WO2019238099A1

WO2019238099A1 - Automated moving device

Info

Publication number: WO2019238099A1
Application number: PCT/CN2019/091174
Authority: WO
Inventors: 查霞红; 赵凤丽
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2018-06-13
Filing date: 2019-06-13
Publication date: 2019-12-19
Also published as: CN111225556A

Abstract

An automated moving device (100). The automated moving device (100) comprises a housing (10), a traveling system (20), an operation system (30) and a control system, the traveling system (20) being used for driving the automated moving device (100) to travel, the operation system (30) being used for executing an operation task, the control system being connected to and controlling the traveling system (20) and/or the operation system (30), the automated moving device (100) further comprises a driving motor (40) connected to the traveling system (20), the traveling system (20) drives, under the driving of the same driving motor (40), the automated moving device (100) to travel; besides, a clutch (53) is provided only between the driving motor (40) and a clutch driving wheel (211), the steering of the automated moving device (100) is controlled by means of the engagement and disengagement of the clutch (53), and the automated moving device (100) can also realize the steering of the automated moving device (100) by setting a steering wheel (22) driven by a steering motor (70), both steering modes can realize flexible steering, and not only is the cost reduced, but also the market competitiveness is improved, and the present invention can attract a target consumption group, and has a wide application value.

Description

From mobile device

Technical field

The invention relates to the technical field of mechanical equipment, in particular to a self-moving device.

Background technique

With the continuous progress of computer technology and artificial intelligence technology, intelligent self-mobile devices have gradually entered the lives of the general public. Taking smart lawnmowers as an example, smart lawnmowers can automatically cut and charge grass in the user's lawn without user intervention. This intelligent self-mobile device does not need to invest in energy management again after the initial setting, which can free users from boring and time-consuming housework tasks such as cleaning and lawn maintenance.

However, the current self-moving devices represented by intelligent lawnmowers often have two drive motors to drive the self-moving devices to travel straight, and the steering control is achieved by the difference in speed between the two drive motors. Although the two motors drive the self-moving device to move and turn, the setting method is easy to implement and control, but the relatively high price of the motor increases the overall cost of the self-moving device and reduces the market competitiveness of the product.

Summary of the Invention

In view of this, it is necessary to provide an improved self-mobile device, which can be walked by a motor, the cost is relatively low, and the market competitiveness is improved.

The present invention provides a self-moving device, which includes: a housing; a walking system to support the housing and enable the self-moving device to move on the ground; a work system to perform work tasks; a control system, For autonomously controlling the walking system to drive the self-mobile device to move, and autonomously controlling the work system to perform preset work tasks; the walking system includes a main driving wheel and a clutch driving wheel; the self-mobile device further includes a A driving motor for providing driving force for the main driving wheel and the clutch driving wheel, and a clutch provided only between the driving motor and the clutch driving wheel; driving the main motor when the driving motor rotates Driving wheel; when the clutch and the clutch driving wheel are in an engaged state, the driving motor drives the clutch driving wheel; when the clutch and the clutch driving wheel are in a disengaged state, the clutch driving wheel does not Driven by the drive motor.

In a specific embodiment, the self-moving device includes a steering mode, and in the steering mode, the control system controls the clutch to disengage from the clutch driving wheel for a preset disengagement time to make the self-moving The device deflects a preset angle, and then controls the clutch to engage with the clutch driving wheel, and the driving motor drives the main driving wheel and the clutch driving wheel to move, so that the self-moving device is straight along the deflected azimuth. walk.

In a specific embodiment, the clutch is a mechanical clutch, and in the steering mode, the control system controls the driving motor to reverse so as to disengage the mechanical clutch from the clutch driving wheel, and further deflect the Set an angle, and then control the drive motor to rotate forward to engage the mechanical clutch with the clutch drive wheel, and drive the main drive wheel and the clutch drive wheel to move forward in a deflected orientation.

In a specific embodiment, the self-moving device further includes a line walking mode, in which the rotation direction of the self-moving device traveling along the line and the main driving wheel around the clutch driving wheel are along the line. The forward direction of rotation is the same.

In a specific embodiment, the clutch is an electronic clutch, and in the steering mode, the control system controls the electronic clutch to disengage from the clutch drive wheel, and controls the drive motor to rotate forward or reverse To control the electronic clutch to engage with the clutch drive wheel at a preset angle of deflection, and control the drive motor to rotate forward or reverse to drive the main drive wheel and the clutch drive wheel along the deflected Walk forward or backward.

In a specific embodiment, the electronic clutch is an electromagnetic clutch.

In a specific embodiment, in the steering mode, the control system controls the driving motor to reduce the speed to slow down.

In a specific embodiment, the self-moving device further includes a connecting shaft for connecting the main driving wheel and the clutch driving wheel, and a power output end of the driving motor is drivingly connected to the connecting shaft.

In a specific embodiment, the working system is also driven by the same driving motor.

In a specific embodiment, the power input end of the working system is directly connected to the power output end of the driving motor to drive the working system directly through the driving motor.

In a specific embodiment, a power input end of the walking system is connected to a power output end of the driving motor to drive the walking system through the driving motor.

In a specific embodiment, the self-moving device further includes a work transmission device, and a power input end of the work system is connected to a power output end of the driving motor through the work transmission device.

In a specific embodiment, the self-moving device further includes a walking transmission device, and a power input end of the walking system is connected to a power output end of the driving motor through the walking transmission device.

In a specific embodiment, the walking transmission device includes a reduction device, and the main driving wheel and the clutch driving wheel are respectively connected to the reduction device.

In a specific embodiment, the self-mobile device further includes a lift detection sensor for detecting whether it is lifted, and when the lift detection sensor detects that the front of the self-mobile device is lifted or the whole machine When being lifted, the control system controls the driving motor to continue to work for a first preset time, and within the first preset time, the self-moving device changes the original movement direction, and the first preset time After time, the driving motor stops working, and the working system stops moving within a second preset time.

In a specific embodiment, the self-mobile device is preset with a security detection time. If the lift detection sensor does not detect that the self-mobile device is lifted within the preset security detection time, all the The control system controls the self-mobile device to continue to move and work. If the lift detection sensor always detects that the self-mobile device is lifted within a preset security detection time, the control system controls the mobile device. Downtime from mobile equipment.

In a specific embodiment, the self-mobile device further includes a lift detection sensor for detecting whether it is lifted and an angle detection sensor for detecting a lift angle. The self-mobile device is preset with a climbing slope. A threshold and a safe lifting angle threshold, when the lifting detection sensor detects that the rear of the mobile device is lifted and the angle detection sensor detects that the lifting angle is not greater than the climbing threshold, the control The system controls the self-mobile device to continue to move and work; when the lift detection sensor detects that the rear of the self-mobile device is lifted and the angle sensor detects that the lift angle is greater than the climbing threshold and does not When it is larger than the safe lifting angle threshold, the control system controls the self-mobile device to retreat and / or turn; when the lifting detection sensor detects that the rear of the self-mobile device is lifted and the angle detection sensor When it is detected that the lifting angle is greater than the safe lifting angle threshold, the control system controls the self-moving device to stop.

In a specific embodiment, the self-moving device further includes at least one universal wheel for auxiliary guidance.

In a specific embodiment, the self-moving device is a smart lawnmower, and the working system includes a cutting mechanism for performing a cutting task.

The self-moving device provided by the present invention drives a traveling system and / or working system by setting a driving motor, and a clutch is arranged between only the driving motor and the clutch driving wheel, and the engagement and disengagement of the clutch controls the self-moving device. Turning, not only reduces costs, but also improves market competitiveness, can attract target consumer groups, and has wide application value.

The invention also provides a self-moving device, which includes: a housing; a walking system to support the housing and enable the self-moving device to move on the ground; a work system to perform work tasks; a control system For autonomously controlling the walking system to drive the self-mobile device to move, and autonomously controlling the work system to perform preset work tasks; the walking system includes at least one driving wheel and at least one steering wheel, the self-mobile device It also includes a driving motor for providing driving force to the driving wheels, and a steering motor for driving the steering wheel to twist and drive the self-moving device to turn.

In a specific embodiment, the walking system includes at least two of the driving wheels, and the at least two driving wheels drive the self-moving device to move under the driving of the same driving motor.

In a specific embodiment, the self-moving device further includes a connecting shaft for connecting the driving wheel, and the driving motor is drivingly connected to the connecting shaft.

In a specific embodiment, the driving wheel includes a driving wheel and a supporting wheel, the driving motor is drivingly connected to the driving wheel, and the supporting wheel is connected to the casing to rotate with the driving wheel .

In a specific embodiment, the walking system includes at least two steering wheels.

In a specific embodiment, one of the steering wheels is driven by the steering motor, and the other of the steering wheels is a universal wheel for auxiliary guidance.

In a specific embodiment, the at least two steering wheels are driven by the same steering motor.

The self-moving device provided by the present invention sets a driving motor to drive the movement of the walking system and / or the working system. At the same time, the self-moving device realizes the steering of the self-moving device by setting a steering wheel driven by a steering motor. Reduced, and market competitiveness is improved, can attract target consumer groups, has a wide range of application value.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic structural diagram of a self-mobile device according to an embodiment of the present invention.

FIG. 2 is a schematic structural diagram of the self-mobile device shown in FIG. 1 from another perspective.

FIG. 3 is a schematic structural diagram of a self-mobile device in another embodiment of the present invention.

FIG. 4 is a schematic structural diagram of a mobile device in another embodiment of the present invention.

FIG. 5 is a schematic structural diagram of a self-mobile device in the first embodiment of the first embodiment of the present invention.

FIG. 6 is a schematic structural diagram of the self-mobile device shown in FIG. 5 in another working state.

FIG. 7 is a schematic diagram of a self-mobile device walking clockwise in the first example of the first embodiment of the present invention.

FIG. 8 is a schematic diagram of a self-mobile device walking counterclockwise in the first example of the first embodiment of the present invention.

FIG. 9 is a schematic structural diagram of a self-mobile device in the second embodiment of the first embodiment of the present invention.

FIG. 10 is a schematic structural diagram of the self-mobile device 1 shown in FIG. 9 in another working state.

FIG. 11 is a schematic structural diagram of a self-mobile device in Embodiment 1 of Embodiment 1 of the present invention.

FIG. 12 is a schematic structural diagram of the self-mobile device shown in FIG. 11 from another perspective.

FIG. 13 is a schematic structural diagram of a mobile device in another embodiment of the first embodiment of the present invention.

FIG. 14 is a schematic structural diagram of the self-mobile device shown in FIG. 13 from another perspective.

FIG. 15 is a schematic diagram of a module of a mobile device in an embodiment of the first embodiment of the present invention.

FIG. 16 is a schematic structural diagram of a self-mobile device in the first example of Embodiment 2 of the present invention.

FIG. 17 is a schematic structural diagram of a self-mobile device in a second example of Embodiment 2 of the present invention.

FIG. 18 is a schematic structural diagram of a mobile device in a third example of Embodiment 2 of the present invention.

FIG. 19 is a schematic structural diagram of a mobile device in a fourth example of Embodiment 2 of the present invention.

FIG. 20 is a schematic structural diagram of a mobile device in a sixth example of Embodiment 2 of the present invention.

FIG. 21 is a schematic structural diagram of the self-mobile device shown in FIG. 20 at another angle.

detailed description

In the following, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

It should be noted that when a component is called "installed on" another component, it may be directly installed on another component or a centered component may exist. When a component is considered to be “set on” another component, it can be directly set on another component or a centered component may exist at the same time. When a component is considered to be "fixed" to another component, it may be directly fixed to another component or a centered component may exist at the same time.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the present invention is only for the purpose of describing specific embodiments, and is not intended to limit the present invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

The self-mobile device provided in the embodiment of the present invention is used to intelligently perform job tasks, freeing the user from time-consuming and labor-intensive tedious work. It can be understood that the self-mobile device may be an automatic or semi-automatic garden machine or a household machine such as a smart lawn mower, a smart snowplow, or a cleaning robot, as long as the self-mobile device can apply the design of the present case.

In the following embodiments, the self-mobile device is an intelligent lawn mower. The intelligent lawn mower is used to maintain and trim garden plants. When the intelligent lawn mower is performing the lawn mower task, it only needs the user to complete the initial setting to be intelligent and autonomous. It eliminates weeds, repairs lawns, and trims flowers without requiring the user to invest again in management, which greatly reduces the user's workload and burden.

Smart lawn mowers need to meet the consumption needs of different households if they want to enter millions of households. For example, some families pay more attention to the low price of smart lawnmower products, and the reduction of smart selling prices can more attract this segment of consumers. However, the existing intelligent lawn mowers are often provided with two motors to drive the driving wheels to rotate, and by adjusting the rotation speeds of the two motors, the rotational speeds of the two driving wheels are deviated, thereby realizing the movement and steering of the intelligent lawn mowers.

However, although the method of driving the driving wheels with two motors separately is easy to control and implement, this method of independent driving of multiple motors increases the cost. Due to the need to ensure the running performance of the driving wheels, both motors need to use high-power motors. This is a huge burden on the overall cost of the smart lawn mower, and it is not conducive to attracting low-price-oriented consumer groups.

The self-moving equipment provided by the embodiment of the present invention drives the walking system by setting the same motor, and enables the walking system to stably perform actions such as straight walking, backward, and steering. The operation of the self-moving device is driven by one motor, which not only reduces costs Moreover, it improves market competitiveness, can attract target consumer groups, and has wide application value.

As shown in FIG. 1-2, the self-mobile device 100 includes a housing 10, a walking system 20, a working system 30, and a control system (not shown). Parts of the walking system 20, parts of the working system 30, and control system are Housed in the housing 10, the walking system 20 is used to support the housing 10 and enable the self-moving device 100 to move on the ground. The work system 30 is connected to the housing 10 to perform work tasks. The control system and the walking system 20 It is connected to the work system 30 to control the walking system 20 and the work system 30. The walking system 20 autonomously drives the casing 10 to move under the control of the control system, and the work system 30 performs the work tasks autonomously under the control of the control system. Achieve walking and task execution from the mobile device 100.

Please refer to FIG. 1 again, the working system 30 is disposed on a side of the casing 10 near the ground. In this embodiment, the working system 30 is a cutting mechanism 30 of a smart lawnmower. The cutting mechanism includes a cutter head 31 and a blade disposed on the cutter head 31. The cutting system is used to perform cutting tasks, and the cutting mechanism 30 is exposed at this time. A part of the body 10 rotates and cuts the garden plants, so that the intelligent lawn mower can maintain and trim garden plants such as weeds, lawns, and flowers.

It can be understood that, in other embodiments, the working system 30 may also be other mechanical mechanisms such as a sweeping mechanism in a cleaning robot, a cleaning mechanism in a cleaning robot, etc., as long as the working system can be used to perform work tasks.

In this embodiment, the self-moving device 100 further includes a driving motor 40, which is accommodated in the housing 10 and connected to the traveling system 20. The driving motor 40 drives the traveling system 20 to operate and provides energy for the traveling system 20. Supply and drive the mobile device 100 to move. It can be understood that the control system is interconnected with the walking system 20, the working system 30, and the driving motor 40. The control system is used for personnel to control or automatically control the operation of the walking system 20, the working system 30, and the driving motor 40. The control system can It can be directly operated by the operator to control the walking system 20, the working system 30, and the driving motor 40, and the walking system 20, the working system 30, and the driving motor 40 can also be automatically controlled.

Other components, such as a security component and a data transmission component, may be provided in the self-mobile device 100 to assist the self-mobile device 100 to complete the mowing operation more securely and comprehensively, which is not described in detail here.

In this embodiment, the walking system 20 is connected to the casing 10, the walking system 20 is in contact with the ground and supports the casing 10, and the walking system 20 includes at least one driving wheel 21 disposed opposite the casing 10, and the driving wheels 21 are driven by the same driving motor 40 drives, thereby realizing the movement of the entire machine from the mobile device 100.

In this embodiment, the number of the driving wheels 21 is two, and the two driving wheels 21 are symmetrically disposed on both sides of the housing 10. Specifically, the two driving wheels 21 are both wheel driving wheels and two driving wheels. 21 drives the casing 10 to move under the energy supply of the driving motor 40 to maintain stable movement of the mobile device 10. The self-moving device 100 further includes at least one steering wheel 22 for auxiliary guidance, and the steering wheel 22 is a universal wheel. Specifically, the number of the steering wheels 22 may be one, and the steering wheels 22 are located approximately on the extension line of the center axis where the two driving wheels 21 are symmetrically arranged. Balanced performance of the mobile device 100. In the embodiment shown in FIG. 3, the number of the steering wheels 22 may also be two. The two steering wheels 22 are symmetrically disposed on both sides of the housing 10. The central axis of the two steering wheels 22 symmetrically disposed is two. The central axes of the driving wheels 21 symmetrically arranged substantially coincide. Of course, according to requirements, the number of the steering wheels 22 may also be two or more, as long as the steering from the mobile device 100 can be stably guided.

In another embodiment, the number of the driving wheels 21 may be one, and the driving wheels 21 are substantially disposed on the central axis of the casing 10. In other embodiments, the number of the driving wheels 21 may be two or more, and the installation positions of the two or more driving wheels 21 can support the housing 10 and move stably from the mobile device 100.

It can be understood that the present invention does not limit the driving wheel 21 to only adopt the above-mentioned wheel structure. As shown in FIG. 4, in other embodiments, the driving wheel 21 may also adopt a crawler type to support the housing 10 and Movement; when the driving wheel 21 is a crawler driving wheel, the steering wheel 22 can also be omitted. At this time, the traveling system 20 can guide the direction of movement of the self-moving device 100 through the speed difference between the crawlers on both sides. The two driving wheels are arranged symmetrically on the side of the casing 10.

The walking system 20 in the embodiment of the present invention is driven by the same driving motor 40. In order to realize the steering from the mobile device 100, the present invention proposes two steering implementations, and the two steering implementations are described in detail below.

Turn to Embodiment 1:

In this embodiment, as shown in FIG. 5-6, in order to realize the steering of the mobile device 100 and further reduce the cost of the mobile device 100, a clutch 53 is provided on one of the driving wheels 21 in the mobile device 100, where The driving wheel provided with a clutch is referred to as a clutch driving wheel 211, and the other driving wheel 21 not provided with a clutch is referred to as a main driving wheel 212. That is, the traveling system 20 includes a main driving wheel 212 and a clutch driving wheel 211. The self-moving device further includes a driving motor 40 for providing driving power to the main driving wheel 212 and the clutch driving wheel 211. The clutch 53 is provided on the driving motor. Between the clutch 40 and the clutch driving wheel 211, when the clutch 53 and the clutch driving wheel 211 are in the engaged state, the driving motor 40 drives the clutch driving wheel 211 to operate. When the clutch 53 and the clutch driving wheel 211 are in the disengaged state, the clutch driving wheel 211 does not Driven by the drive motor 40, the clutch 53 stops transmitting torque.

In the embodiment of the present invention, the self-mobile device 100 includes a steering mode. In the steering mode, the control system controls the clutch 53 and the clutch driving wheel 211 to disengage from a preset disengagement time, so as to deflect the self-mobile device 100 by a predetermined angle, and then control the clutch 53 Engaged with the clutch driving wheel 212, the driving motor 40 drives the main driving wheel 212 and the clutch driving wheel 211 to move, so that the self-moving device 100 travels in a straight line in a deflected direction.

The clutch 53 in this embodiment includes a mechanical clutch and an electronic clutch. In a specific embodiment, the clutch 53 may be a roller clutch in a mechanical clutch or a wedge clutch in a mechanical clutch.

In the steering mode, the self-moving device 100 controls the driving motor 40 to reverse by the control system to disengage the mechanical clutch 53 from the clutch driving wheel 211, and then deflects the preset angle. The control system controls the driving motor 40 to rotate forward to make the machine The clutch 53 is engaged with the clutch driving wheel 211 to continue driving the main driving wheel 212 and the clutch driving wheel 211 to move forward in a deflected direction.

In a specific embodiment, the side where the main driving wheel 212 is set to the left and the side where the clutch driving wheel 211 is set to the right is taken as an example for description. When the mobile device 100 travels in a straight line, the driving motor 40 is driven to rotate forward The two driving wheels 21 move. At this time, the mechanical clutch 53 is engaged with the clutch driving wheel 211. The mechanical clutch 53 transmits the torque of the driving motor 40 to the clutch driving wheel 211, and the main driving wheel 212 is driven by the driving motor 40 to rotate together. When the self-moving device 100 needs to turn, the driving motor 40 reverses, so that the clutch driving wheel 211 is disengaged from the mechanical clutch 53. The mechanical clutch 53 stops transmitting torque to cause the clutch driving wheel 211 to idle. At this time, the clutch driving wheel 211 is inertial. Downward forward rotation, the main drive wheel 211 reversely rotates under the action of the reverse drive motor 40, the speed difference between the two drive wheels 21 causes the mobile device 100 to rotate to the left, and the control system controls the drive motor 40 at this time. Forward rotation, the mechanical clutch 53 is engaged with the clutch drive wheel 211, and the mechanical clutch 53 transmits torque to the clutch drive wheel 211, so that the main drive wheel 212 and the clutch drive wheel 212 travel straight ahead to the left at the same speed, so that the self-moving device can be completed Steering action.

The engagement in the above embodiment is an example of engagement. In other embodiments, the engagement may be in other forms. The mechanical clutch 53 shown in FIG. 5 is in an engaged state. The two engaging disks 531 in the mechanical clutch 53 mesh with each other. At this time, the two driving wheels 21 rotate at the same speed. At this time, the self-moving device 100 travels straight, as shown in FIG. 6. The mechanical clutch 53 is in a disengaged state, the two engaging plates 531 in the mechanical clutch 53 are separated, the driving motor 40 is reversed, and the mechanical clutch 53 no longer transmits torque. At this time, there is a speed difference between the two driving wheels 21, and at this time, The mobile device 100 turns.

As shown in Figure 7-8, the self-mobile device 100 also includes a walking mode. For example, when the self-mobile device 100 walks along the boundary line to return to the docking station or when the self-mobile device 100 cuts along the boundary line, the control system controls the self-moving device 100. The direction of rotation of the mobile device 100 traveling along the line needs to remain the same as the direction of rotation of the main drive wheel 212 around the clutch drive wheel 212 in the forward direction.

As shown in the first embodiment shown in FIG. 7, the clutch driving wheel 211 is disposed on the left side of the traveling direction of the mobile device 100, and the main driving wheel 212 is disposed on the right side of the traveling direction of the mobile device 100. When returning to the docking station 200, the control system of the mobile device 100 controls the mobile device 100 to walk along the boundary line 300 clockwise. At this time, through the cooperation of the mechanical clutch 53 and the clutch driving wheel 211, the mobile device can move to the main driving wheel 212. Turn to one side, so that you can smoothly turn back to the stop. When the mechanical clutch is used in the self-moving device, the regression problem that the self-moving device can only rotate to one side of the main driving wheel is solved.

As shown in FIG. 8, when the clutch driving wheel 211 is provided on the right side in the forward direction of the mobile device 100 and the main drive wheel 212 is provided on the left side in the forward direction of the mobile device 100, when the mobile device 100 returns to the stop 200 along the line The control system of the mobile device 100 controls the mobile device to walk along the boundary line 300 in a counterclockwise manner. At this time, through the cooperation of the mechanical clutch 53 and the clutch drive wheel 211, the mobile device can turn to the side of the main drive wheel 212, thereby Able to smoothly turn back to the stop.

In another embodiment of the present invention, the clutch 53 is an electronic clutch, for example, an electromagnetic clutch. As shown in the second embodiment shown in FIGS. 9-10, the electromagnetic clutch 53 drives the two engaging discs 531 to engage with the electromagnet 532. The disengagement causes the self-mobile device 100 to rotate. In this embodiment, in the steering mode of the mobile device 100, the control system controls the electronic clutch 53 to disengage from the clutch drive wheel 211, and controls the drive motor 40 to rotate forward or reverse, so that the mobile device deflects a preset angle, and then controls The electronic clutch 53 is engaged with the clutch driving wheel 211, and controls the driving motor 40 to rotate forward or reverse to drive the main driving wheel 212 and the clutch driving wheel 211 to walk forward or backward in a deflected direction, and finally realize self-moving equipment. Turn.

Specifically, the side where the main drive wheel 212 is set to the left and the side where the clutch drive wheel 211 is set to the right is taken as an example for description. As shown in FIG. 9, at this time, the electromagnetic clutch 53 is energized. The two engaging disks 531 mesh with each other under the magnetic force of the electromagnet 532. The electromagnetic clutch 53 is in an engaged state, and the driving motor 40 rotates forward. The electromagnetic clutch 53 transmits torque when moving forward from the mobile device 100. The main driving wheel 212 and the clutch drive The wheels 211 are simultaneously driven and driven by the drive motor 40 to keep the self-moving device 100 from traveling straight. When the self-moving device 100 needs to turn, for example, when it needs to turn right, as shown in FIG. 10, the control system controls the electromagnetic clutch 53 to be powered off, the two engaging plates 531 in the electromagnetic clutch 53 are separated from each other, and the electromagnetic clutch 53 is in a disengaged state. At this time, the electromagnetic clutch 53 no longer transmits torque. The clutch driving wheel 211 cannot be driven by the driving motor, and only moves under the action of inertia. The main driving wheel 212 is driven forward by the driving motor. At this time, there is a speed difference between the two driving wheels 21, and the mobile device 100 goes to the right. Rotation, the control system controls the electromagnet 532 to be energized, and the clutch drive wheel 211 is engaged with the electromagnetic clutch 53. At this time, the control system controls the drive motor 40 to rotate forward, driving the main drive wheel 212 and the clutch drive wheel 211 to move forward at the same speed, thereby The mobile device turns to the right and forward. When backing to the right and rear, after the mobile device 100 is turned to the right, the control system controls the driving motor 40 to reverse, driving the main driving wheel 212 and the clutch driving wheel 211 to move backward at the same speed, to achieve the self-moving device direction. Back right movement.

When the control system controls the steering from the mobile device to the front left, the control system controls the electromagnetic clutch 53 to be de-energized, the two meshing disks 531 in the electromagnetic clutch 53 are separated, and the clutch drive wheel 211 cannot be driven by the drive motor. The main driving wheel 212 is reversed by the driving motor. At this time, there is a speed difference between the two driving wheels 21, and the mobile device 100 rotates to the left. The control system then controls the electromagnet 532 to be energized, and the clutch driving wheel 211 and The clutch 53 is engaged. At this time, the control system controls the driving motor 40 to rotate forward, driving the main driving wheel 212 and the clutch driving wheel 211 to move forward at the same speed, thereby completing the steering to the left and forward from the mobile device. When moving backward to the left and rear, after the mobile device 100 is turned to the left, the control system controls the driving motor 40 to reverse, driving the main driving wheel 212 and the clutch driving wheel 211 to move backward at the same speed, and the self-moving device completes the Back left backward movement. In this embodiment, the self-mobile device is provided with an electronic clutch to make the steering of the self-mobile device 100 more flexible and simple.

It can be understood that, in other embodiments, the clutch 53 may also use other types of electronic clutches. When other types of electronic clutches are used, the clutch 53 is in the engaged state when it needs to travel straight, and is in the disengaged state when it needs to turn. There is a speed difference between the two driving wheels 21 to achieve steering from the mobile device 100.

In each of the above embodiments, in the steering mode of the self-moving device 100, the control system controls the driving motor 40 to reduce the rotation speed to decelerate walking, thereby stably completing the steering action, and avoiding the self-moving due to the excessively high rotation speed of the driving wheels 21. Damage to the device 100 and damage to the lawn.

In an embodiment of the present invention, please refer to FIGS. 5-6 again. The self-moving device 100 further includes a connecting shaft 42 for connecting the main driving wheel 212 and the clutch driving wheel, and the power output end of the driving motor 40 and the connecting shaft 42. Transmission connection, the driving motor 40 rotates and drives the connecting shaft 42 to rotate, and finally drives the main driving wheel 212 and the clutch driving wheel 211 at both ends of the connecting shaft 42 to rotate, thereby controlling the main driving wheel 212 and the clutch driving wheel 211 to run at the same rotation speed. In a specific embodiment, the power output end of the driving motor 40 may be connected to a reduction gear, and the reduction gear is connected to the connecting shaft 42, so that the rotation speed of the driving motor 40 output to the main driving wheel 212 and the clutch driving wheel 211 is adjusted by the reduction device. .

Deformably, the driving motor 40 is directly connected to the main driving wheel 212, thereby directly driving the main driving wheel 212, and the other power output end of the driving motor 40 is then connected to the clutch driving wheel 211 through a walking transmission device, thereby realizing the driving motor 40 The rotation can drive the main driving wheel 212 and the clutch driving wheel 211 to rotate. It can be understood that the connection manner of the driving motor 40 with the main driving wheel 212 and the clutch driving wheel 211 is not limited, as long as the driving motor 40 can be rotated to drive the main driving wheel 212 and the clutch driving wheel 211 to rotate.

In another embodiment of the present invention, the working system 30 of the mobile device 100 is also driven by the same driving motor 40, that is, the traveling system 20 and the working system 30 are driven by the same driving motor 40 at the same time. In a specific embodiment, as shown in FIGS. 11-12, the driving motor 40 is directly connected to the power input end of the working system 30 to drive the working system 30 directly through the driving motor 40. At this time, the self-moving device 100 further includes a walking transmission device 50, and the power output end of the driving motor 40 is connected to the power input end of the walking system 20 through the walking transmission device 50. At this time, the driving motor 40 directly drives the working system 30 to run, and then the running system 20 is driven by the running transmission device 50. At this time, the driving motor may be a mowing motor in a conventional smart lawn mower.

Because the rotation speed of the cutter head 31 in the work system 30 is relatively high, the drive motor 40 needs to provide the work system 30 with a higher speed power output, and also needs to provide the travel system 20 with a lower speed power output, so the drive needs to be driven The rotation speed of the motor 40 is reduced and then transmitted to the traveling system. At this time, the walking transmission device 50 includes a reduction device, and the main driving wheel 212 and the clutch driving wheel 211 are respectively connected to the reduction device. The reduction device is, for example, a four-stage gear structure in the figure, and one end of the driving motor 40 and the four-stage gear structure. One end is connected, and the other end of the four-stage gear structure is connected to the connecting shaft 43. The power output by the driving motor 40 is gradually reduced through the four-stage gear structure, and the reduced power is transmitted through the connecting shaft 43 through the four-stage gear structure. The two driving wheels 21 are provided so as to meet the requirements of the lower rotation speed of the traveling system 20, and finally the same driving motor 40 is used to simultaneously provide power to the working system 30 and the traveling system 20.

In another embodiment, the walking transmission device 50 uses the transmission form of the worm gear assembly to transmit the power input from the driving motor 40 to the walking system 20, and reduces the output speed of the motor 40 through the worm gear assembly, thereby achieving the same driving motor 40 pair. Driving of the traveling system 20 and driving of the work system 30.

It can be understood that, in other embodiments, the walking transmission device 50 may also adopt a variable speed transmission such as a spur gear transmission, a bevel gear transmission, and a combination of a gear and a worm gear to drive the walking system 20. The difference in the rotation speed of the working system 30 indicates that the self-mobile device 100 has a relatively suitable motion stability performance.

In the modified embodiment, if the difference in rotational speed between the traveling system 20 and the work system 30 is not considered, or the outer diameter of the driving wheel 21 is appropriately adjusted, the forward speed of the traveling system 20 and the mowing operation of the work system 30 The speed is suitable, so the walking transmission device 50 may also adopt synchronous transmission forms such as belt transmission and chain transmission.

As shown in FIGS. 13-14, in another embodiment, the driving motor 40 is directly connected to the traveling system 20 to directly drive the traveling system 20 through the driving motor 40. At this time, the self-moving device 100 further includes a working transmission device 60 for driving The power output end 41 of the motor 40 is connected to the power input end of the work system 30 through the work transmission device 60. Specifically, the driving motor 40 is connected to the driving wheels 21 in the traveling system 20, and the working transmission device 60 is disposed between the driving motor 40 and the operating system 30. At this time, the driving motor 40 may be a traveling motor in a conventional smart lawnmower. The driving motor 40 directly drives the driving wheels 21 in the traveling system 20 to move, and then drives the cutting mechanism 30 to run through the work transmission device 60.

In this embodiment, the working transmission device 60 adopts a belt transmission. One end of the timing belt is sleeved on one end of the power output shaft 41 in the driving motor 40, and the other end of the timing belt is sleeved on the working system 30 to drive the motor. 40 is connected to the driving wheel 21 in the traveling system 20, so that the driving motor 40 can drive the working system 30 to operate through the timing belt while driving the driving wheel 21 to move.

It can be understood that, in other embodiments, the work transmission device 60 may also adopt other forms of synchronous power transmission such as chain transmission.

In the above embodiments, those skilled in the art know that the driving motor 40 may also be connected to the traveling system 20 through a traveling transmission device (not shown), for example, a reduction device. If the difference in rotational speed between the traveling system 20 and the working system 30 is also taken into consideration, the working transmission device 60 may also adopt variable-speed power transmission forms such as worm gear transmission, spur gear transmission, bevel gear transmission, and gear and worm gear combined transmission. The work transmission device 60 increases the rotation speed output by the driving motor 40 for the work system 30 to work effectively.

In the above embodiment, the working transmission device 60 and the walking transmission device 50 are provided, so that the mobile device 100 can be provided with only one driving motor 40 to drive the walking system 20 and the working system 30 at the same time, thereby reducing the high cost of the mobile device 100 The number of power components reduces the cost of the mobile device 100.

As shown in FIG. 15, the self-mobile device 100 includes a lift detection sensor and an angle detection sensor for detecting whether it is lifted. When the lift detection sensor detects that the front of the mobile device is lifted or the entire machine is lifted Send the signal of lifting up or the whole machine to the control system, and the control system controls the driving motor 40 to continue to work for a first preset time. The first preset time is, for example, 1s, and within 1s, the mobile device 100 is controlled. After changing the original walking direction, for example, backing up and turning, after 1 s, the control driving motor 40 is stopped and the work system 30 is controlled to stop moving for a second preset time, for example, the second preset time is 0.5 s. The control system of the mobile device 100 presets a security detection time, such as 10s. If within 10s from the detection of lifting, the lifting detection sensor detects that the lifting of the mobile device disappears, the control system controls The mobile device 100 restarts and continues to move and work. If the lift detection sensor still detects that the mobile device 100 is lifted within 10 seconds, the control system controls the mobile device 100 to stop.

In another embodiment, the control system of the mobile device 100 further presets a climbing threshold and a safe lifting angle threshold, wherein the climbing threshold is, for example, 20 degrees, and the safe lifting angle threshold is, for example, 30 degrees When the lift detection sensor detects that it has been lifted from the rear of the mobile device 100, the rear lift signal is transmitted to the control system, and the control system activates the angle detection sensor to detect the tilt angle of the mobile device. If the angle detection sensor detects lift When the angle is not greater than 20 degrees, the control system controls the mobile device 100 to continue to move and work; if the lift detection sensor detects that it has been lifted from behind the mobile device 100 and the angle sensor detects that the lift angle is greater than 20 degrees and not greater than 30 When the control system controls the mobile device 100 to change the original driving direction, such as backward and / or steering; when the lift detection sensor detects that the rear of the mobile device 100 is lifted and the angle detection sensor detects that the lift angle is greater than 30, The control system controls the shutdown of the mobile device 100.

Through the cooperation of the lift detection sensor and the angle detection sensor in the above embodiment, when the self-mobile device 100 is lifted, it can effectively get rid of the lifted state, prevent the work system 30 from continuing to work and cause harm to people and objects, and also avoid In the embodiment that uses the same driving motor 40 to drive the working system 30 and the walking system 20 at the same time, the working system 30 is stopped, and the walking system 20 is stopped at the same time, which solves the problem of frequent shutdown of the self-moving equipment and affecting the working efficiency of the self-moving equipment. And the whole machine life issues.

The self-moving device 100 provided by the present invention drives the traveling system 20 by setting the same driving motor 40 or simultaneously drives the traveling system 20 and the working system 30 by the same driving motor 40, which not only reduces the cost, but also improves the market competitiveness. It can attract target consumer groups and has wide application value. In addition, when the self-mobile device 100 implements steering by setting the clutch 53, the price is low, which further reduces the cost of the self-mobile device 100.

Turn to the second embodiment:

As shown in FIG. 16, in this embodiment, in order to realize the steering of the mobile device 100, the walking system 20 includes at least one driving wheel 21 and at least one steering wheel 22. The self-moving device 100 further includes a driving device 22 for twisting. The steering motor 70 is steered by the mobile device 100. Specifically, the steering motor 70 drives the steering wheel 22 to twist, and the deflection of the steering wheel 22 drives the steering of the self-moving device 100 moving under the driving of the driving wheel 21, thereby realizing self-movement. The turning process of the device 100. The steering wheel 22 is used to guide the steering and movement of the mobile device 100. In the first embodiment shown in FIG. 16, the number of steering wheels 22 is two, and the two steering wheels 22 are symmetrically disposed on the side of the casing 10 to improve the balance performance of the mobile device 100. The number of steering motors 70 is one, and the steering motors 70 are disposed on one of the two steering wheels 22. At this time, the remaining steering wheels 22 not connected to the steering motors 70 follow the universal wheels. The provision of two steering wheels 22 can improve the motion balance performance of the mobile device 100.

In another embodiment, the two steering wheels 22 are driven by a steering motor 70, that is, the power input ends of the two steering wheels 22 are connected to one end of a connecting shaft, and the other end of the connecting shaft is connected to the steering motor 70. The power output end is connected, so that the two steering wheels 22 are driven to rotate by the driving of the steering motor 70.

Deformably, when the steering motor 70 is disposed on one of the two steering wheels 22, the other power output end of the steering motor is connected to the other steering wheel through a steering transmission mechanism (not shown), thereby Realize the transmission cooperation between the two steering wheels 22. At this time, both steering wheels 22 are driven by the same steering motor 70. The steering motor 70 can drive the two steering wheels 22 to twist together through the steering transmission mechanism. At this time, the steering torque Evenly distributed on the two steering wheels 22 can further improve the steering capability of the mobile device 100. In another embodiment, the number of the steering motors 70 may be two, and the two steering motors 70 are respectively disposed on each of the steering wheels 22.

It can be understood that, in other embodiments, when the number of the steering wheels 22 is two or more, the number of the steering motors 70 may be one, and the number of the steering motors 70 may be set in one of the steering wheels 22. The cost is relatively low; the number of steering motors 70 may also be two or more, and one steering motor 70 may be provided on part of the steering wheels 22 or on each of the steering wheels 22.

In the second embodiment shown in FIG. 17, the number of steering wheels 22 is one and the number of steering motors 70 is also one. The steering motor 70 is directly disposed on the steering wheels 22 to drive the steering wheels to rotate. The steering wheels 22 are provided. The centerline position of the casing 10 is used to improve the balance performance of the mobile device 100. Since the steering motor 70 only needs to provide a guiding torsional force to complete the steering of the mobile device 100, the steering motor 70 can use a motor with a smaller power and volume to complete the movement task. The cost of the steering motor 70 is relatively low, so Under the premise of turning from the mobile device 100, the cost of the mobile device 100 is reduced, and the market competitiveness of the mobile device 100 is improved. In the embodiment of the present invention, the number of the steering motors 70 is preferably one to further reduce the cost of the mobile device 100.

In this embodiment, the traveling system 20 includes at least two driving wheels 21, which are driven by the same driving motor 40 to drive the mobile device 100 to move. Please refer to FIGS. 16-17 again. The driving wheels 21 are arranged on the side of the casing 10, and the driving motor 40 and the two driving wheels 21 can be connected by directly connecting one of the driving motors 40 to one of the driving wheels 21, and directly driving the driving wheel 21. The other power output end is connected to the other driving wheel 21 through the connecting shaft 42, so that the two driving wheels 21 are simultaneously driven by the same driving motor 40.

As shown in FIGS. 18-19, the two driving wheels 21 are connected to each other through a connecting shaft 42. At this time, the driving motor 40 drives the connecting shaft 42 to rotate, thereby driving the two driving wheels 21 together. Since the driving motor 40 can simultaneously drive the two driving wheels 21 to move, the power of the driving motor 40 can be evenly distributed on the two driving wheels 21, thereby improving the motion stability of the mobile device 100. The number of the steering wheels 22 in the third embodiment shown in FIG. 18 is two, two steering wheels 22 are symmetrically disposed on both sides of the housing 10, and the center axis of the two steering wheels 22 symmetrically is disposed with two driving wheels. The central axes of the wheels 21 symmetrically arranged substantially coincide, and the steering motor 70 is disposed on one of the steering wheels 22.

As shown in the fourth embodiment shown in FIG. 19, the number of the steering wheels 22 is one, and the steering wheels 22 are disposed on the extension line of the central axis where the two driving wheels 21 are symmetrically arranged to improve the movement balance performance of the mobile device 100. At the same time, the steering wheel 22 is driven by a steering motor 70.

In the fifth embodiment, the two driving wheels 21 are a driving wheel and a supporting wheel, respectively. In this embodiment, one of the two driving wheels 21 is provided with a driving motor 40. The driving wheel 21 It is a driving wheel, and the other driving wheel 21 is a supporting wheel that cooperates with the driver. At this time, the driving motor 40 drives only one driving wheel 21 to move, and the other driving wheel 21 follows the movement of the mobile device 100 as a whole. Therefore, the structure of the self-mobile device 100 is relatively simple and compact, easy to implement, and relatively low in cost.

In the sixth embodiment shown in Figs. 20-21, the number of the driving wheels 21 is one, and the driving motor 40 directly drives the operation of the driving wheels 21. At this time, the structure of the driving wheels 21 can stably support the movement of the mobile device. And work. It can be understood that the number of driving wheels is not limited in the embodiment of the present invention, and it is only required to be able to stably drive the mobile device to walk.

In the solution of the invention turning to the second embodiment, the working system 30 is also driven by the same driving motor 40, that is, the working system 30 and the traveling system 20 are driven by the same driving motor 40 at the same time. In this embodiment, the driving motor 40 may be directly connected to the working system 30 and then connected to the walking system 20 through the walking transmission device 50 to drive the working system 20 while driving the working system 30 directly, or may be a driving motor. 40 is directly connected to the walking system 20, and then connected to the working system 30 through the work transmission device 60 to drive the working system 30 while driving the walking system 20 directly, and the same driving motor 40 is used in the second embodiment in which a steering motor 70 is provided In the scheme for driving the traveling system 20 and the working system 30 at the same time, the connection method of the driving motor 40 with the traveling system 20 and the working system 30 is the same as that of the embodiment in which the clutch 53 is provided, and details are not described herein again.

In this embodiment, the manner in which the self-mobile device 100 detects the lift by the lift detection sensor and the angle detection sensor, and in the lifted state, the control method of the control system of the self-mobile device 100 is the same as the first embodiment, and is not described herein More details.

At the same time, in this embodiment, the self-mobile device 100 drives the steering wheels 22 through the steering motor 70 to steer the self-mobile device 100, and the steering method is more flexible and stable.

The embodiments of the present invention implement a steering function of a mobile device by setting a steering system, such as a steering system driven by a small motor, or a steering system implemented by a clutch to achieve a steering function, etc., while achieving the steering function, greatly reducing manufacturing cost.

Those of ordinary skill in the art should recognize that the above embodiments are only used to illustrate the present invention, and are not intended to limit the present invention, as long as appropriate changes are made to the above embodiments within the scope of the essential spirit of the present invention. And variations all fall within the scope of the present invention.

Claims

A self-moving device includes:

case;

A walking system for supporting the housing and enabling the self-moving device to move on the ground;

Work system for performing work tasks;

A control system for autonomously controlling the walking system to drive the self-mobile device to move, and autonomously controlling the work system to perform a preset work task;

The walking system includes a main driving wheel and a clutch driving wheel;

The self-moving device further includes a driving motor for providing driving power to the main driving wheel and the clutch driving wheel, and a clutch provided only between the driving motor and the clutch driving wheel;

Driving the main driving wheel when the driving motor rotates; when the clutch is in an engaged state with the clutch driving wheel, the driving motor drives the clutch driving wheel; when the clutch and the clutch driving wheel When in the disengaged state, the clutch driving wheel is not driven by the driving motor.
The self-mobile device according to claim 1, wherein the self-mobile device includes a steering mode, and in the steering mode, the control system controls the clutch to disengage from the clutch driving wheel for a preset disengagement time. To cause the self-moving device to deflect a predetermined angle, and then control the clutch to engage with the clutch driving wheel, and the driving motor drives the main driving wheel and the clutch driving wheel to move to make the self-moving The device walks straight in a deflected orientation.
The self-moving device according to claim 2, wherein the clutch is a mechanical clutch, and in the steering mode, the control system controls the driving motor to reverse so that the mechanical clutch is engaged with the clutch The driving wheel is disengaged, and then the preset angle is deflected, and then the driving motor is controlled to rotate forward so that the mechanical clutch is engaged with the clutch driving wheel, and the main driving wheel and the clutch driving wheel are driven in a deflected position. Walk forward.
The self-mobile device according to claim 3, wherein the self-mobile device further comprises a line walking mode, and in the line walking mode, the rotation direction of the self-mobile device along the line and the main driving wheel The rotation direction of the clutch driving wheel in the forward direction is the same.
The self-moving device according to claim 2, wherein the clutch is an electronic clutch, and in the steering mode, the control system controls the electronic clutch to disengage from the clutch driving wheel, and controls the clutch The driving motor rotates forward or reverses to deflect a preset angle, and then controls the electronic clutch to engage with the clutch driving wheel, and controls the driving motor to rotate forward or reverse to drive the main driving wheel and the The clutch drive wheel walks forward or backward in a deflected orientation.
The self-moving device according to claim 5, wherein the electronic clutch is an electromagnetic clutch.
The self-moving device according to claim 2, wherein in the steering mode, the control system controls the driving motor to reduce the speed to slow down.
The self-moving device according to claim 1, wherein the self-moving device further comprises a connecting shaft for connecting the main driving wheel and the clutch driving wheel, and a power output end of the driving motor and the The connection shaft transmission connection is described.
The self-moving device according to claim 1, wherein the working system is also driven by the same driving motor.
The self-moving device according to claim 9, wherein the power input end of the working system is directly connected to the power output end of the driving motor to drive the working system directly through the driving motor.
The self-moving device according to claim 9, wherein the power input end of the walking system is connected to the power output end of the driving motor to drive the walking system by the driving motor.
The self-moving device according to claim 11, wherein the self-moving device further comprises a working transmission device, and a power input end of the working system is connected to a power output end of the driving motor through the working transmission device. .
The self-moving device according to claim 10 or 11, wherein the self-moving device further comprises a walking transmission device, and the power input end of the walking system is connected to the power output end of the driving motor through the walking transmission device. .
The self-moving device according to claim 13, wherein the walking transmission device includes a reduction device, and the main driving wheel and the clutch driving wheel are respectively connected to the reduction device.
The self-mobile device according to claim 9, wherein the self-mobile device further comprises a lift detection sensor for detecting whether it is lifted, and when the lift detection sensor detects the self-mobile device When the front is lifted or the entire machine is lifted, the control system controls the drive motor to continue to work for a first preset time, and within the first preset time, the self-moving device changes the original direction of motion, After the first preset time, the driving motor stops working, and the working system stops moving within a second preset time.
The self-mobile device according to claim 15, wherein the self-mobile device is preset with a security detection time, and if the lift detection sensor does not detect the self-movement within the preset security detection time. When the device is lifted, the control system controls the self-mobile device to continue to move and work. If the lift detection sensor always detects that the self-mobile device is lifted within a preset security detection time, then The control system controls the self-mobile device to stop.
The self-mobile device according to claim 9, wherein the self-mobile device further comprises a lift detection sensor for detecting whether it is lifted and an angle detection sensor for detecting a lift angle. The mobile device presets a climbing threshold and a safe lifting angle threshold. When the lifting detection sensor detects that the rear is lifted from the mobile device and the angle detection sensor detects that the lifting angle is not greater than the climbing When the slope threshold value, the control system controls the self-mobile device to continue to move and work; when the lift detection sensor detects that the rear of the self-mobile device is lifted and the angle sensor detects that the lift angle is greater than When the climbing threshold is not greater than the safe lifting angle threshold, the control system controls the self-mobile device to retreat and / or turn; when the lift detection sensor detects that the self-mobile device is lifted behind And the angle detection sensor detects that the lifting angle is greater than the safe lifting angle threshold, the control system controls the self-moving device to stop.
The self-mobile device according to claim 1, wherein the self-mobile device further comprises at least one universal wheel for auxiliary guidance.
The self-mobile device according to claim 1, wherein the self-mobile device is an intelligent lawn mower, and the working system includes a cutting mechanism for performing a cutting task.
A self-moving device includes:

case;

A walking system for supporting the housing and enabling the self-moving device to move on the ground;

Work system for performing work tasks;

A control system for autonomously controlling the walking system to drive the self-mobile device to move, and autonomously controlling the work system to perform a preset work task;

The walking system includes at least one driving wheel and at least one steering wheel, and the self-moving device further includes a driving motor for providing driving force to the driving wheel, and for driving the steering wheel to twist and drive the autonomous wheel Steering motor for mobile device steering.
The self-moving device according to claim 20, wherein the traveling system comprises at least two of the driving wheels, and the at least two driving wheels drive the self-moving device under the driving of the same driving motor mobile.
The self-moving device according to claim 21, wherein the self-moving device further comprises a connecting shaft for connecting the driving wheels, and the driving motor is drivingly connected to the connecting shaft.
The self-moving device according to claim 21, wherein the driving wheel comprises a driving wheel and a supporting wheel, the driving motor is drivingly connected to the driving wheel, and the supporting wheel is connected to the casing To follow the driving wheel.
The self-moving device of claim 21, wherein the walking system includes at least two steering wheels.
The self-moving device according to claim 24, wherein one of the steering wheels is driven by the steering motor, and the other of the steering wheels is a universal wheel for auxiliary guidance.
The self-moving device according to claim 24, wherein the at least two steering wheels are driven by the same steering motor.
The self-moving device according to claim 20, wherein the working system is also driven by the same driving motor.
The self-mobile device according to claim 27, wherein the power input end of the working system is directly connected to the power output end of the driving motor to drive the working system directly through the driving motor.
The self-mobile device according to claim 27, wherein a power input end of the walking system is connected to a power output end of the driving motor to drive the walking system by the driving motor.
The self-moving device according to claim 28, wherein the self-moving device further comprises a working transmission device, and a power input end of the working system is connected to a power output end of the driving motor through the working transmission device. .
The self-moving device according to claim 28 or 29, wherein the self-moving device further comprises a walking transmission device, and the power input end of the walking system is connected to the power output end of the driving motor through the walking transmission device. .
The self-moving device according to claim 31, wherein the walking transmission device comprises a reduction device, and the main driving wheel and the clutch driving wheel are respectively connected to the reduction device.
The self-mobile device according to claim 27, wherein the self-mobile device further comprises a lift detection sensor for detecting whether it is lifted, and when the lift detection sensor detects the self-mobile device When the front is lifted or the entire machine is lifted, the control system controls the drive motor to continue to work for a first preset time, and within the first preset time, the self-moving device changes the original direction of motion, After the first preset time, the driving motor stops working, and the working system stops moving within a second preset time.
The self-mobile device according to claim 33, wherein the self-mobile device presets a security detection time, and if the lift detection sensor does not detect the self-movement within a preset security detection time. When the device is lifted, the control system controls the self-mobile device to continue to move and work. If the lift detection sensor always detects that the self-mobile device is lifted within a preset security detection time, then The control system controls the self-mobile device to stop.
The self-moving device according to claim 27, wherein the self-moving device further comprises a lift detection sensor for detecting whether it is lifted and an angle detection sensor for detecting a lift angle. The mobile device presets a climbing threshold and a safe lifting angle threshold. When the lifting detection sensor detects that the rear is lifted from the mobile device and the angle detection sensor detects that the lifting angle is not greater than the climbing When the slope threshold value, the control system controls the self-mobile device to continue to move and work; when the lift detection sensor detects that the rear of the self-mobile device is lifted and the angle sensor detects that the lift angle is greater than When the climbing threshold is not greater than the safe lifting angle threshold, the control system controls the self-mobile device to retreat and / or turn; when the lift detection sensor detects that the self-mobile device is lifted behind And the angle detection sensor detects that the lifting angle is greater than the safe lifting angle threshold, the control system controls the self-moving device to stop.
The self-mobile device according to claim 20, wherein the self-mobile device is an intelligent lawn mower, and the working system includes a cutting mechanism for performing a cutting task.