Self-walking device, operational robot, and charging system

Abstract

A self-walking device (340), an operational robot (30), and a charging system (10). The self-walking device (340) is adapted to be charged by means of a charging pile (20); the self-walking device (340) comprises a body (3410), a walking mechanism (3420), a storage battery (3430), and a charging module (3440), wherein the walking mechanism (3420) is arranged at the bottom of the body (3410) and is configured to drive the body (3410) to move for operation; the storage battery (3430) is mounted on the body (3410); and the charging module (3440) is configured to couple to the charging pile (20) so as to receive electric energy from the charging pile (20) to charge the storage battery (3430), the charging module (3440) being arranged at the bottom of the body (3410). Thus, the operational robot (30) and the charging pile (20) form a bottom-up charging structure; the whole body (3410) can function to cover the charging module (3440) disposed at the bottom of the body (3410), so that when the operational robot (30) works outdoors on snowy days, the body (3410) can prevent snow from falling onto the surface of the charging module (3440), thereby solving the problem of the charging difficulty caused by accumulated snow or snow blocks on the surface of the charging module (3440), and ensuring that the operational robot (30) can smoothly complete a charging task.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] The present application claims priority to Chinese Patent Application No. 202310725079.3, filed with the Chinese Patent Office on June 16, 2023 and entitled “SNOW CLEARING ROBOT AND SNOW CLEARING SYSTEM”, the entire contents of which are incorporated herein by reference.

[0002] The present application claims priority to Chinese Patent Application No. 202322118614.7, filed with the Chinese Patent Office on August 8, 2023 and entitled “MOBILE ROBOT WITH WIRELESS CHARGING FUNCTION”, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present application relates to the technical field of robot, and more specifically, to a self-propelled device, an operational robot and a charging system. BACKGROUND

[0004] With the rapid development of robotics, household robots (such as snow clearing robots) have become ubiquitous in everyday life. The snow clearing robots includes a snow clearing mechanism and a vehicle that pulls the snow clearing mechanism around the house. The vehicle is typically wheeled or tracked, and the snow clearing mechanism primarily includes a snow rolling mechanism and a snow throwing mechanism. The snow rolling mechanism gathers snow from the ground into a snow rolling chamber, which is then thrown in a designated direction by the snow throwing mechanism.

[0005] In pursuit of low-carbon, environmentally friendly, energy-saving, and emission-reduction strategies, traditional fuel-powered snow clearing robot are gradually being phased out. Current developments are primarily focused on battery-powered electric structures. Existing charging modules are typically located on the side of the body of the snow clearing robot. The snow clearing robot’s movement brings the charging module located on the side of the body closer to the charging pile, establishing an electrical connection.

[0006] Since snow clearing robots usually perform snow clearing work while snow is falling, the body of the snow clearing robot is easily covered by snowflakes or hard snow blocks form on the surface of the body, which makes it extremely difficult to charge the snow clearing robot. SUMMARY

[0007] Embodiments of the present application provide a self-propelled device, an operational robot and a charging system.

[0008] According to a first aspect of the present application, embodiments of the present application provide a self-propelled device suitable for charging via a charging pile. The self-propelled device includes a body, a travel mechanism, a storage battery, and a charging module. The travel mechanism is provided at the bottom of the body and is configured to drive the body to perform a moving operation, and the storage battery is mounted on the body. The charging module is configured to couple with the charging pile to receive electrical energy from the charging pile to charge the storage battery. The charging module is provided at the bottom of the body.

[0009] According to the second aspect of the present application, embodiments of the present application further provide an operational robot, which includes an operational device and the aforementioned self-propelled device, and the operational device is connected to the body of the self-propelled device.

[0010] According to a third aspect of the present application, embodiments of the present application further provide a charging system including the aforementioned operational robot and a charging pile. The charging pile includes a base and a power module. The power module is provided at the base and is adapted to the charging module of the operational robot. The base is configured to dock the operational robot, and when the operational robot is docked on the base for charging, the power module is provided below the charging module. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative efforts.

[0012] FIG. 1 is a schematic structural view of a charging system according to an embodiment of the present application.

[0013] FIG. 2 is a schematic structural view of a charging pile in the charging system shown in FIG. 1.

[0014] FIG. 3 is a schematic structural view of an operational device in the charging system shown in FIG. 1.

[0015] FIG. 4 is a schematic structural view of a self-propelled device in the charging system shown in FIG. 1.

[0016] FIG. 5 is a schematic cross-sectional view of the self-propelled device shown in FIG. 4.

[0017] FIG. 6 is an exploded schematic structural view of the charging module in the self-propelled device shown in FIG. 4.

[0018] FIG. 7 is a schematic structural view of the charging module in the self-propelled device shown in FIG. 4 in an installed state.

[0019] FIG. 8 is a schematic structural view of the charging module in the self-propelled device shown in FIG. 4 in a disassembled state.

[0020] FIG. 9 is a schematic structural view of the body, charging module and latch assembly in the self-propelled device shown in FIG. 4.

[0021] FIG. 10 is an exploded schematic structural view of the latch assembly shown in FIG. 9.

[0022] FIG. 11 is a schematic cross-sectional view of the latch assembly shown in FIG. 9.

[0023] Description of reference signs: 10, charging system; 20, charging pile; 210, base; 230, power module; 2320, transmitting coil; 30, operational robot; 320, operational device; 3200, snow clearing device; 3201, housing; 3210, snow rolling mechanism; 3212, snow rolling chamber; 3214, snow rolling blade; 3216, snow rolling output shaft; 3230, snow throwing mechanism; 3232, snow throwing chamber; 340, self-propelled device; 3410, body; 3412, bottom surface; 3414, accommodation cavity; 3416, inner wall; 3418, latching hole; 3420, travel mechanism; 3421, track; 3430, storage battery; 3490, baffle mechanism; 3492, baffle; 3460, drive member; 3440, charging module; 3 441, receiving coil; 3443, coil positioning sensor; 3445, inductor; 3447, charging circuit board; 2340, marker coil; 3470, control module; 3450, shell; 3451, charging surface; 3454, upper shell; 3455, lower shell; 3456, sealing member; 3480, limiting mechanism; 3481, first limiting portion; 3482, second limiting portion; 3483, limiting boss; 3484, limiting groove; 3500, latch assembly; 3510, case; 3512, base; 3514, cover case; 3516, through hole; 3520, latch tongue; 3521, latching portion; 3530, elastic member; 3532, spring; 3540, guide column; 3518, guide platform; 3523, guide groove; 3453, fixing platform; 3550, lug; 3552, mounting hole; 3560, fastener; 3234, snow throwing bucket. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts are within the scope of the present application.

[0025] As shown in FIG. 1 and FIG. 2, this embodiment discloses a charging system 10, which may include a charging pile 20 and an operational robot 30. The operational robot 30 is adapted to be electrically connected to the charging pile 20 so that the charging pile 20 charges the operational robot 30.

[0026] In this embodiment, the charging pile 20 may include a base 210 and a power module 230. The base 210 is used to dock the operational robot 30. The power module 230 is disposed on the base 210, which also serves to secure and protect the power module 230. Specifically, the power module 230 is adapted to the charging module 3440 of the operational robot 30. For example, the power module 230 may include a transmitting coil 2320, and the charging module 3440 may include a receiving coil 3441 coupled to the transmitting coil 2320. The receiving coil 3441 is capable of receiving electromagnetic waves emitted by the transmitting coil 2320, thereby enabling wireless charging between the charging pile 20 and the operational robot 30. For another example, the power module 230 may include a plug (e.g., a plug with pins), and the charging module 3440 may include a socket adapted to the plug, such as a conductive disk. When the plug abuts the conductive disk via the pins, wired charging can be achieved between the charging pile 20 and the operational robot 30.

[0027] In some embodiments, when the power module 230 includes a transmitting coil 2320, the power module 230 may also include a frequency converter (not shown). The transmitting coil 2320 is connected to the power supply of the charging pile 20 via the frequency converter, and the frequency converter adjusts the frequency of the input voltage. If the input voltage is alternating current, the frequency converter adjusts the frequency of the alternating current voltage to control the charging efficiency of the operational robot 30. If the input voltage is direct current, the power module 230 may also include an oscillator circuit (not shown) that filters the input direct current to generate pulsating direct current. The frequency converter then changes the frequency of the pulsating direct current to control the charging efficiency of the operational robot 30. Specifically, the frequency converter may include a rectifier unit, a filter unit, an inverter unit, a brake unit, a microprocessor unit, and the like. The oscillator circuit may be an inductor-capacitor oscillator circuit. This embodiment does not limit the specific implementation of the frequency converter and oscillator circuit.

[0028] In this embodiment, the operational robot 30 may include an operational device 320 and a self-propelled device 340. The operational device 320 is connected to the body 3410 of the self-propelled device 340 and is used to implement the various functions corresponding to the operational robot 30. For example, if the operational robot 30 is a snow clearing robot, the operational device 320 may be a snow removal mechanism, a snow pushing mechanism, etc. For another example, if the operational robot 30 is a lawn mowing robot, the operational device 320 may be a weed removal mechanism, a lawn mowing mechanism, etc. Specifically, the operational device 320 may be a snow removal mechanism, a snow rolling mechanism, a snow throwing mechanism, a weed removal mechanism, a lawn mowing mechanism, a leaf blowing mechanism, a salt spreading mechanism, a roller brush mechanism, a snow pushing mechanism, etc. This embodiment does not limit the specific implementation of the operational device 320. The self-propelled device 340 is used to tow the operational device 320 to perform work. The self-propelled device 340 is equipped with the aforementioned charging module 3440 to enable the self-propelled device 340 to be charged by the charging pile 20.

[0029] In some embodiments, the operational device 320 may be a snow clearing device 3200, which is used to clear snow on a road surface. In this embodiment, the snow clearing device 3200 may include a snow rolling mechanism 3210 and a snow throwing mechanism 3230. The snow rolling mechanism 3210 includes a snow rolling chamber 3212, which contains snow rolling blades 3214 for collecting snow. The snow throwing mechanism 3230 includes a snow throwing chamber 3232 communicated with the snow rolling chamber 3212, which contains snow throwing blades (not shown) for throwing snow from the snow rolling chamber 3212. The snow throwing chamber 3232 is located on the central axis of the snow rolling chamber 3212, and the snow rolling blades 3214 are fixed to a snow rolling output shaft 3216. Two sets of snow rolling blades 3214 are arranged symmetrically about the central axis of the snow rolling chamber 3212. The spiral guides of each set of snow rolling blades 3214 are oriented toward the central axis of the snow rolling chamber 3212. Therefore, when the snow rolling output shaft 3216 rotates, it drives both sets of snow rolling blades 3214 to simultaneously gather the accumulated snow in the snow rolling chamber 3212 toward the center of the snow rolling chamber 3212. As the operational robot 30 continues to advance, the snow accumulated in the center of the snow rolling chamber 3212 is pushed deeper into the snow rolling chamber 3212 by the continuous influx of new snow. That is, the snow is pushed toward the snow throwing chamber 3232 communicated with the snow rolling chamber 3212. The snow is then thrown out along the snow throwing bucket 3234 by the work of the snow throwing blades.

[0030] Specifically, in the embodiment shown in FIG. 3, the snow rolling chamber 3212 is semi-enclosed and is provided with an opening toward the front. As the operational robot 30 advances, the snow rolling chamber 3212 collects oncoming snow. A snow throwing chamber 3232 is provided on the side of the snow rolling chamber 3212 facing away from the opening. A snow throwing bucket 3234 is provided on the exterior of the snow clearing device 3200, communicated with the snow throwing chamber 3232. The interior of the snow rolling chamber 3212 is a curved cavity, the cross-section of which gradually decreases from the opening to the snow throwing chamber 3232. Thus, the snow rolling blades 3214 gather the snow within the snow rolling chamber 3212. As the operational robot 30 advances, the snow accumulated in the snow rolling chamber 3212 is gathered by the gradually decreasing cross-section walls of the snow rolling chamber 3212 and flows toward the snow throwing chamber 3232. The snow is then thrown out of the snow throwing bucket 3234 by the snow throwing blades of the snow throwing chamber 3232.

[0031] In some embodiments, the snow clearing device 3200 may further include a drive element (not shown) for driving the snow rolling blades 3214 and the snow throwing blades. For example, the drive element may be a motor. The motor is powered by a storage battery 3430 disposed within the self-propelled device 340. This allows the drive system of the operational robot 30 disclosed in this embodiment to be smaller than that of conventional fuel-powered snow clearing robots, thereby achieving a miniaturized design for the operational robot 30.

[0032] Furthermore, the base of the snow throwing bucket 3234 is fixedly connected to the housing 3201 of the snow clearing device 3200. The snow throwing bucket 3234 is arc-shaped, with its end extending vertically while gradually curving horizontally. To maximize the snow throwing distance while limiting energy consumption, the centerline angle of the snow throwing bucket 3234 in this embodiment is 45°. That is, the moment the snow leaves the snow throwing port, the angle between its velocity and the horizontal direction is 45°. Given the same mass of snow at the same initial velocity, the horizontal throwing distance is greatest when it is thrown at an upward angle of 45°. Therefore, this structural design achieves the maximum snow throwing distance while maintaining constant energy consumption (i.e., maintaining a constant initial velocity of the snow when it leaves the snow throwing port), allowing the snow to be thrown farther, improving the snow throwing efficiency of the operational robot 30 and reducing its energy consumption.

[0033] As shown in FIG. 4, the self-propelled device 340 may include a body 3410, a travel mechanism 3420, a storage battery 3430, and a charging module 3440. The travel mechanism 3420 is located at the bottom of the body 3410 and is used to drive the body 3410 for movement. The storage battery 3430 is mounted on the body 3410. The charging module 3440 is used to couple with the charging pile 20 to receive power from the charging pile 20 to charge the storage battery 3430. The charging module 3440 is located at the bottom of the body 3410.

[0034] Because the charging module 3440 is located at the bottom of the body 3410, when the operational robot 30 is docked at the base 210 of the charging pile 20 for charging, the power module 230 is located below the charging module 3440. Therefore, the present application adopts the bottom-up charging structure of the power module 230 and the charging module 3440. The entire body 3410 can serve as a shield for the charging module 3440 located at the bottom of the body 3410. When the operational robot 30 is working outdoors on a snowy day, the body 3410 can prevent snow from falling on the surface of the charging module 3440, thereby resolving the problem of snow accumulation or caking on the surface of the charging module 3440 causing charging difficulties and ensuring that the operational robot 30 can successfully complete its charging task.

[0035] The self-propelled device 340 is described in detail below.

[0036] In this embodiment, the body 3410 is used to secure and support the storage battery 3430 and the charging module 3440. As shown in FIG. 5, the body 3410 may be provided with a accommodation cavity 3414, which is generally located at the bottom of the body 3410. The storage battery 3430 and the charging module 3440 may be disposed within the accommodation cavity 3414 to provide protection for the storage battery 3430 and the charging module 3440.

[0037] In this embodiment, a storage battery 3430 is mounted on the body 3410. On one hand, the storage battery 3430 is electrically connected to the travel mechanism 3420, providing the power required for the self-propelled device 340 to travel. On the other hand, the storage battery 3430 is also electrically connected to the operational device 320, providing the power required to operate the operational device 320. Specifically, the storage battery 3430 can be a lead-acid storage battery, a nickel-metal hydride storage battery, a nickel-metal hydride storage battery, a lithium-ion storage battery, or the like, although this embodiment does not impose any specific limitations thereon.

[0038] In this embodiment, the travel mechanism 3420 is disposed at the bottom of the body 3410 and is used to drive the body 3410 for movement. Specifically, the travel mechanism 3420 is disposed at the bottom of the body 3410 and supports the body 3410 so that the bottom of the body 3410 is spaced from the travel surface, and the charging module 3440 is exposed at the bottom of the body 3410. Therefore, when the operational robot 30 travels above the charging pile 20, the charging module 3440 located at the bottom of the body 3410 and the charging pile 20 can maintain a certain distance to prevent collision between the charging module 3440 and the charging pile 20.

[0039] In some embodiments, as shown in FIG. 4, the travel mechanism 3420 may include two tracks 3421 located on the left and right sides of the body 3410 in the travel direction, with the charging module 3440 exposed in the space between the two tracks 3421. Therefore, during the movement of the body 3410, the two tracks 3421 located on both sides of the body 3410 can, to a certain extent, prevent snow from flowing under the body 3410 from the left and right sides, thereby preventing snow from contacting the charging module 3440. This reduces the probability of the charging module 3440 being covered by snow or ice due to accumulated snow on the ground, thereby ensuring that the self-propelled device 340 can be charged smoothly. In other embodiments, the travel mechanism 3420 may include multiple drive wheels, which may be disposed on the bottom of the body 3410 to drive the body 3410 for movement. This embodiment does not specifically limit the implementation of the travel mechanism 3420.

[0040] In some embodiments, the self-propelled device 340 further includes a baffle mechanism 3490, which includes two baffles 3492. The two baffles 3492 are respectively disposed on the sides of the two tracks 3421 and block the space between the two tracks 3421. Therefore, when the body 3410 travels in the snow, the two baffles 3492 and the two tracks 3421 can further prevent snow on the ground from flowing into the bottom of the vehicle from the bottom of the two sides of the body 3410. In addition, the operational device 320 located in front of the body 3410 can also prevent the snow on the ground from flowing into the bottom of the vehicle from the front of the body 3410, so that the baffle 3492, the track 3421 and the operational device 320 form a three-sided encirclement structure for the bottom of the body 3410. Even if the self-propelled device 340 travels on snow with a certain thickness, the snow cannot flow into the bottom of the vehicle from the sides and front of the body 3410, thereby avoiding the contact between the snow from the ground and the charging module 3440, reducing the probability of the surface of the charging module 3440 being covered by snow or ice due to the snow on the ground, so as to ensure that the self-propelled device 340 can be charged smoothly.

[0041] Furthermore, when encountering snowstorms, since the baffle 3492, the track 3421 and the operational device 320 can completely cover the two sides and the front of the bottom of the body 3410, the snow blown by the wind is difficult to enter the bottom of the vehicle. In this way, the snow from the sky and the ground cannot come into contact with the charging module 3440, which facilitates the automatic charging of the self-propelled device 340.

[0042] In this embodiment, the charging module 3440 is used to couple with the charging pile 20 to receive power from the charging pile 20 to charge the storage battery 3430. As shown in FIG. 6, the charging module 3440 may include a shell 3450 and a receiving coil 3441. The shell 3450 is mounted on the bottom of the body 3410. The receiving coil 3441 is used to couple with the transmitting coil 2320 located on the charging pile 20. The receiving coil 3441 is disposed within the shell 3450 and is electrically connected to the storage battery 3430.

[0043] Therefore, in this embodiment, the charging pile 20 and the operational robot 30 are charged using wireless charging. Compared to traditional wired connections, such as the contact connection between a pin and a conductive disk, wireless charging can avoid problems such as poor contact caused by rust, dust, dirt, and wear on electrical contacts (e.g., plugs and sockets). Furthermore, compared to direct plug-in charging, since there is no plug, no manual intervention is required. The operational robot 30 can simply drive to the corresponding position of the charging pile 20 to start wireless charging, eliminating the step of manually inserting the charging connector and automating the charging process.

[0044] In some embodiments, the charging module 3440 may further include a charging circuit board 3447, through which the receiving coil 3441 is electrically connected to the storage battery 3430. Specifically, the charging circuit board 3447 may integrate circuit structures such as a rectifier circuit, a filter circuit, and a voltage regulator circuit, so that the receiving coil 3441 can charge the battery 3430 after rectifying, filtering and stabilizing the induced voltage via the charging circuit board 3447, ensuring a smooth charging process.

[0045] In this embodiment, the shell 3450 provides a well-sealed space, protecting internal components (e.g., receiving coil 3441) from environmental erosion, such as rain, snow, wind, sand, and moisture. Specifically, shell 3450 may include an upper shell 3454 and a lower shell 3455 that are interconnected. The upper and lower shells 3454 and 3455 interlock to form a sealed space for accommodating receiving coil 3441 and charging circuit board 3447.

[0046] Since the receiving coil 3441 and the charging circuit board 3447 inside the charging module 3440 are prone to generate heat, the charging module 3440 requires excellent heat dissipation. To address this issue, one of the upper shell 3454 and the lower shell 3455 includes plastic, while the other one of the upper shell 3454 and the lower shell 3455 includes metal. The metal shell has high thermal conductivity, allowing it to quickly dissipate heat within the charging module 3440. The plastic shell prevents the metal from obstructing the charging module 3440 from receiving the magnetic field, allowing the receiving coil 3441 to function properly. The shell 3450 in this embodiment utilizes a combination of metal and plastic, providing both excellent reception and heat dissipation, allowing the internal components to operate in a stable environment and extending their service life.

[0047] Specifically, the upper shell 3454 is located on the side of the shell 3450 facing the charging pile 20 and is made of plastic (e.g., thermoplastic, thermosetting plastic, etc.). The lower shell 3455 is located on the side of the shell 3450 away from the charging pile 20 and is made of metal (e.g., alloy, stainless steel, etc.). Therefore, when the operational robot 30 is charging, the upper shell 3454 is located between the charging pile 20 and the receiving coil 3441, eliminating the issue of the magnetic field generated by the receiving coil 3441 being blocked by the plastic upper shell 3454. The lower shell 3455 is located on the side of the receiving coil 3441 facing away from the charging pile 20, allowing the heat generated by electromagnetic induction in the receiving coil 3441 to be quickly dissipated, thereby ensuring the smooth operation of the charging module 3440.

[0048] In some embodiments, the shell 3450 may further include a sealing member 3456, which seals the upper shell 3454 and the lower shell 3455. The sealing member 3456 can improve the sealing effect of the shell 3450, preventing rain, snow, wind, sand, moisture, etc. from entering the interior of the shell 3450, further ensuring the stability of the operating environment of components within the shell 3450. Specifically, the sealing member 3456 can be a sealing ring or a sealing strip.

[0049] In some embodiments, the charging module 3440 may further include a coil positioning sensor 3443, which is disposed within the shell 3450 and is used to detect the position of the charging module 3440 relative to the charging pile 20. In this embodiment, the coil positioning sensor 3443 detects changes in the magnetic field of the charging pile 20 to determine the distance and angle of the charging module 3440 relative to the charging pile 20, thereby identifying whether the operational robot 30 has entered the charging area and further determining whether to activate or deactivate the receiving coil 3441 of the operational robot 30.

[0050] In this embodiment, by providing the coil positioning sensor 3443, the problem that the charging module 3440 is easily misaligned during use, resulting in low charging efficiency or even no-load can be solved. Furthermore, the charging module 3440 of this embodiment integrates positioning and wireless charging reception functions, offering advantages such as high integration, compact structure, and easy installation.

[0051] Specifically, as shown in FIG. 2 and FIG. 6, the charging pile 20 may further include a marker coil 2340. The coil positioning sensor 3443 may include a pair of inductors 3445 (e.g., coil inductors, plug-in inductors, etc.). The pair of inductors 3445 is used to detect the magnetic field strength of the marker coil 2340 to determine the position of the charging module 3440 relative to the charging pile 20. It is readily understood that the marker coil 2340 in the charging pile 20 is normally on (continuously energized) to generate a marker magnetic field at the location of the charging pile 20. This embodiment uses the difference in the magnitude of the marker magnetic field detected by the pair of inductors 3445 to determine the distance and angle of the charging module 3440 relative to the charging pile 20. If the operational robot 30 is detected as having reached the area above the charging pile 20, the transmitting coil 2320 of the charging pile 20 and the receiving coil 3441 of the operational robot 30 are activated to enable wireless charging of the operational robot 30. In some other embodiments, the coil positioning sensor 3443 may also be an LC resonant circuit composed of an inductor and a capacitor.

[0052] In some embodiments, the self-propelled device 340 may further include a control module 3470. The control module 3470 is mounted within the accommodation cavity 3414 and is used to control the motion state and movement of the operational robot 30. Specifically, the control module 3470 may be a controller, such as a microcontroller unit (MCU). In some embodiments, the control module 3470 may also include a signal amplification circuit (not shown) to amplify received signals (e.g., electromagnetic waves) for subsequent signal processing.

[0053] In this embodiment, the control module 3470 is electrically connected to the coil positioning sensor 3443 and is configured to obtain electromagnetic waves received by the coil positioning sensor 3443, process the received electromagnetic waves to obtain electromagnetic wave intensity distribution information, and determine the position of the charging module 3440 relative to the charging pile 20 based on the electromagnetic wave intensity distribution information. The electromagnetic wave intensity distribution information may include electromagnetic wave intensity information and electromagnetic wave range distribution information at the current location of the operational robot 30.

[0054] In some embodiments, the control module 3470 can determine the position offset of the operational robot 30 based on the determined position of the charging module 3440 relative to the charging pile 20 and the current motion state of the operational robot 30, and correct the motion state of the operational robot 30 based on the position offset, so that the operational robot 30 can move smoothly to the location of the charging pile 20, thereby effectively avoiding the problem that the operational robot 30 cannot accurately find the charging pile 20 when charging is needed, and effectively improving the charging efficiency of the operational robot 30.

[0055] The connection between the shell 3450 and the body 3410 is described below.

[0056] In some embodiments, the shell 3450 can be fixedly connected to the bottom of the body 3410. As shown in FIG. 4, the shell 3450 can have a charging surface 3451 corresponding to the transmitting coil 2320. The charging surface 3451 protrudes relative to the bottom surface 3412 of the body 3410. This allows the charging surface 3451 to be closer to the top surface of the charging pile 20 when the operational robot 30 travels over the charging pile 20, thereby improving electromagnetic coupling efficiency with the transmitting coil 2320 in the charging pile 20 and thus enhancing the charging efficiency of the operational robot 30. Specifically, the charging surface 3451 herein may be the surface of the shell 3450 facing the charging pile 20. In an embodiment, a portion of the shell 3450 (e.g., either the upper shell 3454 or the lower shell 3455) and the body 3410 can be integrally formed to enhance the reliability of the connection between the body 3410 and the charging module 3440.

[0057] In other embodiments, the self-propelled device 340 may further include a drive member 3460, which is disposed within the accommodation cavity 3414 and is drivably connected to the shell 3450. The drive member 3460 is used to drive the shell 3450 to move within the accommodation cavity 3414 to switch between an extended position and a retracted position. Specifically, the drive member 3460 may be a linear drive member (e.g., a linear motor, a cylinder, etc.), which may directly drive the shell 3450 to rise or fall in a specified direction. The specified direction refers to a direction perpendicular to the plane where the bottom surface 3412 of the body 3410 is located.

[0058] Specifically, the shell 3450 is provided with a charging surface 3451 corresponding to the transmitting coil 2320. When the charging module 3440 is in the extended position, the charging surface 3451 protrudes from or is flush with the bottom surface 3412 of the body 3410. When the charging module 3440 is in the retracted position, the charging surface 3451 is recessed within the accommodation cavity 3414. When the charging module 3440 is in the extended position, the charging module 3440 is not charging, and the charging surface 3451 extends out of the accommodation cavity 3414. When the charging module 3440 is in the retracted position, the charging module 3440 is charging, and the charging surface 3451 retracts into the accommodation cavity 3414.

[0059] With this mechanical design, when the operational robot 30 is not charging, the shell 3450 is in the extended position. When clumps (such as frost, snow, or ice) accumulate on the charging surface 3451, the shell 3450 retracts upward into the accommodation cavity 3414 during the charging state. Consequently, the clumps (such as frost, snow, or ice) on the charging surface 3451 are subjected to the positive stress created by the chassis of the body 3410, causing them to be squeezed and broken apart, and then separated from the shell 3450. This ensures that no clumps or other debris are present between the charging surface 3451 and the charging pile 20 when the operational robot 30 travels over the charging pile 20, ensuring smooth wireless charging of the operational robot 30 and achieving intelligent operation. That is, the operational robot 30 is capable of automatically charging when the battery is low, thus maximizing automation and eliminating the need for manual charging operations.

[0060] In some other embodiments, the shell 3450 is detachably provided within the accommodation cavity 3414. As shown in FIG. 7 and FIG. 8, the shell 3450 in FIG. 7 is in an installed state, and the shell 3450 in FIG. 8 is in a disassembled state. In this embodiment, the self-propelled device 340 may further include a limiting mechanism 3480, which is connected between the shell 3450 and the body 3410 so that the shell 3450 is detachably connected to the body 3410. Therefore, when the operational robot 30 experiences charging abnormalities, the user or maintenance personnel can quickly remove the charging module 3440 from the body 3410, thereby improving the convenience of inspection and maintenance.

[0061] In an embodiment, as shown in FIG. 9, the limiting mechanism 3480 may include a first limiting portion 3481 and a second limiting portion 3482, which are pluggable and engage with each other to position the shell 3450. The first limiting portion 3481 is disposed at one end of the accommodation cavity 3414 and connected to the body 3410, while the second limiting portion 3482 is disposed on the shell 3450 and is limited by the first limiting portion 3481 to secure the installation position of the shell 3450 relative to the body 3410. Specifically, one of the first limiting portion 3481 and the second limiting portion 3482 is a limiting boss 3483, and the other one of the first limiting portion 3481 and the second limiting portion 3482 is a limiting groove 3484, with the limiting boss 3483 pluggably engaging with the limiting groove 3484.

[0062] In the embodiment shown in FIG. 9, the first limiting portion 3481 is a limiting boss 3483, and the second limiting portion 3482 is a limiting groove 3484. Specifically, the limiting boss 3483 is roughly strip-shaped and located at the bottom of the body 3410 and at one end of the accommodation cavity 3414. The limiting groove 3484 is provided at one end of the shell 3450, and the shape and size of the limiting groove 3484 match the limiting boss 3483 to stably hold one end of the shell 3450. In other embodiments, the first limiting portion 3481 is a limiting groove 3484, and the second limiting portion 3482 is a limiting boss 3483, and the present application does not specifically limit this.

[0063] In the embodiment shown in FIG. 9, latching holes 3418 may be provided on both sides of the inner wall 3416 of the accommodation cavity 3414. The limiting mechanism 3480 may further include latch assembly 3500, which are fixed to both sides of the shell 3450 and elastically latched to the latching holes 3418 on both sides of the accommodation cavity 3414. The inner wall 3416 of the accommodation cavity 3414 herein may refer to the sidewalls of the body 3410 located on both sides in the direction of travel. Specifically, the aforementioned second limiting portion 3482 may be provided at one end of the shell 3450, and two latch assemblies 3500 may be fixed on both sides of the other end of the shell 3450.

[0064] Therefore, when the charging module 3440 in this embodiment needs to be installed with the body 3410, one end of the charging module 3440 is first positioned by plugging and engaging the first limiting portion 3481 and the second limiting portion 3482. Then, the other end of the charging module 3440 is locked to the body 3410 by latching the latch assemblies 3500 with the latch holes 3418, completing the rapid installation of the two and improving the installation efficiency of the charging module 3440. When the charging module 3440 needs to be removed from the body 3410, the latch assemblies 3500 on both sides are pressed simultaneously to unlock it, facilitating the subsequent disassembly, inspection, and maintenance of the charging module 3440. Compared with the traditional latch method using multiple screws, the charging module 3440 in this embodiment is fixed by a latch assembly 3500, which can reduce the installation and disassembly steps, improve the disassembly and assembly efficiency of the charging module 3440, and avoid the loosening of screws due to the vibration of the body 3410 during the traveling of the operational robot 30, thereby improving the stability of the connection of the charging module 3440.

[0065] Here, the specific structure of the latch assembly 3500 and the connection method between the latch assembly 3500 and the shell 3450 are described.

[0066] As shown in FIG. 10 and FIG. 11, the latch assembly 3500 may include a case 3510, a latch tongue 3520, and an elastic member 3530. The case 3510 is mounted on the outside of the shell 3450. The latch tongue 3520 is slidably mounted within the case 3510 and is capable of protruding relative to the case 3510 to engage with the latching holes 3418. The elastic member 3530 is disposed between the case 3510 and the latch tongue 3520. Because the elastic member 3530 in this embodiment is held between the case 3510 and the latch tongue 3520, the latch tongue 3520 can move in the deformation direction of the elastic member 3530 to engage with the latching hole 3418.

[0067] Specifically, the case 3510 may include a base 3512 and a cover case 3514. The cover case 3514 is connected to the shell 3450 and fixedly connected to the base 3512 to form a chamber for accommodating the latch tongue 3520 and the elastic member 3530. For example, the cover case 3514 and the base 3512 may be engaged with each other to form the aforementioned chamber. The cover case 3514 is provided with a through hole 3516 passing through opposite sides of the cover case 3514. The latch tongue 3520 is provided with a latching portion 3521. The latching portion 3521 can pass through the through hole 3516 and movably protrude from the exterior of the case 3510 to engage with the latching holes 3418.

[0068] As the charging module 3440 is pressed into the body 3410, the latch tongue 3520 of the latch assembly 3500 is in a compressed state. When the latch tongue 3520 reaches the latching hole 3418, the latch tongue 3520 is ejected by the elastic member 3530 and engages with the latching holes 3418, thereby latching the charging module 3440 to the body 3410. When the charging module 3440 is removed, the latch tongues 3520 of the latch assembly 3500 on both sides of the body 3410 are simultaneously pressed to compress the elastic member 3530, disengaging the latch tongue 3520 from the latching holes 3418. The latch assembly 3500 is then separated from the latching hole 3418. The charging module 3440 can then be lifted to complete disassembly.

[0069] In some embodiments, the elastic member 3530 may be a spring 3532, and the latch assembly 3500 further includes a guide post 3540 provided within the case 3510. The guide post 3540 may be disposed on the side of the base 3512 facing the cover case 3514 and fixedly connected to the base 3512. For example, the guide post 3540 and the base 3512 may be integrally formed. Part structure of the spring 3532 is sleeved around the outer periphery of the guide post 3540. The guide post 3540 may limit the spring 3532 and prevent the spring 3532 from bending, thereby increasing the service life of the spring 3532.

[0070] In some embodiments, one of the case 3510 and the latch tongue 3520 is provided with a guide platform 3518, and the other one of the case 3510 and the latch tongue 3520 is provided with a guide groove 3523. The guide platform 3518 and the guide groove 3523 are movably nested and matched, which can improve the smoothness and sliding precision of the latch tongue 3520 sliding within the case 3510. In the embodiment shown in FIG. 10, the guide groove 3523 is provided on the latch tongue 3520, and the guide platform 3518 is provided on the cover case 3514. The number of guide grooves 3523 and guide platforms 3518 can be multiple to better limit the movement direction of the latch tongue 3520.

[0071] As shown in FIG. 9, the charging module 3440 may further include a fixing platform 3453 disposed on the shell 3450, and the latch assembly 3500 may further include a lug 3550 disposed on the case 3510, with the case 3510 connected to the fixing platform 3453 via the lug 3550. Specifically, each latch assembly 3500 may include two lugs 3550, with the two lugs 3550 located on opposite sides of the main body of the cover case 3514. Two fixing platforms 3453 corresponding to the two lugs 3550 may be connected to one side of the shell 3450, at least a portion of the structure of the shell 3450 and the two fixing platforms 3453 may be integrally formed structure, and the two lugs 3550 and the main body of the cover case 3514 may be an integrally formed structure.

[0072] In an embodiment, the lug 3550 is latched or bonded to the corresponding fixing platform 3453. In another embodiment, the latch assembly 3500 may further include a fastener 3560, through which the lug 3550 is connected to the fixing platform 3453. For example, the lug 3550 is provided with a mounting hole 3552, and the fastener 3560 is passed through the mounting hole 3552 and then connected to the fixing platform 3453. Specifically, the fastener 3560 may be a pin or a screw.

[0073] This embodiment provides a self-propelled device 340, an operational robot 30, and a charging system 10. The self-propelled device 340 is suitable for charging via a charging pile 20. The self-propelled device 340 may include a body 3410, a travel mechanism 3420, a storage battery 3430, and a charging module 3440. The travel mechanism 3420 is disposed at the bottom of the body 3410 and is used to drive the body 3410 for movement. The storage battery 3430 is mounted on the body 3410. The charging module 3440 is used to couple with the charging pile 20 to receive electrical energy from the charging pile 20 to charge the storage battery 3430. The charging module 3440 is disposed at the bottom of the body 3410.

[0074] Because the charging module 3440 is located at the bottom of the body 3410, when the operational robot 30 is docked at the base 210 of the charging pile 20 for charging, the power module 230 is located below the charging module 3440. Therefore, the present application adopts a bottom-up charging structure of the power module 230 and the charging module 3440. The entire body 3410 can serve as a shield for the charging module 3440 located at the bottom of the body 3410. When the operational robot 30 is working outdoors on a snowy day, the body 3410 can prevent snow from falling on the surface of the charging module 3440, thereby resolving the problem of snow accumulation or caking on the surface of the charging module 3440 causing charging difficulties and ensuring that the operational robot 30 can successfully complete its charging task.

[0075] In the specification of the present application, certain words are used to refer to specific components in the specification and claims. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. The specification and claims do not use the difference in name as a way to distinguish components, but use the difference in function of the components as the criterion for distinction. For example, “include” mentioned throughout the specification and claims is an open term and should be interpreted as “include but not limited to”. “substantially” means that those skilled in the art can solve the technical problem within a certain error range and basically achieve the technical effect.

[0076] In the description of the present application, it should be understood that the terms “upper”, “lower”, “front”, “back”, “left”, “right”, “inside”, etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are only used to simplify the description for the convenience of describing the present application, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on the present application.

[0077] In the present application, unless otherwise expressly specified or limited, terms such as “mount”, “connect” and “fix” should be interpreted broadly. For example, these terms may refer to fixed, removable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; internal communication between two components; or mere surface contact. Those skilled in the art will understand the specific meanings of these terms in the present application based on the specific circumstances.

[0078] In the description of this specification, the description of reference terms “one embodiment”, “some embodiments”, “example”, “specific example”, or “some examples” means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0079] Furthermore, the terms “first” and “second” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as “first” or “second” may explicitly or implicitly include at least one of such features. Throughout the description of the present application, “plurality” means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A self-propelled device, adapted for charging through a charging pile, comprising:a body;a travel mechanism, provided at a bottom of the body and configured to drive the body to perform a moving operation;a storage battery mounted on the body; anda charging module, configured to couple with the charging pile to receive electrical energy from the charging pile to charge the storage battery, and provided at the bottom of the body.

2. The self-propelled device according to claim 1, wherein the charging pile comprises a transmitting coil, and the charging module comprises a shell and a receiving coil; and the shell is mounted at the bottom of the body, the receiving coil is configured to couple with the transmitting coil, and the receiving coil is provided in the shell and electrically connected to the storage battery.

3. The self-propelled device according to claim 2, wherein the shell is fixedly connected to the bottom of the body; the shell is provided with a charging surface corresponding to the transmitting coil, and the charging surface protrudes relative to a bottom surface of the body.

4. The self-propelled device according to claim 2, further comprising:a drive member, wherein:the bottom of the body is provided with an accommodation cavity, and the drive member and the shell are provided in the accommodation cavity;the drive member and the shell are drivably connected, and the drive member is configured to drive the shell to move in the accommodation cavity to switch between an extended position and a retracted position;the shell is provided with a charging surface corresponding to the transmitting coil;when the charging module is in the extended position, the charging surface protrudesrelative to the bottom surface of the body; andwhen the charging module is in the retracted position, the charging surface is hidden in the accommodation cavity.

5. The self-propelled device according to claim 2, wherein an accommodation cavity is provided at the bottom of the body, and the shell is detachably provided in the accommodation cavity.

6. The self-propelled device according to claim 5, further comprising:a limiting mechanism connected between the shell and the body so that the shell is detachably connected to the body.

7. The self-propelled device according to claim 6, wherein the limiting mechanism comprises a first limiting portion and a second limiting portion, the first limiting portion is provided at one end of the accommodation cavity and connected to the body, and the second limiting portion is provided on the shell, and is limited by the first limiting portion to fix an installation position of the shell relative to the body.

8. The self-propelled device according to claim 7, wherein one of the first limiting portion and the second limiting portion is a limiting boss, the other one of the first limiting portion and the second limiting portion is a limiting groove, and the limiting boss is inserted and engaged in the limiting groove.

9. The self-propelled device according to any one of claims 6 to 8, wherein latching holes are provided at both sides of an inner wall of the accommodation cavity, the limiting mechanism further comprises a latch assembly, and the latch assembly is fixed to both sides of the shell and elastically latched with the latching holes on both sides of the accommodation cavity.

10. The self-propelled device according to claim 9, wherein the latch assembly comprises a case; and a latch tongue and an elastic member, the case is mounted on an outside of the shell,the latch tongue is slidably mounted in the case and is capable of protruding relative to the case to engage with the latching holes, and the elastic member is provided between the case and the latch tongue.

11. The self-propelled device according to claim 10, wherein the case comprises a base and a cover case, and the cover case is connected to the shell, is fixedly connected to the base, and is provided with a through hole; the latch tongue is provided with a latching portion, and the latching portion is capable of passing through the through hole; and the latching portion is movably protruded outside the case and is configured to engage with the latching holes.

12. The self-propelled device according to claim 10 or 11, wherein the elastic member is a spring, the latch assembly further comprises a guide post provided in the case, and the spring is sleeved on the guide post.

13. The self-propelled device according to any one of claims 10 to 12, wherein one of the case and the latch tongue is provided with a guide platform, and the other one of the case and the latch tongue is provided with a guide groove, and the guide platform and the guide groove are movably nested and matched.

14. The self-propelled device according to any one of claims 10 to 13, wherein the charging module further comprises a fixing platform provided at the shell, the latch assembly further comprises a lug provided at the case, and the case is connected to the fixing platform via the lug.

15. The self-propelled device according to claim 14, wherein the lug is latched or bonded to the fixing platform, or the latch assembly further comprises a fastener, and the lug is connected to the fixing platform via the fastener.

16. The self-propelled device according to any one of claims 2 to 15, wherein the shell comprises an upper shell and a lower shell connected to the upper shell, one of the upper shell and the lower shell comprises a plastic material, and the other one of the upper shell and thelower shell comprises a metal material.

17. The self-propelled device according to claim 16, wherein the shell further comprises a sealing member, and the upper shell and the lower shell are sealed by the sealing member.

18. The self-propelled device according to any one of claims 2 to 17, wherein the charging module further comprises a coil positioning sensor, and the coil positioning sensor is provided in the shell and is configured to detect a position of the charging module relative to the charging pile.

19. The self-propelled device according to claim 18, wherein the charging pile further comprises a marker coil, and the coil positioning sensor comprises a pair of inductors configured to detect a magnetic field strength of the marker coil to determine the position of the charging module relative to the charging pile.

20. The self-propelled device according to claim 18 or 19, further comprising:a control module, wherein the control module is electrically connected to the coil positioning sensor, and is configured to obtain electromagnetic waves received by the coil positioning sensor, process the received electromagnetic waves to obtain electromagnetic wave intensity distribution information, and determine the position of the charging module relative to the charging pile based on the electromagnetic wave intensity distribution information.

21. The self-propelled device according to any one of claims 1 to 20, wherein the travel mechanism is provided at the bottom of the body and is configured to support the body so that the bottom of the body is spaced from a travel surface, and the charging module is exposed at the bottom of the body.

22. The self-propelled device according to claim 21, wherein the travel mechanism comprises two tracks, the two tracks are provided at left and right sides of the body in a travel direction, and the charging module is exposed in a space between the two tracks.

23. The self-propelled device according to claim 22, further comprising:a baffle mechanism, wherein the baffle mechanism comprises two baffles, and the two baffles are respectively provided at sides of the two tracks, and are configured to block a space between the two tracks.

24. An operational robot, comprising:an operational device; andthe self-propelled device according to any one of claims 1 to 23, wherein the operational device is connected to a body of the self-propelled device.

25. The operational robot according to claim 24, wherein the operational device comprises at least one of a snow removal mechanism, a snow rolling mechanism, a snow throwing mechanism, a weed removal mechanism, a lawn mowing mechanism, a leaf blowing mechanism, a salt spreading mechanism, a roller brush mechanism, and a snow pushing mechanism.

26. A charging system, comprising:the operational robot according to claim 24 or 25; anda charging pile, comprising a base and a power module,wherein the power module is provided at the base and is adapted to the charging module of the operational robot;the base is configured to dock the operational robot, and when the operational robot docks on the base for charging, the power module is provided below the charging module.

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