an automatic holding portion for automatically connecting the working head.
  • the automatic holding portion includes at least one of an electromagnetic clamp and an electromagnetic lock.
  • the holding portion includes a non-automatic holding portion for non-automatically connecting the working head.
  • the holding portion includes at least two claws, and the at least two claws may be apart from each other or gathered.
  • the holding portion includes a buckle.
  • connection structure further includes an electrical connector for electrically connecting to the working head.
  • the self-mobile device further includes an identification module for identifying the work head.
  • the self-moving device further includes a position detecting module for detecting a position of the connecting arm, and the control module controls a motion track of the connecting arm according to the detection result of the position detecting module.
  • the self-moving device further includes a receiving cavity for receiving the working head.
  • the accommodating cavity includes at least two sub-accommodating cavities for accommodating different working heads.
  • control module controls the connecting arm to automatically protrude into the receiving cavity to be connected with the working head.
  • the self-mobile device includes at least two of the connecting arms.
  • the self-mobile device further includes a protection module for performing security protection on the working head.
  • the protection module includes a protective cover disposed on the mechanical arm.
  • the protection module includes a security detection module for detecting whether the self-mobile device is in a safe working environment, and the control module controls the self-mobile device and/or the detection according to the detection result of the security detection module. The working status of the work head.
  • the security detection module includes at least one of an infrared detection module, an ultrasonic detection module, and an image detection module.
  • the protection module includes a signal receiving module for receiving a working signal indicating whether the working head is in a safe working environment, and the control module controls the self-mobile device and/or the work according to the working signal. The working state of the head.
  • the working signal is a wireless signal generated by a user operation.
  • the control module controls the self-mobile device and/or the working head to work when the signal is received.
  • the module does not receive the work signal indicating that the work head is in a safe working environment or when the signal receiving module receives the work signal indicating that the work head is in a non-safe working environment, the control module controls the Said to be stopped from the mobile device and / or the work head.
  • the signal receiving module further includes a signal strength detecting module for detecting an intensity of the working signal, and presetting a signal strength threshold, when the signal strength detecting module detects that the signal strength of the working signal is lower than
  • the control module controls the self-mobile device and/or the work head to stop operating when the signal strength threshold is reached.
  • the working signal includes a shutdown signal, and when the signal receiving module receives the shutdown signal, the control module controls the self-mobile device and/or the working head to stop working according to the shutdown signal.
  • the self-mobile device includes a plurality of preset working modes, and the control module controls the self-mobile device to perform a work task according to a preset working mode.
  • control module controls the self-mobile device to walk according to a preset path.
  • the self-mobile device further includes an identification module for identifying the work head and acquiring the work head information, and the control module controls the self-mobile device according to the work head information acquired by the identification module. / or the work head performs a work task according to a corresponding preset work mode.
  • the self-mobile device further includes a signal receiving module for receiving a command signal, and the control module controls an operating state of the self-mobile device and/or the working head according to the command signal.
  • the predetermined working modes include a specified working mode
  • the command signal includes a signal indicating the specified working mode
  • the control module controls the self-mobile device and/or the work according to the command signal.
  • the header performs a work task in accordance with the specified work mode.
  • the command signal includes an operation signal for indicating whether the working head is in a safe working environment, and the control module controls an operating state of the self-mobile device and/or the working head according to the working signal.
  • the control module controls the self-mobile device and/or the working head to work when the signal is received.
  • the module does not receive the work signal indicating that the work head is in a safe working environment or when the signal receiving module receives the work signal indicating that the work head is in a non-safe working environment, the control module controls the Said to be stopped from the mobile device and / or the work head.
  • the signal receiving module further includes a signal strength detecting module for detecting the strength of the command signal, and presetting a signal strength threshold, when the signal strength detecting module detects that the signal strength of the command signal is lower than a signal strength threshold
  • the control module controls the self-mobile device and/or the work head to stop working.
  • the self-mobile device further includes an energy module for providing energy to the self-mobile device and/or the work head.
  • the self-mobile device includes a return charging mode, and in the return charging mode, the control module controls the self-mobile device to automatically return to charging station charging.
  • a power threshold is preset, and when the power of the energy module is lower than the power threshold, the control module controls the self-mobile device to automatically return to the charging station for charging.
  • the self-mobile device further includes a power module for powering the self-mobile device.
  • the self-mobile device further includes a working module for performing a preset work task, and the working module is disposed on the body.
  • the self-mobile device is an automatic lawn mower
  • the working module is a mowing head for performing a mowing task.
  • the present invention can also adopt the following technical solution: an automatic working system including the above self-moving device, the automatic working system further comprising a working head for connecting with the connecting arm to perform a work task.
  • the working head includes a connecting portion for connecting with the connecting structure.
  • the work head further includes a work head energy module for providing energy to the work head and/or the self-mobile device.
  • the work head further includes a work head power module for powering the work head.
  • the work head further includes an information supply module for providing identification information.
  • the working head further includes a controller for controlling an operating state of the self-moving device and/or the working head.
  • the working head is at least one of a mowing head, a suction device, a cutting device, a pruning shear, a grass cutting head, and a picking device.
  • the automated working system includes at least two working heads that perform different work tasks, and the connecting arms are selectively connectable to at least one of the working heads.
  • the automatic working system further includes a controller for controlling an operating state of the self-mobile device and/or the working head.
  • the automatic working system further includes a protection module for performing safety protection on the working head.
  • the protection module is disposed on the self-mobile device and/or the working head.
  • the protection module includes a protective cover disposed on the working head.
  • the protection module includes a security detection module for detecting whether the self-mobile device is in a safe working environment, and the control module controls the self-mobile device and/or the detection according to the detection result of the security detection module. The working status of the work head.
  • the security detection module includes at least one of an infrared detection module, an ultrasonic detection module, and an image detection module.
  • the protection module includes a signal receiving module for receiving a working signal indicating whether the working head is in a safe working environment, and the control module controls the self-mobile device and/or the work according to the working signal. The working state of the head.
  • the automatic working system further includes a user terminal, and the signal sending module is disposed in the user terminal.
  • An intelligent mobile device capable of installing a work head comprising:
  • a walking mechanism installed on the main body of the smart mobile device to drive the main body of the smart mobile device to move;
  • connecting arm one end of the connecting arm is rotatably mounted on the main body of the smart mobile device, and the other end extends away from a side of the main body of the smart mobile device and is provided with a connecting structure for mounting the working head;
  • a control module electrically connected to the connecting arm to control an operating state of the connecting arm.
  • the smart mobile device body is provided with a receiving cavity, and the connecting arm can extend into the receiving cavity under the control of the control module.
  • the smart mobile device includes two or more of the connecting arms, and two or more of the connecting arms are respectively mounted on the smart mobile device body.
  • the connecting structure includes two or more jaws, and two or more of the claws may be away from each other or gathered.
  • the connecting structure is a buckle.
  • the present invention can also adopt the following technical solution: an intelligent system including the above smart mobile device.
  • the intelligent system further includes a working head, the working head is a plurality of, and the plurality of working heads are selectively cooperated with the connecting structure to be mounted on the connecting arm.
  • the working head is a suction device, a cutting device, a pruning shear or a grass cutting head.
  • FIG. 1 is a schematic structural diagram of a self-mobile device in a specific embodiment
  • FIG. 2 is a schematic structural view of an automatic working system in which a suction device is installed in a specific embodiment
  • FIG. 3 is a schematic structural view of an automatic working system in which a pick-up device is mounted in a specific embodiment
  • FIG. 4 is a schematic structural diagram of a self-mobile device in a specific embodiment
  • FIG. 5 is a schematic structural view of an automatic working system in which a suction device is installed in a specific embodiment
  • FIG. 6 is a schematic structural view of an automatic working system in which a cutting device is mounted in a specific embodiment
  • FIG. 8 is a schematic structural view of an automatic working system with a grass head installed in an embodiment
  • FIG. 9 is a schematic structural view of an automatic working system in a specific embodiment
  • FIG. 10 is a schematic structural view of an automatic working system having a plurality of working heads in an embodiment.
  • FIG. 10 is a schematic structural view of an automatic working system having a plurality of working heads in an embodiment.
  • FIG. 11 is a schematic structural view of an automatic working system having a plurality of working heads in an embodiment.
  • Figure 13 is a schematic view showing the structure of an automatic working system having a protective cover in an embodiment.
  • Figure 14 is a schematic view showing the structure of an automatic working system having a protective cover in an embodiment.
  • Figure 15 is a schematic view showing the structure of the connecting arm having the automatic holding portion in a released state in an embodiment.
  • Figure 16 is a schematic view showing the structure of the connecting arm having the automatic holding portion in a closed state in an embodiment.
  • 17 is a block diagram of a self-mobile device in an embodiment.
  • FIG. 18 is a schematic diagram of a self-mobile device and a charging station in an automatic working system in an embodiment.
  • 19 is a schematic diagram of an automatic working system controlling a self-mobile device by user operation in an embodiment.
  • an automated working system 300 includes a self-mobile device 100 and a work head 200 coupled to the self-mobile device 100.
  • the self-moving device 100 includes a body 20, a running mechanism 40 disposed on the body 20 for driving the mobile device 100, and a connecting arm 60 connected to the body 20.
  • a control module 11 for controlling walking and working from the mobile device 100 in a defined area and an energy module 13 for providing energy from the mobile device 100, wherein the control module 11 controls the traveling mechanism 40 to drive the mobile device 100 within a defined area. walk.
  • the connecting arm 60 is selectively connectable to at least one of the at least two working heads 200 for performing different work tasks.
  • the working head 200 can be a working head 200 that performs different work tasks, such as a mowing head, a suction device, a cutting device, a pruning shear, a grass cutting head or a picking device, and the connecting arm 60 can be selectively connected to the above execution differently.
  • the work head 200 of the work task thereby causing the automatic work system 300 to perform different kinds of work.
  • the type of the work head 200 is not limited thereto, and can be set as needed.
  • the connecting arm 60 can selectively connect the working head 200 for performing different work tasks, including active connection or passive connection.
  • the connecting arm 60 can actively select to connect any of the different working heads 200 to enable the automated working system 300 to perform different kinds of work; in another embodiment, the connecting arm 60 may passively select to connect any of the different working heads 200 to enable the automated working system 300 to perform different kinds of work, for example, the user selects any one of the different working heads 200 to be mounted on the connecting arm. 60 to enable the automated working system 300 to perform different types of work.
  • the automatic working system 300 can be used as a blowing machine.
  • the airflow blown from the suction device can gather the leaves or garbage scattered on the ground for the operator to collect, and can also be used as a vacuuming tool to inhale dust, leaves and the like to complete the cleaning work.
  • the automatic working system 300 can be used as a pick-up machine.
  • the automatic working system 300 can be used as a cutting machine.
  • the cutting device is a chain saw and can be used for cutting materials such as wood.
  • the automatic working system 300 can trim the branches of the plant.
  • the automatic working system 300 can be used as a lawnmower, and the grassing line provided in the grass head is rotated to perform grass cutting work. .
  • the working head 200 is detachably coupled to the connecting arm 60, wherein detachable means that the working head 200 can be detached from the connecting arm 60 without destructive operation, for example, automatic disassembly or manual Alternatively, the disassembly may be performed by means of an external machine or the like, and the disassembled connecting arm 60 and the working head 200 are not damaged, and may be reused.
  • the connecting arm 60 may continue to be connected with the other working heads 200, and of course, may be connected again.
  • Disassembled work head 200 is non-removably secured to the connecting arm 60, wherein non-removable means that the working head 200 cannot be detached from the connecting arm 60 by non-destructive operation.
  • the working head 200 may be fixed to the connecting arm 60 at the time of shipment, or may be fixed to the connecting arm 60 by a non-detachable manner after the working head 200 is selected by the user after leaving the factory.
  • the working head 100 is detachably coupled to the connecting arm 60 such that the connecting arm 60 can cyclically connect different working heads 200, so that the automatic working system 300 can perform different kinds of work cyclically. .
  • the connecting arm 60 is connected to the detachable working head 200, and the automatic working system 300 includes a plurality of (including one) working heads 200.
  • the automatic working system 300 includes at least two working heads, and is connected.
  • the arm 60 can selectively connect different working heads 200 to perform different kinds of work, thereby meeting different environments and needs, which brings great convenience to people, because different working heads 200 can jointly use one self-moving device 100. There is no need to replace different self-mobile devices 100, thereby increasing work efficiency while reducing the cost of use.
  • the control module 11 is used to control the operating state of the connecting arm 60 and/or the working head 200.
  • the working state of the connecting arm 60 refers to whether the connecting arm 60 is working, whether it is moving, its moving state and its posture, etc.
  • the working state of the working head 200 refers to whether the working head 200 is working, working voltage, current and power thereof, etc. Wait. It can be understood that the working state of the connecting arm 60 and/or the working head does not limit the above, as long as the state, parameters, position, posture, and the like related to the work of the connecting arm 60 and/or the working head 200 are referred to as their working states.
  • the self-moving device 100 can also control the operating state of the connecting arm 60 and/or the working head 200 by manual control or by other controllers.
  • the control module 11 can control the operating state of the mobile device 100 and/or the working head 200, wherein the operating state of the mobile device 100 includes the working state of the body 20 of the mobile device 100 and the connecting arm.
  • the working state of 60 specifically, the working state of the body 20 refers to the working state of the portion other than the connecting arm 60 of the mobile device 100, that is, the control module 11 can not only control the working state of the connecting arm 60, but also The operating state of the portion other than the connecting arm 60 from the mobile device 100 is controlled, and the above operating states include whether or not the working and working states, various parameters, and the like.
  • control module 11 can control the walking state of the self-moving device, wherein the walking state includes whether to walk, the walking speed, the walking trajectory, and the like.
  • the control module 11 can also control the state of other structures other than walking, such as the operating state of other working components, or current, voltage, power, charge and discharge management, or re-charging from the mobile device 100, and the like.
  • the self-mobile device 100 further includes a working module 12 for executing a preset work task.
  • the control module 11 can control the working state of the working module 12.
  • the working module 12 is different from the working head 200, and the working module 12 is directly set.
  • On the body 20, for performing the most basic work tasks preset by the mobile device 100 in one embodiment, the work module 12 cannot be replaced with other types of work modules 12, of course, in other embodiments, The working module 12 can also be replaced with other types of working modules 12 according to actual conditions.
  • the work head 200 to which the connecting arm 60 is connected is used to perform other work tasks corresponding to the work head 200.
  • the work head 200 and the work module 12 can control whether the two work simultaneously or not at the same time according to actual conditions.
  • the work head 200 and the work module 12 are both cutting devices, the work module 12 is used to cut the lawn under the lawn mower, and the work head 200 is used to implement the cut-to-edge task.
  • the work head 200 and the work module are 12 is a cutting device, but the purpose achieved by the two is different. It is also considered that the working head 200 and the working module 12 are used to perform different work tasks.
  • the work head 200 can also perform the same work tasks as the work module 12 to speed up the progress of the work task and shorten the work time.
  • the self-moving device 100 is an automatic lawn mower, and the working module 12 includes a mowing head for performing a cutting task.
  • the working module 12 is disposed under the fuselage 20, and the mowing head includes a mowing cutter.
  • the disc and the blade disposed on the mowing cutter disc, the working head 200 may be a working device that performs different work tasks such as a cutting device, a suction device, a mowing device, a picking device, and the like.
  • the self-moving device 100 can be used as a lawn mower to install different working heads 200 through the connecting arm 60 to perform different kinds of work, thereby improving work efficiency and reducing the use cost.
  • the traveling mechanism 40 includes a driving mechanism and a plurality of traveling wheels 42 mounted on the driving mechanism.
  • the plurality of traveling wheels 42 are mounted on the body 20 for driving the body 20 to move.
  • the running mechanism 40 includes two driving wheels and one driven wheel.
  • the two driving wheels are symmetrically disposed on two sides of one end of the body 20, and the driven wheel is disposed at a middle portion of the other end of the body 20.
  • the number and position of the driving wheel and the driven wheel are set according to actual conditions, for example, two driving wheels and two driven wheels are provided. In this way, the driving wheel and the driven wheel cooperate to drive the body 20 to move stably.
  • the structure of the running mechanism 40 is not limited thereto, and the running mechanism 40 may also include a crawler structure to drive the body 20 to move.
  • the connecting arm 60 from the mobile device 100 is coupled to the body 20 and movable relative to the body 20, that is, the connecting arm 60 is movably coupled to the body 20 for connection.
  • the attitude adjustment of the arm 60 in one embodiment, the attachment arm 60 can be adjusted in at least one amount of height, angle, orientation, etc. to change its attitude to accommodate different scenes.
  • the connecting arm 60 can achieve its attitude change by motor-controlled articulation, or electric push rod adjustment to effect its attitude change, or change its posture by manual intervention, and the like.
  • the manner of specifically changing the posture of the connecting arm 60 is merely an example. In other embodiments, other methods may be adopted as long as the posture of the connecting arm 60 is changed.
  • the self-mobile device 100 can be installed according to different working heads 200 to facilitate the rapid switching of the working state, thereby having lower usage cost and higher working efficiency, and meeting different needs of people.
  • the connecting arm 60 can be autonomously moved under the control of the control module 11 to accommodate different scenarios.
  • the extent of the extension of the connecting arm 60 from the mobile device 100 exceeds the extent covered by the projection of the fuselage 20 in the horizontal or vertical direction, wherein the extent of the connecting arm 60 refers to the connecting arm. 60 maximum coverage during the work process.
  • the working area range of the working head 200 is enlarged by the connecting arm 60, The working area range of the working head 200 is made to exceed the range defined by the projection of the body 20 in the horizontal direction or the vertical direction, and further, the work that cannot be completed by the working head 200 to complete the work head directly disposed on the body 20 is realized. .
  • a range in which the connecting arm 60 extends in the horizontal direction exceeds a range covered by the projection of the body 20 in the horizontal direction, or a range in which the connecting arm 60 extends in the vertical direction exceeds the vertical direction of the body 20
  • the range covered by the projection is to complete the work tasks on the sides of the fuselage 20, the front and rear, or the working area above and below the fuselage 20, avoiding the defect that the conventional body 20 cannot reach the place where it cannot work.
  • the extension range of the connecting arm 60 exceeds the range covered by the projection of the body 20 in the horizontal direction, so that the working area range of the working head 200 exceeds the range defined by the projection of the body 20 in the horizontal direction,
  • the work head 200 can perform work within the working range that the body 20 cannot reach, for example, cutting to the side, cutting grass, cutting branches, blowing leaves, and the like.
  • the connecting arm 60 can adjust the state in which the connecting arm 60 is located according to a specific scene. For example, when the connecting arm 60 needs to work, the adjusting connecting arm 60 extends out of the body 20 to complete the work where the body 20 cannot reach.
  • the adjusting connecting arm 60 is retracted within a certain range from the fuselage 20, avoiding the connecting arm 60 from being excessively extended to hit pedestrians, obstacles or buildings, etc.; or when working When the working area range of the head 200 needs to be adjusted, the working range of the working head 200 is adjusted by adjusting the coverage of the connecting arm 60.
  • the above specific scene is only an example, and the specific movable form of the connecting arm 60 can be set according to a specific situation.
  • the connecting arm 60 is movable, thereby achieving
  • the connecting arm 60 is adjustable, which in turn enables adjustment of the working area of the working head 200.
  • the connecting arm 60 includes a connecting structure 64 for connecting the working head 200 for performing a work task, and a connecting assembly 62 for connecting the connecting structure 64 with the body 20, which can be connected by the connecting arm 60 from the mobile device 100.
  • the working head 200 performs different operations such as cutting, blowing, mowing, picking or grabbing.
  • connection structure 64 is used to connect the work head 200 performing the work task, and the connection structure 64 includes a holding portion 641 for fixing the work head 200, and the work head 200 includes a holding for the connection structure 64.
  • the working head 200 is detachably fixed to the connecting structure 64, wherein detachable means that the working head 200 can be detached from the connecting structure 64 without a destructive operation, for example, automatic disassembly or manual operation.
  • the disassembling is performed by means of an external machine or the like, and the disassembled connecting structure 64 and the working head 200 are not damaged, and can be reused.
  • the connecting structure 64 can continue to be connected with other working heads 200, and of course, can be connected again. Disassembled work head 200.
  • the working head 200 is non-removably secured to the attachment structure 64, wherein non-removable means that the working head 200 cannot be detached from the attachment structure 64 by non-destructive operation.
  • the working head 200 can be fixed to the connecting structure 64 at the time of shipment, or the working head 200 can be fixed to the connecting structure 64 in a non-detachable manner after the working head 200 is selected by the user after leaving the factory.
  • the connecting structure 64 includes a holding portion 641 for fixing the working head 200.
  • the specific structure of the connecting structure 64 can be set according to actual conditions, and the holding portion 641 can be automatically or non-automatically The working head 200 is connected.
  • the holding portion 641 includes an automatic holding portion for automatically connecting the working head 200.
  • the automatic holding portion may be an electromagnetic clamp, an electromagnetic lock or an automatic claw clamp, etc.
  • the structure 64 can be automatically connected or loosened to the working head 200 by an automatic holding portion such as an electromagnetic clamp, an electromagnetic lock or an automatic claw clamp, so that the connecting arm is automatically connected to the working head 200 to perform a work task, or the connection is automatically released to store the work.
  • the head or the automatic release connection, is connected to the other work head 200 to replace the work head 200 and the like.
  • the retaining portion 641 includes a non-automatic retaining portion for non-automatic attachment of the working head 200, for example, a non-automatic retaining portion is a fastener that requires manual or external machine fastening, etc., the working head 200 It is necessary to secure or loosen the connecting arm 60 by means of a manual or external machine with a fastener to achieve a connection and a loose connection of the working head 200 with the connecting arm 60.
  • the connecting arm 60 can quickly and easily complete the disassembly and assembly of the working head 200 through the holding portion 641.
  • the holding portion 641 is a buckle, and the working head 200 is provided with a locking portion that engages with the buckle. In this manner, the working head 200 can be attached to the holding portion 641 by the retaining portion and attached to the connecting arm 60.
  • the specific structure of the buckle and the holding portion is not limited and can be set as needed.
  • the holding portion 641 can fix the working head 200 to the connecting arm 60 by its specific structure to realize the connection of the working head 200 and the connecting arm 60.
  • the retaining portion 641 can also serve as a working head that is secured to the connecting arm 60 to perform a portion of the work task, such as performing a work task such as picking or grabbing through the jaws shown in FIG.
  • the connecting structure 64 further includes a first electrical connector (not shown).
  • the working head 200 includes a second electrical connector (not shown) that mates with the first electrical connector to electrically connect to the body 20.
  • the body of the mobile device 100 can control the working state of the working head 200 through the first electrical connector and the second electrical connector, facilitating the use of the mobile device 100.
  • the control manner of the working head 200 mounted on the body 20 is not limited thereto, and may be electrically connected to the body 20 by an operator's manual operation or other connection manner.
  • the connecting arm 60 further includes a connecting assembly 62 for connecting the connecting structure 64 with the body 20.
  • the connecting assembly 62 is coupled to the body 20 and movable relative to the body to effect a change in the attitude of the connecting arm 60. Further, the connecting assembly 62 can also be movable relative to the attachment structure 64 to increase the manner in which the attachment arm 60 changes in posture.
  • the connecting assembly 62 includes a fixed end 621 that is movably coupled to the body 20.
  • the connecting member 62 can be moved in various forms compared to the body 20, for example, parallel movement, non-parallel movement, telescopic movement or rotation, and the like. As long as the relative movement of the two can be achieved.
  • the body 20 includes a fixing portion (not shown) for fixing the fixed end 621.
  • the fixed end 621 is coupled to the fixed portion and movable relative to the fixed portion.
  • the fixed end 621 is compared to the fixed portion. It can be rotated to achieve height, angle and orientation changes.
  • the fixed portion can serve as a center of rotation, and the fixed end 621 can be rotated about the fixed portion to achieve a change in the position of the fixed end 621.
  • the fixed end 621 may not rotate with the fixed portion as a center of rotation, or may not perform a rotary motion, but only a normal rotation.
  • the fixed end 621 can also change its position without rotating, and the position of the fixed end 621 can be changed by parallel movement, non-parallel movement, telescopic movement, and the like.
  • the connecting component 62 includes at least two sub-connecting members, and at least two sub-connecting members are relatively movable to achieve a change in the posture of the connecting arm 60.
  • the sub-connecting member is a connecting rod 622.
  • the sub-connecting member may also be in other forms, such as a hinge or a working platform. Etc., it can also be a combination of connecting rods, hinges or working platforms.
  • the connecting component 62 includes only two connecting rods 622. In other embodiments, the connecting component 62 may also include a connecting rod 622 or more than two connecting rods 622.
  • the connecting rod The greater the number of 622, the more the attitude of the connecting arm 60 changes, and the flexibility of the connecting arm 60 is higher.
  • the connecting component 62 includes a first connecting rod 6221 connecting the fixed end 621 and a second connecting rod 6224 connecting the connecting structure 64.
  • the first connecting rod 6221 is connected to the second connecting rod 6224 and is relatively movable.
  • One end of the connecting arm 60 is connected to the body through the fixed end, and the other end is connected to the working head 200 through the connecting structure 64.
  • the movement of the fixed end 621 drives the movement of the first connecting rod 6221.
  • the movement of the first connecting rod 6221 also drives the second connecting rod.
  • the end movement of the 6224, the second connecting rod 6224 can not only follow the movement of the first connecting rod 6221, but also can move relative to the first connecting rod 6221.
  • the connecting structure 64 can not only follow the movement of the second connecting rod 6224, but also compare The second connecting rod 6224 is moved to realize the change of the multi-directional attitude, thereby realizing the multi-directional posture change of the connecting structure 64 to adapt to different scenes, such as working scenes for performing different work tasks, or connecting or disassembling the working head. Scenes and so on.
  • the self-moving device 100 further includes a position detecting module 14 for detecting the position of the connecting arm 60.
  • the specific position is detected from the mobile device 100 by the position detecting module 14 to control the movement of the connecting arm 60 according to the position thereof.
  • the trajectory in an embodiment, the position detecting module 14 can be used to detect the specific position of the connecting structure 64.
  • the control module 11 controls the trajectory of the connecting arm 60 according to the position of the connecting structure 64. Specifically, the trajectory of the connecting arm 60 is controlled.
  • the control fixed end 621 is compared with the movement track of the body 20 and the relative movement trajectory between adjacent connecting rods to automatically adjust the position of the connecting structure 64 to adapt to different scenes.
  • the position detecting module 14 can also be used to detect the position of other structures of the connecting arm 60, and control the movement trajectory of different parts of the connecting arm 60 through the control module 11 to adjust the posture of the connecting arm 60. It adapts to the purpose of different scenarios.
  • the automated working system 300 further includes a receiving cavity for receiving the working head 200, wherein the automated working system 300 includes a plurality of (including one) working heads 200, and the plurality of working heads 200 are selectively movable
  • the attachment structure 64 of the device 100 cooperates to be mounted to the attachment arm 60.
  • the working head 200 can be housed in other receiving devices or located in the receiving cavity 22 of the mobile device 100, and the working head 200 in the receiving cavity 22 can be replaced as needed to meet different needs.
  • the housing 20 is provided with a receiving cavity 22 for receiving the working head 200.
  • the connecting arm 60 can be inserted into the receiving cavity 22 under the control of the control module 11 to obtain the working head 200.
  • the self-moving device 100 can accommodate a plurality of working heads 200 through the accommodating chamber 22, so that the working head 200 can be easily replaced at any time during the work.
  • the receiving cavity 22 can also be disposed at other locations of the automated working system 300, for example, at a base station or charging station 35 of the automated working system 300.
  • the self-moving device 100 further includes an identification module 15 for identifying the work head 200.
  • the recognition module 15 automatically recognizes the work head 200 and The work head information is obtained.
  • the work head information refers to information related to the work head, such as the type of the work head, the power of the work head, the supply voltage required by the work head, and the like.
  • the work head 200 includes an information supply module 25 for providing identification information, and the identification module 15 can identify the identification information provided by the information supply module 25 to obtain the work head information.
  • the control module 11 according to the work head The information controls the operating state of the connecting arm 60.
  • the self-mobile device 100 can identify the work head as follows.
  • an identification electrode is electrically connected to the working head 200 from the mobile device 100, and the working head is identified from the mobile device 100 by the identification electrode, and the identification electrode may also be referred to as the identification module.
  • sensors are used to identify different working heads, such as Hall sensors or photoelectric switch sensors, etc., by using sensors installed at different positions to identify different working heads, for example, the corresponding sensor of the first working head is installed in the first In a position, the sensor corresponding to the second working head is installed in the second position, and which sensor can be identified from the sensor in the mobile device 100 and the sensor in the first and second positions in the corresponding working head respectively, for example,
  • the first position sensing is judged to be the first tool, and the sensor in the mobile device 100 may also be referred to as the identification module 15, and the sensor in the working head 200 may also be referred to as the information providing module 25.
  • the identification module 15 is disposed at the connecting arm 60 near the working head 200, for example, The connecting structure 64 is disposed so as to be closest to the working head 200 to achieve an optimal recognition effect; of course, in other embodiments, the identification module 15 may be disposed at other positions of the connecting arm 60 according to actual needs or It is disposed on the body 20 of the mobile device 100.
  • the automated working system 300 further includes a guard module 16 for providing security protection to the working head 200.
  • the protection module 16 can be disposed on the mobile device 100 and/or the work head 200. Of course, the protection module 16 can also be disposed at other locations on the automatic working system 300, for example, at a base station, a charging station, or at the automatic working system 300. Various user terminals and other locations.
  • the protection module 16 can be a protective cover 161 for safety protection of the working head 200, so that the protective cover 161 can be used for the working head 200 when it is in operation. Protection against accidental injury to people, animals or other things.
  • the protective cover 161 may be disposed on the working head 200 as shown in FIG. 12 to FIG. 13 , or may be disposed on the self-moving device 100 as shown in FIG. 14 , for example, disposed on the connecting arm of the mobile device 100 . 60 on.
  • the protective cover 161 may be fixedly disposed on the self-moving device 100 or the working head 200, or may be detachably disposed on the self-moving device 100 or the working head 200, and the detachable arrangement may be according to the type of the working head 200.
  • the shield 161 is installed for protection.
  • the shield 161 may also be movably disposed on the self-moving device 100.
  • the shield 161 includes an open position and a closed position, and the shield 161 is movable to realize that the shield 161 is selectively in an open position and a closed position.
  • the protection module 16 includes a security detection module 162 for detecting whether the work head 200 is in a safe working environment and obtains a detection result.
  • the control module 11 controls the self-mobile device 100 according to the detection result of the security detection module 162. / or the working state of the work head 200.
  • the working state of the mobile device 100 includes the working state of the airframe 20 of the mobile device 100 and the working state of the connecting arm 60.
  • the operating state of the airframe 20 refers to the mobile device 100 except the connecting arm 60.
  • Part of the working state that is, the control module 11 can not only control the working state of the connecting arm 60, but also control the working state of the part other than the connecting arm 60 from the mobile device 100, whether the working state includes working and working.
  • control module 11 can control the walking state of the self-moving device, wherein the walking state includes whether to walk, the walking speed, the walking trajectory, and the like.
  • the control module 11 can also control the state of other structures other than walking, such as the operating state of other working components, or current, voltage, power, charge and discharge management, or re-charging from the mobile device 100, and the like.
  • the security detection module 162 includes at least one of an infrared detection module, an ultrasound detection module, an image detection module, or other detection module.
  • the security detection module 162 detects that the control module 161 is in a non-secure operation.
  • the environment for example, when there are nearby people, animals or other things that may be harmed, the control module 11 controls the work head 200 to stop working, and/or adjusts the attitude of the connecting arm 60, and/or controls the back or steering from the mobile device 100, etc. Etc., the work head 200 is placed in a safe working environment.
  • the control module 11 can also control the automatic work system 300 to issue an alarm to remind the user of manual intervention.
  • the security detection module 162 can be disposed on the self-mobile device 100 and/or the work head 200.
  • the security detection module 162 can also be disposed at other locations in the automated working system.
  • the protection module 16 further includes a signal receiving module 163 for receiving a work signal indicating whether the work head 200 is in a safe working environment.
  • the control module 11 controls the self-mobile device 100 and/or according to the received work signal. Or the working state of the working head 200, for example, when the signal receiving module 163 receives the working signal indicating that the working head 200 is in the safe working environment, the control module 11 controls the working head 200 to operate; when the signal receiving module 163 receives the indicating working head 200 When the working signal is in the non-safe working environment, or when the signal receiving module 163 does not receive the working signal indicating that the working head 200 is in the safe working environment, the control module 11 controls the working head 200 to stop working, and/or adjusts the connecting arm 60.
  • the control module 11 can also control the automated working system 300 to issue an alert to alert the user to manual intervention.
  • the signal receiving module 163 can be disposed on the mobile device 100 and/or the working head 200. Of course, in other embodiments, the signal receiving module 163 can also be disposed at other locations in the automatic working system, for example. Locations such as charging stations, base stations, or various user terminals.
  • the automated working system 300 further includes a signal transmitting module 36 for transmitting a work signal indicating whether the work head 200 is in a safe working environment.
  • the signal receiving module 163 receives the working signal sent by the signal transmitting module 36, and the control module 11 controls the working state of the mobile device 100 and/or the working head 200 according to the working signal received by the signal receiving module 163.
  • the working signal is a wireless signal
  • the signal sending module 36 and the signal receiving module 163 are a wireless signal sending module and a wireless signal receiving module, respectively.
  • the working signal may be set as a wired signal according to an actual situation
  • the signal sending module 36 and the signal receiving module 163 are a wired signal sending module and a wired signal receiving module, respectively.
  • the automatic working system 300 further includes a signal sending module 36 for transmitting a working signal indicating whether the working head is in a safe working environment, and a signal receiving module 163 for receiving the working signal.
  • the working signal is a wireless signal.
  • the signal sending module 36 and the signal receiving module 163 are respectively a wireless signal sending module and a wireless signal receiving module, and the signal sending module 36 can be disposed on a remote controller, a user mobile phone or a computer or other user terminal 32, and the signal receiving module 163 can be set in the self.
  • the automatic working system 300 transmits a working signal of a safe working environment through a signal transmitting module 36 on the user terminal 32 such as a remote control, a mobile phone or a computer.
  • the above working signal is a wireless signal generated by a user operation.
  • the user After the user confirms that the working head 200 is in the safe working environment, the user triggers a safety signal sending instruction on the user terminal such as a remote control, a mobile phone or a computer, and after the signal sending module 36 receives the safety signal sending instruction, the sending work head 200 is continuously in safe working.
  • the working signal of the environment A signal receiving module 163 for receiving the working signal is provided on the mobile device 100 or the working head 200.
  • the working signal indicating whether the working head 200 is in the safe working environment further includes a shutdown signal, and when the signal receiving module receives the shutdown signal, the control module controls the self-moving device 100 and/or works.
  • the head 200 stops working.
  • the stop signal is a wireless signal generated by a user operation, for example, setting a stop command on a user terminal such as a remote control, a mobile phone, or a computer.
  • the user terminal sends a wireless signal indicating a stop signal, and the signal is received.
  • the module receives the shutdown signal and the control module controls the operation from the mobile device 100 and/or the work head 200 to cease operation.
  • the distance from the mobile device 100 can be detected by the following methods.
  • the distance can be directly detected by the security detection module, and the distance is detected to determine whether the working head is in a safe working environment.
  • the distance is directly detected by, for example, an infrared detecting module, an ultrasonic detecting module, or an image recognition module; in another embodiment, the distance can be detected indirectly by detecting a signal strength or the like.
  • the automatic working system 300 further includes a signal transmitting module 36 for transmitting a working signal indicating whether the working head is in a safe working environment, and a receiving signal for receiving the working signal.
  • the signal receiving module 163, specifically, the above working signal is a wireless signal generated by a user operation.
  • the signal sending module 36 is located in the vicinity of the user.
  • the signal sending module 36 can be integrated on a user terminal such as a remote control, a mobile phone or a computer.
  • the user sends a command by using a trigger signal, and the signal sending module 36 receives the signal sending command and sends a signal, and the signal is received.
  • the module 163 is disposed on the mobile device 100 and/or the working head 200, and the signal receiving module 163 includes a signal strength detecting module 1631 that detects the signal strength.
  • the signal receiving module 163 receives and detects the signal strength sent by the signal sending module 36.
  • a signal strength threshold corresponding to the security monitoring range. When the signal strength detected by the signal strength detecting module 1631 is lower than the signal strength security threshold, the user exceeds the security monitoring range.
  • the control module 11 controls the working head 200 to stop working; When the signal strength detected by the signal strength detecting module 1631 is not lower than the signal strength threshold, it indicates that the user is within the security monitoring range. At this time, the control module 11 controls the working head 200 to operate.
  • the working head can be confirmed to be in a safe working environment by combining the above-mentioned user to directly confirm that the working head is in a safe working environment and by detecting the distance of the user from the mobile device 100.
  • the control module 11 controls the working head 200 to work only when both methods confirm that the working head 200 is in a safe working environment. If either of the two methods indicates that the working head 200 is in a non-safe working environment, the control module 11 controls The work head 200 stops working.
  • the signal sending module 36 is located near the user.
  • the signal sending module 36 can be integrated on a user terminal such as a remote control, a mobile phone, or a computer.
  • the user sends a command by using a trigger signal, and the signal sending module 36 receives the signal.
  • the signal is sent after the signal is sent, and the signal receiving module 163 is disposed on the mobile device 100 and/or the working head 200.
  • the user After the user confirms that the working head 200 is in a safe working environment, the user triggers a safety signal sending instruction on the user terminal such as a remote control, a mobile phone or a computer, and after the signal sending module 36 receives the safety signal sending instruction, the sending working head 200 is in a safe working environment.
  • the working signal is provided on the mobile device 100 or the working head 200 with a signal receiving module 163 for receiving the working signal.
  • the control module 11 controls the working head 200 to stop working.
  • the self-mobile device 100 further includes a plurality of (including one) preset working modes, for example, the self-moving device 100 includes a blowing mode, a cutting mode, a pruning shear mode, a grassing mode, a picking mode, and the like.
  • the control module 11 controls the execution of the work task from the mobile device 100 in accordance with the preset working mode. Specifically, in the preset working mode, the control module 11 can control the walking from the mobile device 100 according to the preset path, the preset speed, the connecting arm 60 according to the predetermined motion trajectory and the frequency, and the working head 200 according to the preset path and frequency.
  • the orientation performs the corresponding work task and so on.
  • the above is only an example.
  • the working states of the mobile device 100 and the working head 200 are not limited to the above contents.
  • the form of the preset path may be various, for example, may be guided by the guide line to form a preset path, or may be virtualized by the positioning module.
  • the map is used to form a preset path, and a capacitive sensor can be used to distinguish between grass and non-grass to form a preset path and the like.
  • the automatic working system 300 further includes an identification module for identifying the work head 200 and acquiring the work head information in the above embodiment, and the control module 11 controls the self-mobile device 100 according to the work head information recognized by the identification module. And/or the work head 200 performs work tasks in accordance with the corresponding work mode. For example, when the recognition module recognizes that the work head is a pruning shear, the control module 11 controls the self-mobile device 100 and/or the work head 200 to operate in a pruning shear mode.
  • the automatic working system 300 further includes a signal transmitting module 36 that transmits an instruction signal and a signal receiving module 163 that receives the command signal.
  • the control module 11 controls the self-moving device 100 and/or the working head 200 according to the command signal.
  • Working status Specifically, in an embodiment, the preset working modes include a specified working mode, where the designated working mode refers to one of the preset working modes. For example, in an embodiment, the specified working mode is pruning. Cut mode.
  • the signal sending module may be integrated into a user terminal such as a remote control, a mobile phone, or a computer in the above embodiment, and the user terminal may send a signal indicating a specified working mode.
  • the specified working mode is the pruning shear mode
  • the signal receiving module receives the signal of the pruning shear mode
  • the control module 11 controls the self-moving device 100 and/or the working head 200 to perform the work task according to the pruning shear mode.
  • the preset working mode may be combined with the protection module to enable the working head 200 to perform the work task safely in the preset working mode.
  • the command signal further includes an operation signal in the embodiment of the automatic working system 300 having the protection module 16 for indicating whether the working head is in a safe environment, and the control module 11 controls the self-mobile device 100 and/or according to the working signal. The working state of the working head 200.
  • the command signal is a wireless signal generated by a user operation
  • the control module 11 controls the mobile device 100 and/or The working head 200 works, when the signal receiving module does not receive a working signal indicating that the working head is in a safe working environment or when the signal receiving module receives the working signal indicating that the working head is in a non-safe working environment, the control module controls the self-moving device And/or the work head stops working.
  • the signal receiving module further includes a signal strength detecting module 1631 for detecting the strength of the command signal, and presets a signal strength threshold.
  • the control module 11 controls the operation from the mobile device and/or the work head.
  • the control module 11 controls the working state of the self-moving device and/or the working head according to the content and intensity indicated by the command signal, specifically, if the signal receiving module Upon receiving the indication that the working head 200 is in an unsafe working environment, or the signal strength detecting module 1631 detects that the signal strength of the designated signal is lower than the signal strength threshold, the control module 11 controls the operation from the mobile device 100 and/or the working head 200 to stop.
  • the above is only a part of the implementation manner in which the preset working mode is combined with the protection module 16 .
  • the embodiment may also refer to all the embodiments in the embodiment of the automatic working system 300 having the protection module 16 , and no longer one by one. Narration.
  • the command signal further includes a stop signal.
  • the control module 11 can control the stop operation from the mobile device 100 and/or the work head 200 according to the stop signal.
  • the shutdown signal can be sent by the command signal to control the timely shutdown from the mobile device 100 and/or the work head 200.
  • the working head 200 directly supplies energy from the energy module of the mobile device 100, and the working head 200 and the self-mobile device 100 are not only mechanically connected, but also need to be electrically connected to realize energy passing through the mobile device 100.
  • the module is powered.
  • the work head 200 further includes a work head energy module for powering the work head 200.
  • the work head 200 provides energy through a separate work head energy module, and the work head 200 can be mechanically coupled only from the mobile device 100. Yes, of course, the work head 200 and the self-mobile device 100 are still electrically connected according to actual conditions.
  • the self-mobile device 100 includes a power module 17 for powering the mobile device 100, such as a mowing motor, a travel motor, etc., while the work head 200 further includes a separate for providing the work head 200.
  • Powered working head power module 27 for example, a working head motor or the like.
  • the work head 200 may also not include a separate workhead power module, but is powered by the power module 17 of the mobile device 100, and in particular, may be disposed between the work head 200 and the power module 17.
  • the transmission mechanism is driven by the transmission mechanism to provide power to the working head 200 through the power module.
  • the automated working system 300 further includes a charging station 35 for charging the mobile device 100, the self-mobile device 100 including a charging system for charging the energy module, specifically,
  • the self-mobile device 100 includes an automatic charging system that automatically returns to charging so that the self-mobile device 100 can automatically return to the charging station 35 for charging.
  • the mobile device 100 includes a regenerative charging mode. In the regenerative charging mode, the control module 11 controls the self-control. The mobile device 100 automatically returns to the charging station 35 and interfaces with the charging station 35 to charge the mobile device 100.
  • a power threshold is preset, and when the power of the energy module is lower than the threshold, the mobile device 100 automatically returns to the charging station 35 for charging.
  • the guide line includes a boundary line 31 defined from the work area 301 of the mobile device 100.
  • the guide wire may also be a wire disposed in the work area, led by the location of the charging station 35 for directing movement from the mobile device 100 to the charging station 35.
  • the guide line may also be a physical boundary formed by a fence or the like, or a physical boundary formed between the lawn and the non-turf.
  • the guide line detecting sensor may be a camera, a capacitive sensor or the like.
  • the working path is preset by means of a capacitive sensor, positioning module positioning, visual, etc., for example, a virtual map is constructed by a positioning module to preset a working path to control the self-mobile device. Work area.
  • the self-moving device 100 and/or the working head 200 are controlled only by the control module 11 on the mobile device 100.
  • the working head 200 further includes a controller and passes the controller. Controlling the operating state of the mobile device 100 and/or the working head 200, wherein the controller can directly control the operating state of the mobile device 100 and/or the working head 200, and can also control the self-mobile device 100 by controlling the control module 11 and / or the working state of the work head 200.
  • controllers that control the mobile device 100 and/or the work head 200 may also be placed at other locations of the automated work system 300. That is, the automated working system 300 includes a controller for controlling the operational status of the mobile device 100 and/or the work head 200. The controller may be disposed in the self-mobile device 100 and/or the work head 200, or may be configured to Other locations of the automated working system 300.
  • the connecting arm 60 on the mobile device 100 and connecting the working head 200 through the connecting arm 60 to perform different kinds of work, thereby satisfying different environments and needs, great convenience is provided for people.
  • the work head 200 and the work module 12 can perform different work tasks, but the link arm 60 can connect different work heads 200, or even multiple work heads 200, to perform different work tasks, or perform the same or different work tasks at the same time.
  • the use of a self-mobile device 100 to integrate multiple functions reduces work costs while increasing work efficiency.
  • the connecting arm 60 is designed by a special mechanism, which greatly enhances the flexibility of its work, and the accuracy is also greatly improved.

Abstract

一种自移动设备(100)，自移动设备(100)包括机身(20)，设置于机身(20)上且用于带动自移动设备(100)的行走的行走机构(40)、与机身(20)连接的连接臂(60)、用于控制行走机构(40)带动自移动设备(100)在限定的区域内行走的控制模块(11)，其中，连接臂(60)可选择性的连接至少两个用于执行不同工作任务的工作头(200)中的至少一个，连接臂(60)包括用于连接工作头(200)的连接结构(64)及用于连接连接结构(64)与机身(20)的连接组件(62)。

Description

自移动设备及其自动工作系统 技术领域
本发明涉及一种自移动设备及其自动工作系统。
背景技术
随着社会的进步与科技的发展，各种动力工具逐步进入人们的生产及生活中，为人们的生产及生活带来了极大便利。特别是在园林绿化领域，人们需要用到各种动力工具，例如割草机、打草机、链锯、吹吸机等进行除草、清理道路等工作。
然而，各种动力工具的结构及功能单一，通常仅能完成一种工作，从而提高了工作成本，降低了工作效率。
发明内容
基于此，有必要提供一种就有多种功能的自移动设备及其自动工作系统。
本发明可采用如下技术方案：
一种自移动设备，其包括：
机身；
行走机构，设置于机身上且用于带动所述自移动设备的行走；
连接臂，与所述机身连接；
控制模块，用于控制所述行走机构带动所述自移动设备在限定的区域内行走；
所述连接臂可选择性的连接至少两个用于执行不同工作任务的工作头中的至少一个，所述连接臂包括用于连接所述工作头的连接结构及用于连接所述连接结构与所述机身的连接组件。
进一步的，所述控制模块用于控制所述连接臂和/或所述工作头的工作状态。
进一步的，所述连接臂可在所述控制模块的控制下自主运动。
进一步的，所述连接臂的延展范围超过所述机身在水平方向的投影所覆盖的范围。
进一步的，所述连接臂连接于所述机身上且相对于所述机身可运动。
进一步的，所述连接组件连接于所述机身上且相对于所述机身可运动。
进一步的，所述连接组件包括可运动的连接于所述机身上的固定端，所述机身包括用于固定所述固定端的固定部，所述固定端相较于所述固定部可转动。
进一步的，所述连接组件包括至少两个子连接件，所述至少两个子连接件可相对运动。
进一步的，所述连接结构包括用于固定所述工作头的固持部。
进一步的，所述固持部包括用于自动连接所述工作头的自动固持部。
进一步的，所述自动固持部包括电磁夹具和电磁锁中至少一个。
进一步的，所述固持部包括用于非自动连接所述工作头的非自动固持部。
进一步的，所述固持部包括至少两个卡爪，所述至少两个卡爪可相互远离或聚拢。
进一步的，所述固持部包括卡扣。
进一步的，所述连接结构还包括用于与所述工作头电性连接的电连接件。
进一步的，所述自移动设备还包括用于识别所述工作头的识别模块。
进一步的，所述自移动设备还包括用于检测所述连接臂所处位置的位置检测模块，所述控制模块根据所述位置检测模块的检测结果控制所述连接臂的运动轨迹。
进一步的，所述自移动设备还包括用于收容所述工作头的容纳腔。
进一步的，所述容纳腔包括至少两个用于收容不同所述工作头的子容纳腔。
进一步的，所述控制模块控制所述连接臂自动伸入所述容纳腔内以与所述工作头连接。
进一步的，所述自移动设备包括至少两个所述连接臂。
进一步的，所述自移动设备还包括用于对所述工作头进行安全防护的防护模块。
进一步的，所述防护模块包括设置于所述机械臂上的防护罩。
进一步的，所述防护模块包括用于检测所述自移动设备是否处于安全工作环境的安全检测模块，所述控制模块根据所述安全检测模块的检测结果控制所述自移动设备和/或所述工作头的工作状态。
进一步的，所述安全检测模块包括红外检测模块、超声检测模块和图像检 测模块中的至少一项。
进一步的，所述防护模块包括用于接收表示所述工作头是否处于安全工作环境的工作信号的信号接收模块，所述控制模块根据所述工作信号控制所述自移动设备和/或所述工作头的工作状态。
进一步的，所述工作信号为由用户操作产生的无线信号。
进一步的，当所述信号接收模块持续接收到表示工作头处于安全工作环境的所述工作信号时，所述控制模块控制所述自移动设备和/或所述工作头工作，当所述信号接收模块未接收到表示所述工作头处于安全工作环境的所述工作信号或当所述信号接收模块接收到表示所述工作头处于非安全工作环境的所述工作信号时，所述控制模块控制所述自移动设备和/或所述工作头停止工作。
进一步的，所述信号接收模块还包括用于检测所述工作信号的强度的信号强度检测模块，预设一信号强度阈值，当所述信号强度检测模块检测到所述工作信号的信号强度低于信号强度阈值时，所述控制模块控制所述自移动设备和/或所述工作头停止工作。
进一步的，所述工作信号包括停机信号，当所述信号接收模块接收到所述停机信号时，所述控制模块根据所述停机信号控制所述自移动设备和/或所述工作头停止工作。
进一步的，所述自移动设备包括若干预设工作模式，所述控制模块控制所述自移动设备按照预设工作模式执行工作任务。
进一步的，在所述预设工作模式下，所述控制模块控制所述自移动设备按照预设路径行走。
进一步的，所述自移动设备还包括用于识别所述工作头并获取所述工作头信息的识别模块，所述控制模块根据所述识别模块所获取的工作头信息控制所述自移动设备和/或所述工作头按照对应的预设工作模式执行工作任务。
进一步的，所述自移动设备还包括用于接收指令信号的信号接收模块，所述控制模块根据所述指令信号控制所述自移动设备和/或所述工作头的工作状态。
进一步的，所述若干预设工作模式包括指定工作模式，所述指令信号包括 表示所述指定工作模式的信号，所述控制模块根据所述指令信号控制所述自移动设备和/或所述工作头按照所述指定工作模式执行工作任务。
进一步的，所述指令信号包括用于表示所述工作头是否处于安全工作环境的工作信号，所述控制模块根据所述工作信号控制所述自移动设备和/或所述工作头的工作状态。
进一步的，所述指令信号为由用户操作产生的无线信号。
进一步的，当所述信号接收模块持续接收到表示工作头处于安全工作环境的所述工作信号时，所述控制模块控制所述自移动设备和/或所述工作头工作，当所述信号接收模块未接收到表示所述工作头处于安全工作环境的所述工作信号或当所述信号接收模块接收到表示所述工作头处于非安全工作环境的所述工作信号时，所述控制模块控制所述自移动设备和/或所述工作头停止工作。
进一步的，所述信号接收模块还包括用于检测指令信号强度的信号强度检测模块，预设一信号强度阈值，当所述信号强度检测模块检测到所述指令信号的信号强度低于信号强度阈值时，所述控制模块控制所述自移动设备和/或所述工作头停止工作。
进一步的，所述指令信号包括停机信号，当所述信号接收模块接收到所述停机信号时，所述控制模块根据所述停机信号控制所述自移动设备和/或所述工作头停止工作。
进一步的，所述自移动设备还包括用于给所述自移动设备和/或所述工作头提供能量的能源模块。
进一步的，所述自移动设备包括回归充电模式，在所述回归充电模式下，所述控制模块控制所述自移动设备自动回归充电站充电。
进一步的，预设一电量阈值，当所述能源模块的电量低于电量阈值时，所述控制模块控制所述自移动设备自动返回所述充电站充电。
进一步的，所述自移动设备还包括用于给所述自移动设备提供动力的动力模块。
进一步的，所述自移动设备还包括用于执行预设工作任务的工作模块，所述工作模块设置于所述机身上。
进一步的，所述自移动设备为自动割草机，所述工作模块为用于执行割草任务的割草头。
本发明还可采用如下技术方案：一种自动工作系统，所述自动工作系统包括上述自移动设备，所述自动工作系统还包括用于与所述连接臂连接以执行工作任务的工作头。
进一步的，所述工作头包括用于与所述连接结构连接的连接部。
进一步的，所述工作头还包括用于给所述工作头和/或所述自移动设备提供能量的工作头能源模块。
进一步的，所述工作头还包括用于给所述工作头提供动力的工作头动力模块。
进一步的，所述工作头还包括用于提供识别信息的信息供应模块。
进一步的，所述工作头还包括用于控制所述自移动设备和/或所述工作头的工作状态的控制器。
进一步的，所述工作头为割草头、吹吸装置、切割装置、修枝剪、打草头和拾取装置中的至少一个。
进一步的，所述自动工作系统包括至少两个执行不同工作任务的工作头，所述连接臂可选择地连接至少一个所述工作头。
进一步的，所述自动工作系统还包括用于控制所述自移动设备和/或所述工作头的工作状态的控制器。
进一步的，所述自动工作系统还包括用于对所述工作头进行安全防护的防护模块。
进一步的，所述防护模块设置于所述自移动设备和/或所述工作头上。
进一步的，所述防护模块包括设置于所述工作头上的防护罩。
进一步的，所述防护模块包括用于检测所述自移动设备是否处于安全工作环境的安全检测模块，所述控制模块根据所述安全检测模块的检测结果控制所述自移动设备和/或所述工作头的工作状态。
进一步的，所述安全检测模块包括红外检测模块、超声检测模块和图像检测模块中的至少一项。
进一步的，所述防护模块包括用于接收表示所述工作头是否处于安全工作环境的工作信号的信号接收模块，所述控制模块根据所述工作信号控制所述自移动设备和/或所述工作头的工作状态。
进一步的，所述自动工作系统还包括用于发送表示所述工作头是否处于安全工作环境的工作信号的信号发送模块。
进一步的，所述自动工作系统还包括用户终端，所述信号发送模块设置于所述用户终端中。
本发明中，通过在自移动设备上设置用于连接工作头的连接臂，实现在自移动设备上集成多种功能，既节约了用户的存储空间，又节省成本。
本发明还可采用如下技术方案：
一种智能移动设备，其可安装工作头，所述智能移动设备包括：
智能移动设备主体；
行走机构，安装于所述智能移动设备主体以带动所述智能移动设备主体移动；
连接臂，所述连接臂一端可转动地安装于所述智能移动设备主体，另一端向远离所述智能移动设备主体一侧延伸并设有用于安装所述工作头的连接结构；及
控制模块，所述控制模块与所述连接臂电连接以控制所述连接臂的工作状态。
进一步的，所述智能移动设备主体内设有容纳腔，所述连接臂可在所述控制模块的控制下伸入所述容纳腔内。
进一步的，所述容纳腔包括多个子容纳腔，所述连接臂可在所述控制模块的控制下择一地伸入所述子容纳腔内。
进一步的，所述智能移动设备包括两个或两个以上的所述连接臂，两个或两个以上的所述连接臂分别安装于所述智能移动设备主体上。
进一步的，所述连接结构包括两个或两个以上的卡爪，两个或两个以上的所述卡爪可相互远离或聚拢。
进一步的，所述连接结构为卡扣。
进一步的，所述连接结构还包括第一电连接件，所述第一电连接件用于电连接所述工作头。
本发明还可采用如下技术方案：一种智能系统，其包括上述智能移动设备。
进一步的，所述智能系统还包括工作头，所述工作头为多个，多个所述工作头可选择地与所述连接结构配合以安装于所述连接臂上。
进一步的，所述工作头为吹吸装置、切割装置、修枝剪或打草头。
本发明中，通过在智能移动设备上设置用于连接工作头的连接臂，实现在智能移动设备上集成多种功能，既节约了用户的存储空间，又节省成本。
附图说明
图1为一具体实施方式中自移动设备的结构示意图；
图2为一具体实施方式中安装有吹吸装置的自动工作系统的结构示意图；
图3为一具体实施方式中安装有拾取装置的自动工作系统的结构示意图；
图4为一具体实施方式中自移动设备的结构示意图；
图5为一具体实施方式中安装有吹吸装置的自动工作系统的结构示意图；
图6为一具体实施方式中安装有切割装置的自动工作系统的结构示意图；
图7为一具体实施方式中安装有修枝剪的自动工作系统的结构示意图；
图8为一具体实施方式中安装有打草头的自动工作系统的结构示意图；
图9为一具体实施方式中自动工作系统的结构示意图；
图10为一具体实施方式中具有多个工作头的自动工作系统的结构示意图。
图11为一具体实施方式中具有多个工作头的自动工作系统的结构示意图。
图12为一具体实施方式中具有保护罩的自动工作系统的结构示意图。
图13为一具体实施方式中具有保护罩的自动工作系统的结构示意图。
图14为一具体实施方式中具有保护罩的自动工作系统的结构示意图。
图15为一具体实施方式中具有自动固持部的连接臂处于松开状态的结构示意图。
图16为一具体实施方式中具有自动固持部的连接臂处于闭合状态的结构示意图。
图17为一具体实施方式中自移动设备的模块示意图。
图18为一具体实施方式中自动工作系统中的自移动设备与充电站的示意图。
图19为一具体实施方式中自动工作系统通过用户操作控制自移动设备的示意图。
具体实施方式
为了便于理解本发明，下面将参照相关附图对本发明进行更全面的描述。附图中给出了本发明的较佳的实施例。但是，本发明可以以许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对本发明的公开内容的理解更加透彻全面。
需要说明的是，当元件被称为“固定于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
如图1及图14所示，一种自动工作系统300包括自移动设备100及连接于所述自移动设备100上的工作头200。如图1至图3所示，自移动设备100包括机身20、设置于机身20上且用于带动自移动设备100行走的行走机构40、连接于机身20上的连接臂60、用于控制自移动设备100在限定的区域内行走和工作的控制模块11及为自移动设备100提供能量的能源模块13，其中，控制模块11控制行走机构40带动自移动设备100在限定的区域内行走。
连接臂60可选择性的连接至少两个用于执行不同工作任务的工作头200中的至少一个。具体的，工作头200可为割草头、吹吸装置、切割装置、修枝剪、打草头或拾取装置等执行不同工作任务的工作头200，连接臂60可选择性的连接上述执行不同工作任务的工作头200，从而使该自动工作系统300进行不同种 类的工作。可以理解，工作头200的种类不限于此，可根据需要设置。其中，连接臂60可选择性的连接用于执行不同工作任务的工作头200，包括主动连接或被动连接。例如，在一实施例中，连接臂60可主动的选择连接不同的工作头200中的任意至少一个，从而使该自动工作系统300能够进行不同种类的工作；在另一实施例中，连接臂60可被动的选择连接不同的工作头200中的任意至少一个，从而使该自动工作系统300能够进行不同种类的工作，例如，由用户选择不同的工作头200中的任意至少一个安装在连接臂60上，以使该自动工作系统300能够进行不同种类的工作。
具体的，如图2及图5所示，当连接臂60上连接的工作头200为吹吸装置时，该自动工作系统300可作为吹吸机使用。从吹吸装置中吹出的气流可对散落在地面的树叶或垃圾具有聚拢作用，方便操作者进行收集，同时也可作为吸尘的工具，吸入灰尘、枝叶等以完成清理工作。如图3所示，当连接臂60上安装的工作头200为拾取装置时，该自动工作系统300可作为拾取机使用。如图6所示，当连接臂60上安装的工作头200为切割装置时，该自动工作系统300可作为切割机使用。在本实施例中，切割装置为链锯，可用于切割木材等物料。如图7所示，当连接臂60上安装的工作头200为修枝剪时，该自动工作系统300可对植物的枝干进行修剪。如图8所示，当连接臂60上安装的工作头200为打草头时，该自动工作系统300可作为打草机使用，打草头中设有的打草线旋转从而进行打草工作。
在本实施例中，工作头200可拆卸的连接于连接臂60上，其中，可拆卸是指不通过破坏性的操作即可将工作头200自连接臂60上拆卸，例如，自动拆卸或者手动或者借助外部机器等方式进行拆卸，而拆卸后的连接臂60及工作头200均不会被损坏，还可重复使用，连接臂60可继续与其他工作头200连接，当然，也可以再次连接被拆卸的工作头200。在其他实施例中，工作头200不可拆卸的固定于连接臂60上，其中，不可拆卸是指不能通过非破坏性操作将工作头200自连接臂60上拆卸。工作头200可在出厂时已经固定于连接臂60上，也可在出厂后由用户选择工作头200后，利用不可拆卸的方式将工作头200固定于连接臂60上。
在本实施例中，工作头100可拆卸的连接于连接臂60上，以使连接臂60可循环的连接不同的工作头200，从而，该自动工作系统300能够可循环的进行不同种类的工作。
上述自动工作系统300，连接臂60连接可拆卸的工作头200，自动工作系统300包括若干个(包括一个)工作头200，在一实施例中，自动工作系统300包括至少两个工作头，连接臂60可选择性的连接不同的工作头200以进行不同种类的工作，从而满足不同环境及需要，为人们带来了极大便利，由于不同的工作头200可共同使用一个自移动设备100而无需更换不同的自移动设备100，因此在提高了工作效率的同时降低了使用成本。
在一实施例中，控制模块11用于控制连接臂60和/或工作头200的工作状态。其中，连接臂60的工作状态是指连接臂60是否工作、是否运动、其运动状态及其姿态等等，工作头200的工作状态是指工作头200是否工作、工作电压、电流及其功率等等。可以理解，连接臂60和/或工作头的工作状态，不限定上述内容，只要与连接臂60和/或工作头200的工作相关的状态、参数、位置、姿态等等都称为其工作状态。在另一实施例中，自移动设备100也可通过人工控制或者通过其他控制器控制连接臂60和/或所述工作头200的工作状态。
在一具体实施例中，控制模块11可以控制自移动设备100和/或工作头200的工作状态，其中，自移动设备100的工作状态包括自移动设备100的机身20的工作状态及连接臂60的工作状态，具体的，机身20的工作状态是指自移动设备100除连接臂60以外的部分的工作状态，也就是说，控制模块11不仅可以控制连接臂60的工作状态，还可以控制自移动设备100除连接臂60以外的部分的工作状态，上述工作状态均包括是否工作以及工作中的状态、各种参数等等。具体的，控制模块11可以控制自移动设备的行走状态，其中，行走状态包括是否行走、行走速度以及行走轨迹等等。当然，控制模块11还可以控制行走以外的其他结构的状态，例如其他工作部件的工作状态、或者自移动设备100的电流、电压、功率、充放电管理或回归充电等等。
在一实施例中，自移动设备100还包括用于执行预设工作任务的工作模块12，控制模块11可以控制工作模块12的工作状态，工作模块12不同于工作头 200，工作模块12直接设置于机身20上，用于执行自移动设备100预设的最基础的工作任务，在一具体实施例中，工作模块12不可替换为其他类型的工作模块12，当然，在其他实施例中，工作模块12也可以根据实际情况替换为其他类型的工作模块12。连接臂60所连接的工作头200用于执行工作头200所对应的其他工作任务，其中，工作头200与工作模块12可根据实际情况控制两者同时工作或不同时工作。在一实施例中，工作头200所执行的工作任务不同于工作模块12所执行的预设工作任务，可以通过工作头200与工作模块12分别执行不同的工作任务，来实现自移动设备100上集成多种功能，在实现全智能化的同时，降低了成本，既解放了用户的双手，又避免了购买过多的智能产品，占用用户的存储空间。在一种情况下，自移动设备100还可以通过将工作模块12与工作头200同时工作，提供工作效率，缩短工作时间。上述实施例中，工作头200与工作模块12执行不同的工作任务，是指二者所执行的任务的目的不一样，而不是指二者一定为不同类型的装置，例如，在一实施例中，工作头200与工作模块12都为切割装置，工作模块12用于切割割草机下方的草坪，而工作头200用于实现切割到边任务，上述实施例中，虽然工作头200与工作模块12都为切割装置，但是二者所实现的目的不同，也认为工作头200与工作模块12是用于执行不同的工作任务。当然，在另一实施例中，工作头200也可执行与工作模块12相同的工作任务，以加速工作任务的进程，缩短工作时间。
在本实施例中，自移动设备100为自动割草机，其工作模块12包括执行切割任务的割草头，具体的，工作模块12设置于机身20的下方，割草头包括割草刀盘及设置于割草刀盘上的刀片，工作头200可以为切割装置、吹吸装置、割草装置、拾取装置等执行不同工作任务的工作装置。如此，该自移动设备100在可作为割草机使用的同时可通过连接臂60安装不同的工作头200进行不同种类的工作，提高了工作效率的同时降低了使用成本。
在另一实施例中，自移动设备100也可具有其他预设工作模块，例如，自移动设备100为具有清洁模块的扫地机器人、具有扫雪模块的扫雪机或具有多种功能模块的多功能机等等。当然，在其他实施例中，自移动设备100也可仅连接执行工作任务的工作头200以执行工作任务，而不单独具有预设工作模块。
本实施例中，行走机构40包括驱动机构及安装于驱动机构的若干个行走轮42，若干行走轮42安装于机身20用于带动机身20移动。具体地，在一实施例中，该行走机构40包括两个驱动轮与一个从动轮，两个驱动轮对称设置于机身20一端的两侧，从动轮设于机身20另一端的中部。当然，在其他实施例中，驱动轮及从动轮的数量及位置根据实际情况设定，例如设置两个驱动轮和两个从动轮等等。如此，驱动轮与从动轮相互配合而带动机身20稳定移动。可以理解，行走机构40的结构不限于此，行走机构40也可包括履带结构以带动机身20移动。
在一实施例中，自移动设备100中的连接臂60连接于机身20上且相对于机身20可运动，也就是说，连接臂60可运动的连接于机身20上，以实现连接臂60的姿态调整，在一具体实施例中，连接臂60可在高度、角度、方位等至少一个量上进行调整，以改变其姿态，来适应不同的场景。在具体实施例中，连接臂60可以通过电机控制关节运动实现其姿态改变，或者电动推杆调节来实现其姿态改变，或者通过手动干预来改变其姿态等等。以上具体实现连接臂60姿态改变的方式仅为举例，在其他实施例中，也可以采用其他方式，只要能实现连接臂60姿态改变的目的即可。上述自移动设备100，可根据安装不同的工作头200以方便快速的切换工作状态，从而具有较低的使用成本及较高的工作效率，并满足了人们的不同需求。在一具体实施例中，连接臂60可以在控制模块11的控制下自主运动，以适应不同的场景。
在另一实施例中，自移动设备100的连接臂60的延展范围超出机身20在水平方向上或竖直方向上的投影所覆盖的范围，其中，连接臂60的延展范围是指连接臂60在工作过程中的最大覆盖范围。本实施例中，通过增设连接臂60且连接臂60的延展范围超出机身20在水平方向上或竖直方向的投影所覆盖的范围，实现通过连接臂60扩大工作头200的工作区域范围，使得工作头200的工作区域范围超出机身20在水平方向或竖直方向上的投影所限定的范围，进而，实现通过工作头200完成直接设置于机身20上的工作头所无法完成的工作。例如，通过连接臂60沿水平方向上延展的范围超出机身20在水平方向上的投影所覆盖的范围，或者连接臂60沿竖直方向上延展的范围超出机身20在竖直方 向上的投影所覆盖的范围，来完成位于机身20两侧、前后或位于机身20上下的工作区域的工作任务，避免传统的机身20无法抵达的地方无法工作的缺陷。在本实施例中，连接臂60的延展范围超出机身20沿水平方向上的投影所覆盖的范围，以使工作头200的工作区域范围超出机身20在水平方向的投影所限定的范围，以使工作头200可执行机身20无法抵达的工作范围内的工作，例如，切割到边、打草、剪树枝、吹树叶等等。
在另一实施例中，也可将上述连接臂60连接于机身20上且相对于机身20可运动的实施例与连接臂60的延展范围超出机身20在水平方向上和竖直方向上的投影所覆盖的范围的实施例相结合，也就是说，连接臂60既连接于机身20上且相对于机身20可运动，连接臂60的延展范围又超出机身20在水平方向上或竖直方向上的投影所覆盖的范围。其中，连接臂60可根据具体场景，调节连接臂60所处的状态，例如，当连接臂60需要工作时，调节连接臂60伸出机身20外以完成机身20无法抵达的地方的工作任务；而当连接臂60无需工作时，调节连接臂60缩回距离机身20一定范围内，避免连接臂60过度向外延展，以致撞击行人、障碍物或建筑物等等；又或者当工作头200的工作区域范围需要调整时，通过调节连接臂60的覆盖范围来调节工作头200的工作范围。当然，以上具体场景仅为举例，连接臂60具体的可运动的形式，可根据具体情况设定。本实施例中，通过连接臂60的延展范围超出机身20沿横向或纵向的投影所覆盖的范围，扩大了工作头200的工作区域的范围，并进一步通过连接臂60可运动，既实现了连接臂60可调节，又实现了工作头200的工作区域范围的可调节。
在本实施例中，连接臂60包括用于连接执行工作任务的工作头200的连接结构64及用于连接连接结构64与机身20的连接组件62，自移动设备100可通过连接臂60连接工作头200以进行切割、吹吸、割草、拾取或抓取等不同操作。
如图1至图3所示，连接结构64用于连接执行工作任务的工作头200，连接结构64包括用于固定工作头200的固持部641，工作头200包括用于与连接结构64的固持部641连接的连接部241。在本实施例中，工作头200可拆卸的固定于连接结构64上，其中，可拆卸是指不通过破坏性的操作即可将工作头200自连接结构64上拆卸，例如，自动拆卸或者手动或者借助外部机器等方式进行 拆卸，而拆卸后的连接结构64及工作头200均不会被损坏，还可重复使用，连接结构64可继续与其他工作头200连接，当然，也可以再次连接被拆卸的工作头200。在另一实施例中，工作头200不可拆卸的固定于连接结构64上，其中，不可拆卸是指不能通过非破坏性操作将工作头200自连接结构64上拆卸。工作头200可在出厂时已经固定于连接结构64上，也可在出厂后由用户选择工作头200后，利用不可拆卸的方式将工作头200固定于连接结构64上。
本实施例中，如图1至图3所示，连接结构64包括用于固定工作头200的固持部641，连接结构64的具体结构可根据实际情况设定，固持部641可自动或非自动连接工作头200，例如，在一实施例中，固持部641包括用于自动连接工作头200的自动固持部，具体的，自动固持部可以为电磁夹具、电磁锁或自动爪夹等等，连接结构64可通过电磁夹具、电磁锁或自动爪夹等自动固持部自动与工作头200连接或松开连接，实现连接臂自动与工作头200连接以执行工作任务，或自动松开连接以存储工作头，或自动松开连接再与其他工作头200连接以更换工作头200等等。在另一实施例中，固持部641包括用于非自动连接工作头200的非自动固持部，例如，非自动固持部为需要手动或者外部机器进行紧固的紧固件等等，工作头200需要通过手动或者外部机器利用紧固件将其固定或松脱于连接臂60上，以实现工作头200与连接臂60的连接与松开连接。
其中，固持部641的具体结构或形态可以根据实际情况设定，例如，在一实施例中，如图4至图9所示，固持部641包括至少两个卡爪642，至少两个卡爪642可相护远离以松开工作头200，也可相互聚拢以夹持工作头200。具体地，当安装工作头200时，如图15所示，各个卡爪642由相互远离的状态逐渐向中心聚拢而夹持工作头200；当拆卸工作头200时，如图16所示，各个卡爪642由聚拢的状态而向相互远离的方向运动，从而松开已夹持的工作头200。如此，该连接臂60可通过固持部641方便快速地完成工作头200的拆装。可以理解，连接结构64的具体结构或形态不限。在另一实施例中，固持部641为卡扣，工作头200设有与卡扣配合的卡持部。如此，工作头200可通过卡持部卡持于固持部641上，从而安装于连接臂60上。可以理解，卡扣与卡持部的具体结构不 限，可根据需要设置。在上述实施例中，固持部641可以通过其具体的结构将工作头200固定于连接臂60上，以实现工作头200与连接臂60的连接。在其他实施例中，固持部641也可以充当一个固定于连接臂60上的工作头，以执行部分工作任务，例如，通过图4所示的卡爪执行拾取或抓取等工作任务等。
具体的，连接结构64还包括第一电连接件(图未示)，工作头200包括与第一电连接件配合的第二电连接件(图未示)以与机身20电连接。如此，自移动设备100本体可通过第一电连接件与第二电连接件控制工作头200的工作状态，便于该自移动设备100的使用。可以理解，安装于机身20上的工作头200的控制方式不限于此，也可通过操作者手动操作或其它连接方式与机身20电连接。
连接臂60还包括用于连接连接结构64与机身20的连接组件62，连接组件62连接于机身20且相对于机身可运动，以实现连接臂60姿态的改变，进一步的，连接组件62也可相对于连接结构64可运动，以增加连接臂60姿态改变的方式。连接组件62包括可运动的连接于机身20的固定端621，连接组件62相较于机身20的运动形式可以有多种，例如，平行移动、非平行移动、伸缩运动或转动等等，只要能实现两者的相对运动即可。
机身20包括用于固定固定端621的固定部(未图示)，固定端621连接于固定部内且相较于固定部可运动，在一具体实施例中，固定端621相较于固定部可转动，从而实现高度、角度及方位等改变，在一实施例中，固定部可作为旋转中心，固定端621绕固定部做旋转运动，以实现固定端621位置的变化。在另一实施例中，固定端621也可不以固定部为旋转中心转动，或者不作旋转运动，而只是普通的转动。在其他实施例中，固定端621也可不通过转动改变其位置，而通过平行移动、非平行移动、伸缩运动等方式，实现固定端621的位置改变。
具体的，连接组件62包括至少两个子连接件，且至少两个子连接件之间可相对运动，以实现连接臂60的姿态的改变。本实施例中，如图1至图9，在本实施例中，子连接件为连接杆622，当然，在其他实施例中，子连接件也可为其他形式，例如，铰链或工作平台等等，也可为连接杆、铰链或工作平台等的组 合。本实施例中，以连接组件62仅包括两个连接杆622为例，在其他实施例中，连接组件62也可以包括一根连接杆622或者超过两根连接杆622，一般情况下，连接杆622数量越多，连接臂60的姿态改变的方式也越多，连接臂60的灵活度更高。本实施例中，连接组件62包括连接固定端621的第一连接杆6221及连接连接结构64的第二连接杆6224，第一连接杆6221与第二连接杆6224相连且可相对运动，具体的，连接臂60一端通过固定端与机身连接，另一端通过连接结构64与工作头200连接，固定端621运动带动第一连接杆6221运动，第一连接杆6221运动也会带动第二连接杆6224的端部运动，第二连接杆6224不仅可以跟随第一连接杆6221运动，还可以相较于第一连接杆6221运动，连接结构64不仅可以跟随第二连接杆6224运动，还可相较于第二连接杆6224运动，以实现多方位姿态的变化，进而实现连接结构64多方位的姿态变化，以适应不同的场景，例如执行不同的工作任务的工作场景，或者，连接或拆卸工作头的场景等等。
本实施例中，自移动设备100还包括用于检测连接臂60所处位置的位置检测模块14，自移动设备100通过位置检测模块14检测其具体位置，以根据其位置控制连接臂60的运动轨迹，在一实施例中，位置检测模块14可用于检测连接结构64的具体位置，控制模块11根据连接结构64的位置，控制连接臂60的运动轨迹，具体的，控制连接臂60的运动轨迹包括控制固定端621相较于机身20的运动轨迹及相邻连接杆之间相对的运动轨迹，以自动调整连接结构64的位置，使其适应不同的场景。当然，在其他实施例中，位置检测模块14也可用于检测连接臂60的其他结构的位置，并通过控制模块11控制连接臂60不同部位的运动轨迹，以实现调整连接臂60的姿态，使其适应不同场景的目的。
如图9所示，自动工作系统300还包括用于收容工作头200的容纳腔，其中，自动工作系统300包括若干个(包括一个)工作头200，若干个工作头200可选择地与自移动设备100的连接结构64配合以安装于连接臂60上。当自动工作系统300长期无需使用时，工作头200可收容于其它收容装置或位于自移动设备100的容纳腔22内，且容纳腔22内的工作头200可根据需要替换以满足不同需求。
具体的，在一实施例中，机身20内设有用于收容工作头200的容纳腔22，连接臂60可在控制模块11的控制下伸入容纳腔22内并获取工作头200。如此，该自移动设备100可通过容纳腔22收容多个工作头200，从而可方便地在工作过程中随时更换工作头200。当然，在其他实施例中，容纳腔22也可设置于自动工作系统300的其他位置，例如，设置于自动工作系统300的基站或充电站35等位置。
具体地，不同类型的工作头200分别限位于容纳腔22内的对应位置。当需要拆装或更换工作头时，连接臂60可在控制模块11的控制下伸至目标工作头200对应的位置并自动连接位于该位置上的工作头200或松开已安装的工作头200而将工作头200放置于容纳腔22内。进一步的，容纳腔22包括多个间隔设置的子容纳腔，多个工作头200分别对应放置于子容纳腔内，连接臂60可在控制模块11的控制下从对应的子容纳腔中获取对应的工作头200或将对应的工作头200放置在对应的子容纳腔内。在其它实施例中，操作者也可随时从容纳腔22中选择所需的工作头200手动安装在连接臂60上。
如图10及图11所示，在一实施例中，自移动设备100包括两个或两个以上的连接臂60，两个或两个以上的连接臂60分别安装于机身20上。如此，可通过不同的连接臂60上可安装不同的工作头200以执行不同的工作任务，更加方便快速地切换不同连接臂60与工作头200进行工作，或者通过不同连接臂60同时连接不同工作头执行不同的工作任务，以提高工作效率，为使用者带来了极大便利。也可通过不同的连接臂60连接相同的工作头200，控制若干个工作头同时工作，以提高工作效率。在具体实施例中，不同的连接臂60也可根据实际情况，设置不同的连接结构以匹配不同的工作头200，以提升连接臂60的可通用性，且节省成本。
自移动设备100还包括用于识别工作头200的识别模块15，当自移动设备100连接工作头200时，或者说，工作头200与连接臂60连接时，识别模块15自动识别工作头200并获取工作头信息，上述工作头信息是指工作头相关的信息，例如工作头的种类、工作头的功率、工作头所需要的供给电压等等。具体的，工作头200包括用于提供识别信息的信息供应模块25，识别模块15能够识 别信息供应模块25所提供的识别信息以获取工作头信息，进一步的，上述控制模块11根据所述工作头信息控制连接臂60的工作状态。在具体实施例中，自移动设备100可以通过如下方式识别工作头。在一实施例中，在自移动设备100上增加一个识别电极与工作头200电连接，自移动设备100通过识别电极识别工作头，上述识别电极也可以称为所述识别模块。在另一实施例中，采用传感器来识别不同的工作头，例如霍尔传感器或光电开关传感器等，利用安装不同位置的传感器来识别不同的工作头，例如第一工作头对应的传感器安装在第一位置，第二工作头对应的传感器安装在第二位置，则自移动设备100中的传感器分别与对应的工作头中第一、第二位置的传感器中哪个感应就可以识别是哪个工具，例如第一位置感应就判断是第一工具，上述自移动设备100中的传感器也可称为所述识别模块15，工作头200中的传感器也可称为信息供应模块25。在另一实施例中，采用干簧管来识别不同的工作头，自移动设备100包装有磁元件，不同工具的不同位置装有干簧管，当受到磁感应时，干簧管的两个触电闭合导通，从而识别不同的工作头，上述干簧管也可称为所述识别模块。在另一实施例中，通过电阻识别不同的工作头200，自移动设备100内部具有一个识别电阻，工作头200内部也有一个识别电阻，通过分压采样来识别电阻，不同工作头200的电阻不同，从而检测到不同工作头不同的采样电压，根据对应的采样电压判断所接的是哪一种工作头，上述识别电阻也可称为所述识别模块。在其他实施例中，识别模块也可为其他形式，只要能够实现识别工作头信息的功能即可，以上实施例仅为举例说明。在上述实施例中，自移动设备100分别设有对应的识别工作头信息的识别模块，具体的，在一实施例中，上述识别模块15设置于连接臂60靠近工作头200处，例如，设置于连接结构64上，以使其最接近工作头200，以达到最佳的识别效果；当然，在其他实施例中，也可根据实际需求，将识别模块15设置于连接臂60的其他位置或者设置于自移动设备100的机身20上。
如图12至图14及图17所示，自动工作系统300还包括用于对工作头200进行安全防护的防护模块16。防护模块16可设置于自移动设备100和/或工作头200上，当然，防护模块16也可设置于自动工作系统300上的其他位置，例 如，设置于自动工作系统300的基站、充电站或各种用户终端等位置。在一实施例中，可如图12至图14所示，防护模块16可为用于对工作头200进行安全防护的防护罩161，以使工作头200在工作时，防护罩161对其进行防护，避免工作头误伤到人、动物或者其他事物。具体的，防护罩161可以如图12至图13所示，设置于工作头200上，也可以如图14所示，设置于自移动设备100上，例如，设置于自移动设备100的连接臂60上。防护罩161可以固定设置于自移动设备100或工作头200上，也可以可拆卸式的设置于自移动设备100或工作头200上，可拆卸式的设置，可根据工作头200的种类，在使用具有安全风险的工作头200时，才安装防护罩161进行防护。防护罩161也可以可活动的设置于自移动设备100上，具体的，防护罩161包括打开位置和关闭位置，通过防护罩161可活动实现防护罩161可选择性的处于打开位置和关闭位置。
在另一实施例中，防护模块16包括用于检测工作头200是否处于安全工作环境的安全检测模块162并得出检测结果，控制模块11根据安全检测模块162的检测结果控制自移动设备100和/或工作头200的工作状态。其中，自移动设备100的工作状态包括自移动设备100的机身20的工作状态及连接臂60的工作状态，具体的，机身20的工作状态是指自移动设备100除连接臂60以外的部分的工作状态，也就是说，控制模块11不仅可以控制连接臂60的工作状态，还可以控制自移动设备100除连接臂60以外的部分的工作状态，上述工作状态均包括是否工作以及工作中的状态、各种参数等等。具体的，控制模块11可以控制自移动设备的行走状态，其中，行走状态包括是否行走、行走速度以及行走轨迹等等。当然，控制模块11还可以控制行走以外的其他结构的状态，例如其他工作部件的工作状态、或者自移动设备100的电流、电压、功率、充放电管理或回归充电等等。
具体的，在一实施例中，安全检测模块162包括红外检测模块、超声检测模块、图像检测模块或其他检测模块中的至少一项，当上述安全检测模块162检测到控制模块161处于非安全工作环境，例如，当附近有人、动物或者其他可能被伤害的事物时，控制模块11控制工作头200停止工作，和/或调整连接臂60的姿态，和/或控制自移动设备100后退或转向等等，使工作头200处于安全 工作环境，当然，控制模块11也可控制自动工作系统300发出警报以提醒用户人工干预。在本实施例中，安全检测模块162可设置于自移动设备100和/或工作头200上，当然，在其他实施例中，安全检测模块162也可设置于自动工作系统中的其他位置。
在另一实施例中，防护模块16还包括用于接收表示工作头200是否处于安全工作环境的工作信号的信号接收模块163，控制模块11根据所接收到的工作信号控制自移动设备100和/或工作头200的工作状态，例如，当信号接收模块163接收到表示工作头200处于安全工作环境的工作信号时，控制模块11控制工作头200工作；当信号接收模块163接收到表示工作头200处于非安全工作环境的工作信号时，或者，当信号接收模块163未接收到表示工作头200处于安全工作环境的工作信号时，控制模块11控制工作头200停止工作，和/或调整连接臂60的工作状态，和/或控制自移动设备100后退或转向等等，当然，控制模块11也可控制自动工作系统300发出警报以提醒用户人工干预。在本实施例中，信号接收模块163可设置于自移动设备100和/或工作头200上，当然，在其他实施例中，信号接收模块163也可设置于自动工作系统中的其他位置，例如充电站、基站或者各种用户终端等位置。在上述实施例中，自动工作系统300还包括用于发送表示工作头200是否处于安全工作环境的工作信号的信号发送模块36。信号接收模块163接收信号发送模块36所发送的工作信号，控制模块11根据信号接收模块163接收的工作信号控制自移动设备100和/或工作头200的工作状态。具体的，在本实施例中，上述工作信号为无线信号，信号发送模块36与信号接收模块163分别为无线信号发送模块与无线信号接收模块。当然，在其他实施例中，也可以根据实际情况，将工作信号设置为有线信号，信号发送模块36与信号接收模块163分别为有线信号发送模块与有线信号接收模块。
在一具体实施例中，可通过用户参与，配合确认工作头是否处于安全工作环境。如图19所示，具体的，在一实施例中，由用户直接确认工作头处于安全工作环境时。具体的，自动工作系统300还包括用于发送表示工作头是否处于安全工作环境的工作信号的信号发送模块36及用于接收工作信号的信号接收模块163，具体的，上述工作信号为无线信号，信号发送模块36与信号接收模块 163分别为无线信号发送模块与无线信号接收模块，信号发送模块36可设置于遥控器、用户手机或电脑等其他用户终端32上，信号接收模块163可设置于自移动设备100和/或工作头200上。进一步的，自动工作系统300通过遥控、手机或电脑等用户终端32上的信号发送模块36发送安全工作环境的工作信号。具体的，上述工作信号为由用户操作产生的无线信号。当用户确认工作头200处于安全工作环境后，用户触发遥控、手机或电脑等用户终端上的安全信号发送指令，信号发送模块36接收到该安全信号发送指令后，持续发送工作头200处于安全工作环境的工作信号。自移动设备100或工作头200上设有接收该工作信号的信号接收模块163，当信号接收模块163接收到工作头200处于安全工作环境的工作信号时，控制模块11控制工作头200工作。而当用户发现工作头不处于安全工作环境，用户松开安全信号发送指令以停止发送表示工作头200处于安全工作环境的工作信号，或者触发不安全信号发送指令以发送表示工作头200处于不安全工作环境的工作信号，此时，信号接收模块163未接收到表示工作头200处于安全工作环境的工作信号，或接收到表示工作头200处于不安全工作环境的工作信号，控制模块11根据信号接收模块163接收到的工作信号，控制工作头200停止工作。
具体的，在另一实施例中，表示工作头200是否处于安全工作环境的工作信号还包括停机信号，当所述信号接收模块接收到停机信号时，控制模块控制自移动设备100和/或工作头200停止工作。具体的，上述停机信号为由用户操作产生的无线信号，例如，在遥控、手机或电脑等用户终端上设置停机指令，当用户触发停机指令时，用户终端发送表示停机信号的无线信号，信号接收模块接收该停机信号，控制模块控制自移动设备100和/或工作头200停止工作。
具体的，在另一实施例中，预设一安全监控范围，通过检测用户距离自移动设备100的距离确认工作头200是否处于安全工作环境，当用户处于安全监控范围内时，说明用户正在监控自移动设备100，用户可以人工干预保证工作头200的安全工作，此时，默认工作头200处于安全工作环境，控制模块11控制工作头工作；相反，当用户处于安全监控范围外时，为避免无人看管时，工作头200工作中出现危险状况，此时，默认工作头200处于非安全工作环境，控 制模块11控制工作头200停止工作。具体的，检测用户距离自移动设备100的距离可通过如下方法可以有多种，例如，在一实施例中，可通过安全检测模块直接检测距离，通过检测距离来判断工作头是否处于安全工作环境，例如通过红外检测模块、超声检测模块或图像识别模块等直接检测距离；在另一实施例中，也可通过检测信号强度等间接的检测距离。
具体的，通过检测信号强度等间接检测距离的一种实施方式如下，自动工作系统300还包括用于发送表示工作头是否处于安全工作环境的工作信号的信号发送模块36及用于接收工作信号的信号接收模块163，具体的，上述工作信号为由用户操作产生的无线信号。信号发送模块36位于用户附近，例如，信号发送模块36可以集成于遥控、手机或电脑等用户终端上，用户通过触发信号发送指令，信号发送模块36接收到该信号发送指令后发送信号，信号接收模块163设置于自移动设备100和/或工作头200上，且信号接收模块163包括检测信号强度的信号强度检测模块1631，信号接收模块163接收并检测信号发送模块36发送的信号强度，预设一与安全监控范围对应的信号强度阈值，当信号强度检测模块1631检测到的信号强度低于信号强度安全阈值时，说明用户超出安全监控范围，此时，控制模块11控制工作头200停止工作；当信号强度检测模块1631检测到的信号强度不低于信号强度阈值时，说明用户处于安全监控范围内，此时，控制模块11控制工作头200工作。
具体的，在另一实施例中，也可通过将上述用户直接确认工作头处于安全工作环境和通过检测用户距离自移动设备100的距离的两种方法结合，来确认工作头处于安全工作环境，只有当两种方法都确认工作头200处于安全工作环境时，控制模块11才控制工作头200工作，若两种方法中任一中表示工作头200处于非安全工作环境时，控制模块11都控制工作头200停止工作。具体的，在一实施方式中，信号发送模块36位于用户附近，例如，信号发送模块36可以集成于遥控、手机或电脑等用户终端上，用户通过触发信号发送指令，信号发送模块36接收到该信号发送指令后发送信号，信号接收模块163设置于自移动设备100和/或工作头200上。当用户确认工作头200处于安全工作环境后，用户触发遥控、手机或电脑等用户终端上的安全信号发送指令，信号发送模块36 接收到该安全信号发送指令后，发送工作头200处于安全工作环境的工作信号，自移动设备100或工作头200上设有接收该工作信号的信号接收模块163，信号接收模块163包括用于检测工作信号强度的信号强度检测模块1631，预设一与安全监控范围对应的信号强度阈值，当信号接收模块163接收到工作头200处于安全工作环境的工作信号，且信号强度检测模块1631检测到该工作信号的强度不低于信号强度阈值时，说明用户处于安全监控范围内，且确认工作头200处于安全工作环境，此时，控制模块11控制工作头200工作。反之，若信号接收模块163未接收到表示工作头200处于安全工作环境的工作信号，或者接收到的工作信号强度低于信号强度阈值，或者接收到表示工作头200处于非安全工作环境的工作信号时，都认为工作头处于非安全工作环境，此时，控制模块11控制工作头200停止工作。
在一具体实施例中，自移动设备100还包括若干(包括一个)预设工作模式，例如，自移动设备100包括吹吸模式、切割模式、修枝剪模式，打草模式、拾取模式等等，控制模块11控制自移动设备100按照预设工作模式执行工作任务。具体的，预设工作模式下，控制模块11可控制自移动设备100按照预设路径行走、预设速度行走、连接臂60按照预定运动轨迹及频率运动、工作头200按照预设路径、频率、方位执行对应的工作任务等等。当然，以上仅为举例，具体的，预设工作模式下，自移动设备100及工作头200的工作状态不限于上述内容。其中，在本实施例中，自移动设备100按照预设路径行走时，形成预设路径的形式可以有多种，例如，可通过引导线引导以形成预设路径，也可以通过定位模块构建虚拟地图以形成预设路径，也可以通过电容传感器区分草与非草等方式形成预设路径等等。
在一实施例中，自动工作系统300还包括上述实施例中的用于识别工作头200并获取工作头信息的识别模块，控制模块11根据识别模块所识别的工作头信息，控制自移动设备100和/或工作头200按照对应的工作模式执行工作任务。例如，当识别模块识别到工作头为修枝剪时，控制模块11控制所述自移动设备100和/或工作头200按照修枝剪模式进行工作。
在另一实施例中，自动工作系统300还包括发送指令信号的信号发送模块 36及用于接收指令信号的信号接收模块163，控制模块11根据指令信号控制自移动设备100和/或工作头200的工作状态。具体的，在一实施例中，若干预设工作模式包括指定工作模式，其中，指定工作模式是指预设工作模式中的一种工作模式，例如，一实施例中，指定工作模式为修枝剪模式。信号发送模块可集成于上述实施例中的遥控、手机、电脑等用户终端中，用户终端可发送表示指定工作模式的信号，在上述指定工作模式为修枝剪模式的实施例中，也即，用户终端发送修枝剪模式的信号，则信号接收模块接收到修枝剪模式的信号，则控制模块11控制自移动设备100和/或工作头200按照修枝剪模式执行工作任务。
具体的，在另一实施例中，还可将预设工作模式与防护模块相结合，使工作头200在预设工作模式下，安全的执行工作任务。具体的，指令信号还包括上述自动工作系统300具有防护模块16的实施例中的用于表示工作头是否处于安全环境的工作信号，控制模块11根据所述工作信号控制自移动设备100和/或工作头200的工作状态。具体的，在一实施例中，指令信号为由用户操作产生的无线信号，当信号接收模块持续接收到表示工作头处于安全工作环境的工作信号时，控制模块11控制自移动设备100和/或工作头200工作，当信号接收模块未接收到表示工作头处于安全工作环境的工作信号或当信号接收模块接收到表示工作头处于非安全工作环境的所述工作信号时，控制模块控制自移动设备和/或工作头停止工作。在另一实施例中，信号接收模块还包括用于检测指令信号强度的信号强度检测模块1631，预设一信号强度阈值，当信号强度检测模块1631检测到指令信号的信号强度低于信号强度阈值时，控制模块控制自移动设备和/或工作头停止工作。在另一实施例中，也可将上述两实施例相结合，控制模块11根据指令信号所表示的内容和强度，控制自移动设备和/或工作头的工作状态，具体的，若信号接收模块接收到表示工作头200处于非安全工作环境，或信号强度检测模块1631检测到指定信号的信号强度低于信号强度阈值时，控制模块11均控制自移动设备100和/或工作头200停止工作。当然，以上仅为预设工作模式与防护模块16相结合的部分实施方式，本实施例还可引用自动工作系统300具有防护模块16的所有实施例中的全部实施方式，在此不再一一赘述。
具体的，在另一实施例中，指令信号还包括停机信号，当信号接收模块接收到停机信号时，控制模块11可以根据停机信号控制自移动设备100和/或工作头200停止工作。例如，当用户发现紧急情况，需要立即停机时，可通过指令信号发送停机信号，控制自移动设备100和/或工作头200及时停机。
在上述实施例中，工作头200直接通过自移动设备100的能源模块提供能源，工作头200与自移动设备100之间不仅机械连接，还需要电性连接，以实现通过自移动设备100的能源模块供电。在其他实施例中，工作头200还包括用于给工作头200供电的工作头能源模块，工作头200通过单独的工作头能源模块提供能源，工作头200可与自移动设备100仅机械连接即可，当然，也可根据实际情况，工作头200与自移动设备100之间依旧电性连接。在一具体实施例中，自移动设备100包括用于给自移动设备100提供动力的动力模块17，例如，割草电机、行走电机等，而工作头200还包括单独用于给工作头200提供动力的工作头动力模块27，例如，工作头电机等。在另一具体实施例中，工作头200也不可包括单独的工作头动力模块，而通过自移动设备100的动力模块17提供动力，具体的，可通过在工作头200与动力模块17之间设置传动机构，通过传动机构传动，实现通过动力模块给工作头200提供动力。
在一具体实施例中，如图18所示，自动工作系统300还包括用于给自移动设备100充电的充电站35，自移动设备100包括用于给能源模块充电的充电系统，具体的，自移动设备100包括自动返回充电的自动充电系统以使自移动设备100能够自动返回充电站35充电，更具体的，自移动设备100包括回归充电模式，在回归充电模式下，控制模块11控制自移动设备100自动回归充电站35并与充电站35对接以给自移动设备100充电。具体的，在一实施例中，预设一电量阈值，当能源模块的电量低于阈值时，自移动设备100自动返回充电站35充电。具体的，在一预设工作模式下，自移动设备100可按照预设工作路径返回充电站35充电。具体的，在实施例中，预设工作路径可以通过引导线预设路径，具体的，自动工作系统100还包括引导线，自移动设备100还包括引导线侦测模块(未图示)，引导线侦测模块包括至少一个引导线检测传感器，用于检测自移动设备与引导线之间的位置关系。自移动设备100与引导线之间的位置 关系包括，自移动设备100位于引导线的两侧中的一侧，或者自移动设备与引导线之间的距离等。本实施例中，引导线包括边界线31，限定自移动设备100的工作区域301。在其他实施例中，引导线也可以是布置在工作区域中的导线，由充电站35所在位置引出，用于引导自移动设备100向充电站35移动。当然，引导线也可以是篱笆等形成的物理边界，或者草坪与非草坪之间形成的物理边界等。相应的，引导线检测传感器可以是摄像头、电容传感器等等。在其他实施例中，也可以没有引导线，相应的，直接通过电容传感器、定位模块定位、视觉等方式预设工作路径，例如通过定位模块构建虚拟地图以预设工作路径，以控制自移动设备的工作区域。
在上述实施例中，仅以自移动设备100上的控制模块11控制自移动设备100和/或工作头200为例，在另一实施例中，工作头200还包括控制器，且通过控制器控制自移动设备100和/或工作头200的工作状态，其中，控制器可直接控制自移动设备100和/或工作头200的工作状态，也可通过控制控制模块11进而控制自移动设备100和/或工作头200的工作状态。在其他实施例中，也可以将控制自移动设备100和/或工作头200的控制器设置于自动工作系统300的其他位置。也就是说，自动工作系统300包括用于控制自移动设备100和/或工作头200的工作状态的控制器，控制器可设置于自移动设备100和/或工作头200中，也可以设置与自动工作系统300的其他位置。
在上述实施例中，通过在自移动设备100上设置连接臂60，并通过连接臂60连接工作头200以进行不同种类的工作，从而满足不同环境及需要，为人们带来了极大便利，不仅工作头200与工作模块12可执行不同的工作任务，而且连接臂60可连接不同工作头200，甚至多个工作头200，以执行不同的工作任务，或者同时执行相同或不同的工作任务，利用一个自移动设备100，集成多种功能，在提高了工作效率的同时降低了使用成本。不仅如此，连接臂60通过特殊的机构设计，大大提升其工作的灵活度，智能化的同时，精确度也大大提升。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (64)

  1. 一种自移动设备，其特征在于，包括：
    机身；
    行走机构，设置于机身上且用于带动所述自移动设备的行走；
    连接臂，与所述机身连接；
    控制模块，用于控制所述行走机构带动所述自移动设备在限定的区域内行走；所述连接臂可选择性的连接至少两个用于执行不同工作任务的工作头中的至少一个，所述连接臂包括用于连接所述工作头的连接结构及用于连接所述连接结构与所述机身的连接组件。
  2. 根据权利要求1所述的自移动设备，其特征在于：所述控制模块用于控制所述连接臂和/或所述工作头的工作状态。
  3. 根据权利要求2所述的自移动设备，其特征在于：所述连接臂可在所述控制模块的控制下自主运动。
  4. 根据权利要求1所述的自移动设备，其特征在于：所述连接臂的延展范围超过所述机身在水平方向的投影所覆盖的范围。
  5. 根据权利要求1所述的自移动设备，其特征在于：所述连接臂连接于所述机身上且相对于所述机身可运动。
  6. 根据权利要求1所述的自移动设备，其特征在于：所述连接组件连接于所述机身上且相对于所述机身可运动。
  7. 根据权利要求6所述的自移动设备，其特征在于：所述连接组件包括可运动的连接于所述机身上的固定端，所述机身包括用于固定所述固定端的固定部，所述固定端相较于所述固定部可转动。
  8. 根据权利要求1所述的自移动设备，其特征在于：所述连接组件包括至少两个子连接件，所述至少两个子连接件可相对运动。
  9. 根据权利要求1所述的自移动设备，其特征在于：所述连接结构包括用于固定所述工作头的固持部。
  10. 根据权利要求9所述的自移动设备，其特征在于：所述固持部包括用于自动连接所述工作头的自动固持部。
  11. 根据权利要求10所述的自移动设备，其特征在于：所述自动固持部包括电 磁夹具和电磁锁中至少一个。
  12. 根据权利要求9所述的自移动设备，其特征在于：所述固持部包括用于非自动连接所述工作头的非自动固持部。
  13. 根据权利要求9所述的自移动设备，其特征在于：所述固持部包括至少两个卡爪，所述至少两个卡爪可相互远离或聚拢。
  14. 根据权利要求9所述的自移动设备，其特征在于：所述固持部包括卡扣。
  15. 根据权利要求1所述的自移动设备，其特征在于：所述连接结构还包括用于与所述工作头电性连接的电连接件。
  16. 根据权利要求1所述的自动工作系统，其特征在于：所述自移动设备还包括用于识别所述工作头的识别模块。
  17. 根据权利要求1所述的自动工作系统，其特征在于：所述自移动设备还包括用于检测所述连接臂所处位置的位置检测模块，所述控制模块根据所述位置检测模块的检测结果控制所述连接臂的运动轨迹。
  18. 根据权利要求1所述的自移动设备，其特征在于：所述自移动设备还包括用于收容所述工作头的容纳腔。
  19. 根据权利要求18所述的自移动设备，其特征在于：所述容纳腔包括至少两个用于收容不同所述工作头的子容纳腔。
  20. 根据权利要求18所述的自移动设备，其特征在于：所述控制模块控制所述连接臂自动伸入所述容纳腔内以与所述工作头连接。
  21. 根据权利要求1所述的自移动设备，其特征在于：所述自移动设备包括至少两个所述连接臂。
  22. 根据权利要求1所述的自移动设备，其特征在于：所述自移动设备还包括用于对所述工作头进行安全防护的防护模块。
  23. 根据权利要求22所述的自移动设备，其特征在于：所述防护模块包括设置于所述机械臂上的防护罩。
  24. 根据权利要求22所述的自移动设备，其特征在于：所述防护模块包括用于检测所述自移动设备是否处于安全工作环境的安全检测模块，所述控制模块根据所述安全检测模块的检测结果控制所述自移动设备和/或所述工作头的工作状 态。
  25. 根据权利要求24所述的自移动设备，其特征在于：所述安全检测模块包括红外检测模块、超声检测模块和图像检测模块中的至少一项。
  26. 根据权利要求22所述的自移动设备，其特征在于：所述防护模块包括用于接收表示所述工作头是否处于安全工作环境的工作信号的信号接收模块，所述控制模块根据所述工作信号控制所述自移动设备和/或所述工作头的工作状态。
  27. 根据权利要求26所述的自移动设备，其特征在于：所述工作信号为由用户操作产生的无线信号。
  28. 根据权利要求27所述的自移动设备，其特征在于：当所述信号接收模块持续接收到表示工作头处于安全工作环境的所述工作信号时，所述控制模块控制所述自移动设备和/或所述工作头工作，当所述信号接收模块未接收到表示所述工作头处于安全工作环境的所述工作信号或当所述信号接收模块接收到表示所述工作头处于非安全工作环境的所述工作信号时，所述控制模块控制所述自移动设备和/或所述工作头停止工作。
  29. 根据权利要求27所述的自移动设备，其特征在于：所述信号接收模块还包括用于检测所述工作信号的强度的信号强度检测模块，预设一信号强度阈值，当所述信号强度检测模块检测到所述工作信号的信号强度低于信号强度阈值时，所述控制模块控制所述自移动设备和/或所述工作头停止工作。
  30. 根据权利要求27所述的自移动设备，其特征在于：所述工作信号包括停机信号，当所述信号接收模块接收到所述停机信号时，所述控制模块根据所述停机信号控制所述自移动设备和/或所述工作头停止工作。
  31. 根据权利要求1所述的自移动设备，其特征在于：所述自移动设备包括若干预设工作模式，所述控制模块控制所述自移动设备按照预设工作模式执行工作任务。
  32. 根据权利要求31所述的自移动设备，其特征在于：在所述预设工作模式下，所述控制模块控制所述自移动设备按照预设路径行走。
  33. 根据权利要求31所述的自移动设备，其特征在于：所述自移动设备还包括用于识别所述工作头并获取所述工作头信息的识别模块，所述控制模块根据所 述识别模块所获取的工作头信息控制所述自移动设备和/或所述工作头按照对应的预设工作模式执行工作任务。
  34. 根据权利要求31所述的自移动设备，其特征在于：所述自移动设备还包括用于接收指令信号的信号接收模块，所述控制模块根据所述指令信号控制所述自移动设备和/或所述工作头的工作状态。
  35. 根据权利要求34所述的自移动设备，其特征在于：所述若干预设工作模式包括指定工作模式，所述指令信号包括表示所述指定工作模式的信号，所述控制模块根据所述指令信号控制所述自移动设备和/或所述工作头按照所述指定工作模式执行工作任务。
  36. 根据权利要求34所述的自移动设备，其特征在于：所述指令信号包括用于表示所述工作头是否处于安全工作环境的工作信号，所述控制模块根据所述工作信号控制所述自移动设备和/或所述工作头的工作状态。
  37. 根据权利要求36所述的自移动设备，其特征在于：所述指令信号为由用户操作产生的无线信号。
  38. 根据权利要求37所述的自移动设备，其特征在于：当所述信号接收模块持续接收到表示工作头处于安全工作环境的所述工作信号时，所述控制模块控制所述自移动设备和/或所述工作头工作，当所述信号接收模块未接收到表示所述工作头处于安全工作环境的所述工作信号或当所述信号接收模块接收到表示所述工作头处于非安全工作环境的所述工作信号时，所述控制模块控制所述自移动设备和/或所述工作头停止工作。
  39. 根据权利要求37所述的自移动设备，其特征在于：所述信号接收模块还包括用于检测指令信号强度的信号强度检测模块，预设一信号强度阈值，当所述信号强度检测模块检测到所述指令信号的信号强度低于信号强度阈值时，所述控制模块控制所述自移动设备和/或所述工作头停止工作。
  40. 根据权利要求37所述的自移动设备，其特征在于：所述指令信号包括停机信号，当所述信号接收模块接收到所述停机信号时，所述控制模块根据所述停机信号控制所述自移动设备和/或所述工作头停止工作。
  41. 根据权利要求1所述的自移动设备，其特征在于：所述自移动设备还包括用 于给所述自移动设备和/或所述工作头提供能量的能源模块。
  42. 根据权利要求1所述的自移动设备，其特征在于：所述自移动设备包括回归充电模式，在所述回归充电模式下，所述控制模块控制所述自移动设备自动回归充电站充电。
  43. 根据权利要求42所述的自移动设备，其特征在于：预设一电量阈值，当所述能源模块的电量低于电量阈值时，所述控制模块控制所述自移动设备自动返回所述充电站充电。
  44. 根据权利要求1所述的自移动设备，其特征在于：所述自移动设备还包括用于给所述自移动设备提供动力的动力模块。
  45. 根据权利要求1所述的自移动设备，其特征在于：所述自移动设备还包括用于执行预设工作任务的工作模块，所述工作模块设置于所述机身上。
  46. 根据权利要求45所述的自移动设备，其特征在于：所述自移动设备为自动割草机，所述工作模块为用于执行割草任务的割草头。
  47. 一种自动工作系统，其特征在于：所述自动工作系统包括如权利要求1～46中任意一项所述的自移动设备，所述自动工作系统还包括用于与所述连接臂连接以执行工作任务的工作头。
  48. 根据权利要求47所述的自动工作系统，其特征在于：所述工作头包括用于与所述连接结构连接的连接部。
  49. 根据权利要求47所述的自动工作系统，其特征在于：所述工作头还包括用于给所述工作头和/或所述自移动设备提供能量的工作头能源模块。
  50. 根据权利要求47所述的自动工作系统，其特征在于：所述工作头还包括用于给所述工作头提供动力的工作头动力模块。
  51. 根据权利要求47所述的自动工作系统，其特征在于：所述工作头还包括用于提供识别信息的信息供应模块。
  52. 根据权利要求47所述的自动工作系统，其特征在于：所述工作头还包括用于控制所述自移动设备和/或所述工作头的工作状态的控制器。
  53. 根据权利要求47所述的自动工作系统，其特征在于：所述工作头为割草头、吹吸装置、切割装置、修枝剪、打草头和拾取装置中的至少一个。
  54. 根据权利要求47所述的自动工作系统，其特征在于：所述自动工作系统包括至少两个执行不同工作任务的工作头，所述连接臂可选择地连接至少一个所述工作头。
  55. 根据权利要求47所述的自动工作系统，其特征在于：所述自动工作系统还包括用于控制所述自移动设备和/或所述工作头的工作状态的控制器。
  56. 根据权利要求47所述的自动工作系统，其特征在于：所述自动工作系统还包括用于对所述工作头进行安全防护的防护模块。
  57. 根据权利要求56所述的自动工作系统，其特征在于：所述防护模块设置于所述自移动设备和/或所述工作头上。
  58. 根据权利要求57所述的自动工作系统，其特征在于：所述防护模块包括设置于所述工作头上的防护罩。
  59. 根据权利要求57所述的自动工作系统，其特征在于：所述防护模块包括用于检测所述自移动设备是否处于安全工作环境的安全检测模块，所述控制模块根据所述安全检测模块的检测结果控制所述自移动设备和/或所述工作头的工作状态。
  60. 根据权利要求59所述的自动工作系统，其特征在于：所述安全检测模块包括红外检测模块、超声检测模块和图像检测模块中的至少一项。
  61. 根据权利要求57所述的自动工作系统，其特征在于：所述防护模块包括用于接收表示所述工作头是否处于安全工作环境的工作信号的信号接收模块，所述控制模块根据所述工作信号控制所述自移动设备和/或所述工作头的工作状态。
  62. 根据权利要求61所述的自动工作系统，其特征在于：所述自动工作系统还包括用于发送表示所述工作头是否处于安全工作环境的工作信号的信号发送模块。
  63. 根据权利要求62所述的自动工作系统，其特征在于：所述自动工作系统还包括用户终端，所述信号发送模块设置于所述用户终端中。
  64. 根据权利要求47所述的自动工作系统，其特征在于：所述自动工作系统还包括用于给所述自移动设备充电的充电站。
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