WO2021190627A1

WO2021190627A1 - Self-moving apparatus

Info

Publication number: WO2021190627A1
Application number: PCT/CN2021/083239
Authority: WO
Inventors: 李兴红; 许春鹏; 杜江; 朱松雷
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2020-03-26
Filing date: 2021-03-26
Publication date: 2021-09-30

Abstract

Provided is a self-moving apparatus. The self-moving apparatus comprises: a housing; a moving module, which is arranged on the housing and used for driving the housing to move; a power module, which is used for driving the moving module to move; a working module, which is used for executing a preset working task; and a control module, which is used for controlling the moving module to automatically move and controlling the working module to automatically execute the preset working task. The housing comprises a body and a protective cover, the body is provided with an accommodating cavity with an inlet, and the protective cover is used for operably shielding the inlet; the accommodating cavity is used for accommodating an energy module for supplying power to the mobile module, the working module and the power module; and the protective cover can be operably opened or closed. The self-moving apparatus further comprises a detection module, the detection module is used for detecting whether the protective cover is in an open state, and when the detection module detects that the protective cover is in the open state, the control module controls the power module to not work. The self-moving apparatus can prevent damage being caused to a hardware circuit of the self-moving apparatus after the cover is opened to take out the energy module.

Description

Self-mobile

This application claims the priority of Chinese patent applications whose application date is March 26, 2020, application numbers are 202010226036.7 and 202020409907.4, and that application date is May 11, 2020, application numbers are CN202010393603.8 and CN202020771665.3, The entire content is incorporated into this application by reference.

Technical field

This application relates to a self-moving device.

Background technique

In the prior art, during the operation of the mobile device, for example, during the automatic movement and mowing of the automatic lawn mower, sometimes the user directly removes the battery pack without turning off the automatic lawn mower, and the power supply is suddenly cut off. Damage to the hardware circuit in the automatic lawn mower, resulting in the machine cannot be used normally.

The above information disclosed in the background technology section is only used to strengthen the understanding of the background technology of the technology described in this article. Therefore, the background technology may contain certain information, which is not formed in the country for those skilled in the art. Known prior art.

Summary of the invention

The main purpose of this application is to provide a self-mobile device to solve the problem of damage to the hardware of the self-mobile device when the battery pack is taken out in the prior art.

According to one aspect of the embodiments of the present invention, there is provided a self-moving device, including: a housing; a moving module, which is arranged on the housing and is used to drive the housing to move; and a power module, which is used to drive the housing. The mobile module moves; the work module is used to perform preset work tasks; the control module is used to control the power module to drive the mobile module to automatically move, and/or control the power module to drive the work module to automatically perform the preset Working tasks; the housing includes a body and a protective cover, the body has a receiving cavity with an entrance, the protective cover is used to operably shield the entrance, the receiving cavity is used to accommodate the mobile module , The working module and the energy module powered by the power module, the protective cover is operably opened or closed, the self-moving device further includes a detection module, the detection module is used to detect whether the protective cover is open When the detection module detects that the protective cover is in an open state, the control module controls the power module not to work.

Further, the self-moving device further includes a connecting member for connecting the protective cover and the body, and at least part of the detection module is disposed on the protective cover and/or the connecting member.

Further, the connecting member includes a rotating shaft for connecting the protective cover and the body.

Further, the detection module includes a magnetic portion and a sensing portion, one of the magnetic portion and the sensing portion is located on the body, and the other of the magnetic portion and the sensing portion is located on the protective cover And/or on the connecting piece.

Further, the detection module includes a mechanical switch arranged at the connection between the body and the protective cover.

Further, the detection module includes a first detection unit provided on the protective cover and a second detection unit provided on the body.

Further, the detection module includes at least one of a Hall sensor, an acceleration sensor, a speed sensor, a displacement sensor, an inertial measurement sensor, and a mechanical switch.

Further, the self-moving device further includes an electrical connector disposed in the receiving cavity for docking with the energy module, the electrical connector being received in the receiving cavity and rigidly connected to the body .

Further, the energy module is detachably received in the receiving cavity.

Further, the self-moving device is an automatic lawn mower, and the working module includes a lawn mowing module for performing lawn mowing tasks.

In the embodiment of the present invention, in the above-mentioned self-moving device, the detection module is used to detect whether the protective cover is in an open state, and when the protective cover is detected to be in the open state, the control module controls the power module to not work. In this self-moving device, when the protective cover is detected to be open, the power module can be controlled to stop working, so that even if the energy module is subsequently taken out, the back EMF will not be generated, thereby avoiding the risk of burning the motherboard, that is, avoid This solves the problem that the hardware circuit of the mobile device is damaged after the energy module is taken out after the cover is opened.

Description of the drawings

The drawings of the specification forming a part of the application are used to provide a further understanding of the application, and the exemplary embodiments and descriptions of the application are used to explain the application, and do not constitute an improper limitation of the application. In the attached picture:

Fig. 1 shows a schematic structural diagram of an embodiment of a self-moving device according to the present application when the protective cover is in a closed state;

Fig. 2 shows a schematic structural diagram of the self-moving device of Fig. 1 when the protective cover is in an open state;

Fig. 3 shows a partial structural block diagram of an embodiment of a self-mobile device according to the present application;

Fig. 4 shows a partial structural block diagram of an embodiment of a self-mobile device according to the present application;

FIG. 5 shows a schematic diagram of a partially enlarged structure at A in FIG. 1.

Among them, the above drawings include the following reference signs:

10. Body; 20. Protective cover; 30. Energy module; 40. Connector; 50. Detection module; 51. Magnetic part; 52. Sensing part; 21. Cover opening button; 60. Mobile module; 70. Power module; 71. First motor; 72. Second motor; 80. Working module; 90. Control module; 100. Self-moving equipment.

Detailed ways

It should be noted that the embodiments in the application and the features in the embodiments can be combined with each other if there is no conflict. Hereinafter, the present application will be described in detail with reference to the drawings and in conjunction with the embodiments.

In order to enable those skilled in the art to better understand the solutions of the application, the technical solutions in the embodiments of the application will be clearly and completely described below in conjunction with the drawings in the embodiments of the application. Obviously, the described embodiments are only These are a part of the embodiments of this application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work should fall within the protection scope of this application.

It should be noted that the terms “first” and “second” in the specification and claims of the application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances for the purposes of the embodiments of the present application described herein. In addition, the terms "including" and "having" and any variations of them are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those clearly listed. Those steps or units may include other steps or units that are not clearly listed or are inherent to these processes, methods, products, or equipment.

It should be understood that when an element (such as a layer, film, region, or substrate) is described as being "on" another element, the element can be directly on the other element, or intervening elements may also be present. Moreover, in the specification and claims, when it is described that an element is "connected" to another element, the element can be "directly connected" to the other element, or "connected" to the other element through a third element.

As mentioned in the background art, the battery pack in the prior art is taken out to cause damage to the hardware of the mobile device. In order to solve the above technical problems, a typical implementation of this application provides a self-contained battery pack. Mobile devices.

In a typical implementation of the present application, a self-moving device is provided, as shown in FIG. 1, FIG. 2, FIG. 3, and FIG. 4. FIG. 1 shows the structure when the protective cover of the self-moving device is closed. Fig. 2 shows a structural diagram when the protective cover of the self-mobile device is opened, and Fig. 3 is a schematic diagram showing the connection relationship of some modules. The above-mentioned self-moving device includes a housing, a moving module 60, a power module 70, a working module 80, and a control module 90. The moving module 60 is provided on the housing for driving the housing to move; the power module 70 is used for To drive the moving module 60 to move, and/or to drive the working module 80 to work; the working module 80 is used to perform preset work tasks; the control module 90 is used to control the power module 70 to drive the moving module 60 to move automatically, And/or control the power module 70 to drive the working module 80 to automatically perform preset work tasks; the housing includes a main body 10 and a protective cover 20, the main body 10 has a receiving cavity with an entrance, and the protective cover 20 is used to be operable The above-mentioned entrance is shielded by the ground, the above-mentioned accommodating cavity is used for accommodating the energy module 30 that supplies power to the above-mentioned mobile module, the above-mentioned working module and the above-mentioned power module, the above-mentioned protective cover 20 is operatively opened or closed, and the above-mentioned self-moving device further includes a detection module 50, The detection module 50 is used to detect whether the protective cover 20 is in an open state. When the detection module 50 detects that the protective cover 20 is in an open state, the control module controls the power module to not work.

In the above-mentioned self-moving device, the detection module is used to detect whether the protective cover is in an open state, and when the protective cover is detected to be in the open state, the control module controls the power module to not work. In this self-moving device, when the protective cover is detected to be open, the power module can be controlled to stop working, so that even if the energy module is subsequently taken out, the back EMF will not be generated, thereby avoiding the risk of burning the motherboard, that is, avoid This solves the problem that the hardware circuit of the mobile device is damaged after the energy module is taken out after the cover is opened.

It should be noted that the above detection module is used to detect whether the protective cover is in the open state, it can directly detect whether the protective cover is in the open state, or it can just acquire some parameters for determining whether the protective cover is in the open state.

It should also be noted that the aforementioned power module 70 can simultaneously drive the mobile module 60 and the driving working module 80. Specifically, the motor driving the mobile module 60 and the motor driving the working module 80 can be the same component, as shown in FIG. 3 It can also be two separate components, namely the first motor 71 and the second motor 72, where the first motor 71 is the motor that drives the mobile module 60, and the second motor 72 is the motor that drives the working module 80, as shown in the figure 4 shown. Those skilled in the art can arrange the two parts on the same component according to the actual situation, or separately arrange them to form two parts. For example, when the self-moving device is an automatic lawn mower, the working module is the mowing module. At this time, the corresponding power module can drive the mobile module and the mowing module at the same time. The motor of the grass module can be the same component or two separate components.

In a specific embodiment, when the detection module detects that the protective cover is in the open state, the mobile device enters the standby state, the control module controls the power on, and the control module controls the power module to not work, specifically, the control motor does not work. Work, and control to display alarm information on the display, and can quickly start after detecting that the protective cover is closed. In another embodiment of the present application, when the detection module detects that the protective cover is in an open state, the control module can control the whole machine to directly power off and enter the shutdown state. In an embodiment of the present application, as shown in FIGS. 1 and 2, the self-moving device further includes a connecting member 40 for connecting the protective cover 20 and the main body 10, and at least part of the detection module 50 is disposed on the On the protective cover 20 and/or the aforementioned connecting member 40, in FIG. 1, part of the structure of the detection module is located on the protective cover 20. In the self-moving device, since the protective cover and the connecting member are moving parts, at least part of the detection module is arranged on the protective cover and/or the connecting member, so that the movement of the protective cover can be detected more directly and simply.

The above-mentioned solutions include three cases. In the first case, at least part of the detection module 50 is only arranged on the protective cover 20, as shown in FIG. 1; in the second case, at least part of the detection module is only arranged on the connecting member; and third In this way, at least part of the detection module is arranged on the protective cover, and at least part of the detection module is arranged on the connecting piece. Compared with the first solution and the second solution, the third method can not only detect some parameters of the protective cover, but also detect some parameters on the connecting piece, so that the two parameters can be more accurately determined Whether the protective cover is open.

In an embodiment of the present application, the connecting member includes a rotating shaft for connecting the protective cover and the body, so that the protective cover can be operably opened or closed. Of course, the above-mentioned connecting member is not limited to the rotating shaft, and those skilled in the art can also choose other connecting members that can connect the protective cover and the body and enable the protective cover to be operably opened or closed.

There are many detection modules in the present application, and those skilled in the art can select a suitable detection module according to the actual situation. In an embodiment of the present application, the detection module includes a magnetic portion and a sensing portion, one of the magnetic portion and the sensing portion is located on the body, and the other of the magnetic portion and the sensing portion is located on the protective cover and / Or on the above-mentioned connecting piece. Specifically, when the protective cover and/or the connecting member move, one of the magnetic part and the sensing part is displaced relative to the other, so that the magnetic field changes, and the sensing part generates an electrical signal, thereby realizing the detection of the state of the protective cover .

Of course, the above-mentioned "the other of the magnetic part and the above-mentioned induction part is located on the above-mentioned protective cover and/or the above-mentioned connecting member" can also include three cases. On the protective cover; the second type, the other of the magnetic part and the above-mentioned sensing part is only located on the above-mentioned connecting piece; the third type, the other of the magnetic part and the above-mentioned sensing part can be located on the connecting piece and the protective cover at the same time, this In this manner, there may be multiple magnetic parts or the other of the above-mentioned sensing parts; in this way, it can be determined whether the protective cover is in an open state according to the detection results of multiple detection modules, and the detection result is more accurate.

In a specific embodiment, as shown in Figs. 1 and 5, Fig. 5 is a partial enlarged schematic view of A in Fig. 1, and the magnetic part 51 in the detection module 50 is a magnet and is arranged on the protective cover 20 , The sensing part 52 is a Hall plate, and is arranged on the body 10. Of course, the magnetic part and the sensing part of the present application are not limited to this specific solution, and may also be solutions formed by other structures and other arrangements. In FIG. 1, the cover opening button 21 is also shown. By pressing the cover opening button 21, the protective cover 20 can be opened, so that the protective cover 20 is moved from the closed position assembly to the dotted line position in FIG. 1.

In order to further ensure the accuracy of the detection result, in an embodiment of the present application, the maximum distance between the sensing portion and the magnetic portion is less than a predetermined distance. This can further ensure the accuracy of the detection. In the actual application process, the above-mentioned maximum distance between the sensing part and the magnetic part is the distance when the protective cover is in the maximum open state.

For different sensing parts and magnetic parts, this predetermined distance may be different. Therefore, those skilled in the art can determine the corresponding predetermined distance according to the actual situation, so as to ensure the accuracy of the detection result.

In a specific embodiment of the present application, the above-mentioned detection module includes a mechanical switch provided at the connection between the above-mentioned body and the above-mentioned protective cover. In this embodiment, the state of the mechanical switch will change when the protective cover is in the opening process (that is, the open state). In this way, it is easier and faster to determine whether the protective cover is in the open state according to the state of the mechanical switch.

In an embodiment of the present application, the aforementioned detection module includes at least one of a Hall sensor, an acceleration sensor, a speed sensor, a displacement sensor, an inertial measurement sensor, and a mechanical switch. Those skilled in the art can select a suitable detection module according to the actual situation. In addition, the number of detection modules can also be adjusted according to actual conditions. Of course, for the solution in which the connecting member includes a rotating shaft, the above-mentioned detection module may also be a rotation sensor.

In order to more accurately detect whether the protective cover is in an open state, in an embodiment of the present application, the detection module includes a first detection unit provided on the protective cover and a second detection unit provided on the body. According to the first detection unit and the second detection unit, the relative movement of the protective cover and the body can be determined, so as to determine whether the protective cover is in an open state according to the relative movement. Specifically, the first detection unit and the second detection unit may be the same detection module, and may be selected from one of an acceleration sensor, a speed sensor, a displacement sensor, and an inertial measurement sensor. Of course, the first detection unit and the second detection unit may also be the magnetic part and the induction part in the above-mentioned embodiment, respectively, that is, one of the first detection unit and the second detection unit is the magnetic part and the other is the induction part. For the embodiment in which both the first detection unit and the second detection unit can detect motion parameters, the protective cover can be determined more accurately according to the difference in the motion parameters of the body and the protective cover when the entire self-mobile device is moving. Whether it is in the open state.

The self-moving device further includes an electrical connector arranged in the accommodating cavity for docking with the energy module, and the electrical connector is accommodated in the accommodating cavity and rigidly connected to the main body. Specifically, the above-mentioned control module is also used to control the on-off of the above-mentioned electrical connector, and by controlling the on-off of the electrical connector, so as to control the operation of the working module.

The self-moving device of the present application may be any self-moving device having the above-mentioned modules in the prior art, such as an automatic lawn mower, a sweeping robot, an automatic leaf sweeping machine or a multifunctional machine. In a specific embodiment of the present application, the above-mentioned self-moving device is an automatic lawn mower, and the above-mentioned working module includes a mowing module for performing mowing tasks. Figure 1 shows the structure of the automatic lawn mower when the protective cover is closed, Figure 2 shows the structure of the automatic lawn mower when the protective cover is opened, and Figure 3 shows the position A in Figure 1 Schematic diagram of a partial enlargement of.

In practical applications, in order to facilitate battery maintenance and testing, in a specific embodiment of the present application, the energy module is detachably housed in the receiving cavity.

In an embodiment of the present application, the detection module is also used to detect whether the protective cover is in a closed state. When the protective cover is not in the closed state, the control module controls the self-moving device to be unable to turn on. In the actual application process, when the protective cover is not in the closed state, the energy module may not be placed in the receiving cavity, or it may be removed later. Therefore, it is detected that the protective cover is not closed. In the state, the control self-mobile device cannot be turned on, which can further avoid the problem of damage to the hardware circuit of the self-mobile device after the energy module is taken out.

In the above-mentioned embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in an embodiment, reference may be made to related descriptions of other embodiments.

The aforementioned control module can control the aforementioned power module not to work according to the detection result of the detection module. In the actual application process, it can also control to send out prompt information. The prompt information can be sound prompt information, light prompt information, etc., and the sound prompt information can be The voice prompt information can also be an alarm sound. Specifically, the prompt information is used to remind the staff, and the follow-up staff can go to the site to survey the actual situation, and according to the actual situation, they can also perform part of the work.

It should also be noted that in the actual application process, if the detection module only detects some parameters used to determine that the protective cover is in an open state, then the control module of this application includes a determination sub-module and a control sub-module. The sub-module is used to determine whether the protective cover is in the open state according to the parameters detected by the detection module, and the control sub-module is used to control the power module to not work when the protective cover is determined to be in the open state.

Specifically, the determining sub-module can determine whether the protective cover is in an open state according to the parameters of the specific detection module. In fact, the determination process of determining the sub-module may be different due to different detection modules. For example, when the detection module is a speed sensor and When the protective cover is on, the determining sub-module determines that the protective cover is in the open state when the speed in the predetermined period of time is greater than the predetermined speed according to the speed data detected by the speed sensor, otherwise, the protective cover is determined to be in the closed state . For another example, in the case that the detection module is an acceleration sensor and is located on the protective cover, the determining sub-module determines that the protective cover is in the condition that the acceleration within a predetermined period of time is greater than the predetermined acceleration according to the speed data detected by the acceleration sensor. Open state, otherwise, make sure that the protective cover is closed. For another example, there are two detection modules, both of which are displacement sensors. One displacement sensor is located on the protective cover and the other is located on the body. The determination sub-module compares the displacements detected by the two displacement sensors. When the two displacements are in a predetermined direction When the difference between the components of is greater than the predetermined difference, it is determined that the protective cover is in the open state, and when the difference between the components of the two displacements in the predetermined direction is less than or equal to the predetermined difference, it is determined that the protective cover is in the closed state. Of course, this predetermined direction is at least a component of the moving direction during the opening of the protective cover.

In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The above-described device embodiments are only illustrative. For example, the division of the above-mentioned units may be a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or integrated. To another system, or some features can be ignored, or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, units or modules, and may be in electrical or other forms.

In addition, the functional sub-modules in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more sub-modules may be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.

If the above integrated sub-module is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solution of the present invention essentially or the part that contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium. , Including a number of instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the foregoing methods of the various embodiments of the present invention. The aforementioned storage media include: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes. .

From the above description, it can be seen that the above-mentioned embodiments of the present application achieve the following technical effects:

In the self-moving device of the present application, the detection module is used to detect whether the protective cover is in an open state, and when it is detected that the protective cover is in an open state, the control module controls the power module to not work. In this self-moving device, when it detects that the protective cover is in an open state, it can control the power module to stop working. Since the power module has been controlled to stop working, even if the energy module is subsequently taken out, the back EMF will not be generated, thereby avoiding The risk of burning the motherboard is to avoid the problem of damage to the hardware circuit of the mobile device after the energy module is taken out after the cover is opened.

The above descriptions are only preferred embodiments of the application, and are not intended to limit the application. For those skilled in the art, the application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included in the protection scope of this application.

Claims

A self-moving device, including:

case;

The moving module is arranged on the housing and is used to drive the housing to move;

Work module, used to perform preset work tasks;

The power module is used to drive the mobile module to move and/or drive the working module to work;

The control module is configured to control the power module to drive the mobile module to automatically move, and/or control the power module to drive the working module to automatically perform preset work tasks;

It is characterized in that the housing includes a main body and a protective cover, the main body has a receiving cavity provided with an entrance, the protective cover is used to operably shield the entrance, and the receiving cavity is used to receive the control Module and the energy module powered by the power module, the protective cover can be operably opened or closed, the self-moving device further includes a detection module, the detection module is used to detect whether the protective cover is in an open state, when When the detection module detects that the protective cover is in an open state, the control module controls the power module not to work.
The self-moving device according to claim 1, wherein the self-moving device further comprises a connecting member for connecting the protective cover and the body, and at least part of the detection module is disposed on the protective cover And/or on the connecting piece.
The self-moving device according to claim 2, wherein the connecting member comprises a rotating shaft for connecting the protective cover and the body.
The self-moving device according to claim 2, wherein the detection module comprises a magnetic part and a sensing part, one of the magnetic part and the sensing part is located on the body, and the magnetic part and the sensing part are located on the body. The other one of the sensing parts is located on the protective cover and/or the connecting member.
The self-moving device according to claim 1, wherein the detection module comprises a mechanical switch provided at the connection between the body and the protective cover.
The self-moving device according to claim 1, wherein the detection module comprises a first detection unit provided on the protective cover and a second detection unit provided on the body.
The self-moving device according to claim 1, wherein the detection module includes at least one of a Hall sensor, an acceleration sensor, a speed sensor, a displacement sensor, an inertial measurement sensor, and a mechanical switch.
The self-moving device according to claim 1, wherein the self-moving device further comprises an electrical connector disposed in the receiving cavity for docking with the energy module, and the electrical connector is received in the housing. The receiving cavity is rigidly connected to the main body.
The self-moving device according to claim 1, wherein the energy module is detachably received in the receiving cavity.
The self-moving device according to any one of claims 1 to 9, wherein the self-moving device is an automatic lawn mower, and the working module includes a mowing module for performing mowing tasks.