Autonomous work machine and walking abnormality detection method

Abstract

The embodiment of the application provides a kind of autonomous work equipment and walking abnormality detection method, it is related to autonomous work equipment technical field.In autonomous work equipment, first sensor is used to obtain the magnetic field change signal generated by the movement of magnetic component in driven wheel;Second sensor, second sensor is connected with control module, and second sensor is used to detect the rotation state of driving wheel;Control module is used to determine the rotation state of driven wheel according to magnetic field change signal;Control module is used to detect the rotation state of driving wheel by second sensor;Control module is used to determine whether autonomous work equipment is in walking abnormal state according to the rotation state of driving wheel and the rotation state of driven wheel.In the application, whether autonomous work equipment appears walking abnormal condition can be judged by combining the rotation state of driving wheel and the rotation state of driven wheel.

Description

Technical Field

[0001] This invention relates to the field of autonomous operating equipment technology, specifically to an autonomous operating device and a method for detecting walking anomalies. Background Technology

[0002] A lawnmower robot is an automated operating device used for mowing lawns, vegetation, etc. It has been widely used in daily life and has brought great convenience to people's lives.

[0003] Then, lawn mowing robots usually work on lawns, which can easily lead to slippage. Severe slippage can cause serious damage to the lawn. How to identify and detect slippage is an urgent problem to be solved. Summary of the Invention

[0004] The purpose of this invention is to provide an autonomous operating device and a method for detecting walking abnormalities. This method can determine whether the autonomous operating device is experiencing walking abnormalities by combining the rotational states of the driving wheel and the driven wheel, so as to take appropriate measures to deal with the autonomous operating device in a timely manner when walking abnormalities occur.

[0005] To achieve the above objectives, the present invention provides an autonomous operating device, comprising: a main body mechanism; a moving mechanism disposed on the main body mechanism, the moving mechanism being used to support the main body mechanism on a walking surface and drive the main body mechanism to move on the walking surface; the moving mechanism includes a drive wheel and a driven wheel, the driven wheel including at least one receiving cavity and a magnetic component disposed in the receiving cavity that can freely roll in at least one preset direction; a working mechanism disposed on the main body mechanism, the working mechanism being used to perform operating tasks; and a control module disposed on the main body mechanism, the control module being used to control the main body mechanism according to received control commands. The working mechanism performs a set task; a first sensor, communicatively connected to the control module, is used to acquire the magnetic field change signal generated by the movement of the magnetic component in the driven wheel; a second sensor, also communicatively connected to the control module, is used to detect the rotation state of the drive wheel; the control module determines the rotation state of the driven wheel based on the magnetic field change signal; the control module detects the rotation state of the drive wheel using the second sensor; and the control module determines whether the autonomous working device is in an abnormal walking state based on the rotation states of the drive wheel and the driven wheel.

[0006] The present invention also provides a method for detecting the state of a walking wheel, applied to an autonomous operating device. The autonomous operating device includes a drive wheel and a driven wheel. The driven wheel includes at least one receiving cavity and a magnetic component disposed in the receiving cavity that can freely roll in at least one preset direction. The method includes: detecting the rotational state of the drive wheel and the rotational state of the driven wheel, wherein the rotational state of the driven wheel is determined based on the magnetic field change signal generated by the movement of the magnetic component in the driven wheel; and determining whether the autonomous operating device is in an abnormal walking state based on the rotational states of the drive wheel and the driven wheel.

[0007] In this embodiment of the invention, a receiving cavity is provided in the wheel body of the driven wheel of the autonomous working device, and a magnetic component disposed in the receiving cavity that can freely roll in at least one preset direction. A first sensor can acquire the magnetic field change signal generated by the movement of the magnetic component in the driven wheel, and the control module can determine the rotation state of the driven wheel based on the magnetic field change signal. At the same time, the control module can also detect the rotation state of the drive wheel through the second sensor. Based on this, the control module can combine the rotation state of the drive wheel and the rotation state of the driven wheel to determine whether the autonomous working device has a walking abnormality, so as to take corresponding handling measures for the autonomous working device in a timely manner when a walking abnormality occurs.

[0008] In one embodiment, the control module is used to determine that the autonomous operating device is in an abnormal walking state when the absolute value of the difference between the linear velocity of the drive wheel and the linear velocity of the driven wheel is greater than a preset speed difference threshold.

[0009] In one embodiment, the control module is used to determine that the autonomous operating device is in an abnormal walking state when the drive wheel is rotating and the driven wheel is not rotating.

[0010] In one embodiment, the control module is used to control the autonomous operating device to perform a preset operation after determining that the autonomous operating device is in an abnormal walking state.

[0011] In one embodiment, the preset operation includes: an escape action and / or an alarm action.

[0012] In one embodiment, the first sensor is a Hall sensor.

[0013] In one embodiment, the minimum distance between the magnetic component in the walking wheel and the first sensor is no greater than 80 mm.

[0014] In one embodiment, the minimum distance between the magnetic component in the walking wheel and the first sensor is no greater than 50 mm.

[0015] In one embodiment, the quotient of the radius of the walking wheel divided by the minimum distance between the magnetic component in the walking wheel and the first sensor is less than or equal to 1.0.

[0016] In one embodiment, the quotient of the radius of the walking wheel divided by the minimum distance between the magnetic component in the walking wheel and the first sensor is less than or equal to 0.7.

[0017] In one embodiment, the abnormal walking state includes: slipping state and / or stagnation state.

[0018] In one embodiment, determining whether the autonomous operating device is in an abnormal walking state based on the rotational state of the drive wheel and the driven wheel includes: if the absolute value of the difference between the linear velocity of the drive wheel and the linear velocity of the driven wheel is greater than a preset speed difference threshold, determining that the autonomous operating device is in an abnormal walking state.

[0019] In one embodiment, if the absolute value of the difference between the linear velocity of the drive wheel and the linear velocity of the driven wheel is greater than a preset speed difference threshold, the autonomous operating device is determined to be in an abnormal walking state, including: if the drive wheel is in a rotating state and the driven wheel is in a non-rotating state, the autonomous operating device is determined to be in an abnormal walking state.

[0020] In one embodiment, the abnormal walking state includes: slipping state and / or stagnation state.

[0021] In one embodiment, after determining that the autonomous operating device is in an abnormal walking state, the method further includes: controlling the autonomous operating device to perform a preset operation.

[0022] In one embodiment, the preset operation includes: an escape action and / or an alarm action. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of a walking wheel according to a first embodiment of the present invention;

[0024] Figure 2 This is a cross-sectional view of the traveling wheel according to the first embodiment of the present invention, with the cross-section being... Figure 1 X0-X0 in;

[0025] Figure 3 This is a schematic diagram of a magnetic component according to a first embodiment of the present invention;

[0026] Figure 4 This is a top view of the magnetic component according to the first embodiment of the present invention;

[0027] Figure 5 This is a cross-sectional view of a magnetic component according to a first embodiment of the present invention;

[0028] Figure 6 This is a bottom view of the magnetic component according to the first embodiment of the present invention;

[0029] Figure 7 This is a side view of a magnetic component according to a first embodiment of the present invention;

[0030] Figure 8 This is an exploded view of the magnetic component according to the first embodiment of the present invention;

[0031] Figure 9 This is a cross-sectional view of the magnetic body of the magnetic component according to the first embodiment of the present invention;

[0032] Figure 10 This is an exploded view of the box body according to the first embodiment of the present invention;

[0033] Figure 11 This is a cross-sectional view of the box body according to the first embodiment of the present invention;

[0034] Figure 12 This is a cross-sectional view of the traveling wheel in a certain state according to the first embodiment of the present invention, with the cross-section being... Figure 1 X0-X0 in;

[0035] Figure 13 This is a cross-sectional view of the traveling wheel in another state according to the first embodiment of the present invention, with the cross-section being... Figure 1 X0-X0 in;

[0036] Figure 14 This is a schematic diagram of a walking wheel assembly according to a second embodiment of the present invention;

[0037] Figure 15 This is a cross-sectional view of the walking wheel assembly according to the second embodiment of the present invention, with the cross-section being... Figure 14 X2-X2 in the middle;

[0038] Figure 16 This is a schematic diagram of an autonomous operating device according to a third embodiment of the present invention;

[0039] Figure 17 This is a partial sectional view of the autonomous operating equipment according to the third embodiment of the present invention, with the section line being... Figure 16 X1-X1 in the middle;

[0040] Figure 18 This is a top view of the autonomous operating equipment according to the third embodiment of the present invention;

[0041] Figure 19 This is a bottom view of the autonomous operating equipment according to the third embodiment of the present invention;

[0042] Figure 20 This is a schematic diagram of the magnetic field change signal of the autonomous operating device according to the third embodiment of the present invention when the walking wheels are rotating;

[0043] Figure 21 This is a schematic diagram of the magnetic field change signal of the autonomous operating device in the stopped state when the walking wheels are in a stopped state, according to the third embodiment of the present invention;

[0044] Figure 22 This is a schematic diagram of the magnetic field change signal of the walking wheels of the autonomous operating device according to the third embodiment of the present invention when they are in a shaking state;

[0045] Figure 23 This is a schematic diagram of an autonomous operating device according to a fourth embodiment of the present invention;

[0046] Figure 24 This is a schematic diagram of the signal detection circuit of an autonomous operating device according to a fifth embodiment of the present invention;

[0047] Figure 25 This is a circuit structure diagram of the first signal channel according to the fifth embodiment of the present invention;

[0048] Figure 26 This is a circuit structure diagram of the second signal channel according to the fifth embodiment of the present invention;

[0049] Figure 27 This is a detailed flowchart of the method for detecting the state of the walking wheel according to the sixth embodiment of the present invention;

[0050] Figure 28 yes Figure 26 The detailed flowchart of step 102 of the method for detecting the state of the walking wheels in the figure;

[0051] Figure 29 This is a detailed flowchart of the method for detecting the state of the walking wheel according to the seventh embodiment of the present invention;

[0052] Figure 30 This is a detailed flowchart of a method for adding functionality to autonomous operating equipment according to the eighth embodiment of the present invention;

[0053] Figure 31 This is a detailed flowchart of a method for removing the function of an autonomous operating device according to the ninth embodiment of the present invention;

[0054] Figure 32 This is a detailed flowchart of the control method for autonomous operating equipment according to the tenth embodiment of the present invention. Detailed Implementation

[0055] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings to provide a clearer understanding of the purpose, features, and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are merely illustrative of the essential spirit of the technical solution of the present invention.

[0056] In the following description, certain specific details are set forth for the purpose of illustrating various disclosed embodiments in order to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the art will recognize that embodiments may be practiced without one or more of these specific details. In other instances, well-known apparatuses, structures, and techniques associated with this application may not have been shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

[0057] Unless the context requires otherwise, throughout the specification and claims, the word “comprising” and its variations, such as “including” and “having”, shall be understood to have an open, inclusive meaning, that is, to be interpreted as “including, but not limited to”.

[0058] Throughout this specification, references to "an embodiment" or "an embodiment" indicate that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Therefore, the appearance of "in an embodiment" or "an embodiment" in various places throughout the specification does not necessarily refer to the same embodiment. Furthermore, a particular feature, structure, or characteristic may be combined in any manner in one or more embodiments.

[0059] The singular forms “a” and “” used in this specification and the appended claims include plural references unless otherwise expressly stated herein. It should be noted that the term “or” is generally used to mean “or / and” unless otherwise expressly stated herein.

[0060] In the following description, in order to clearly demonstrate the structure and working method of the present invention, a number of directional terms will be used. However, terms such as "front", "back", "left", "right", "outside", "inside", "outward", "inward", "up", and "down" should be understood as convenient terms and not as limiting terms.

[0061] The first embodiment of this invention relates to a walking wheel, used for mounting on an autonomous working device as a drive wheel and / or driven wheel, supporting the autonomous working device to move on a walking surface. The autonomous working device is, for example, a lawnmower robot. Please refer to... Figure 1 and Figure 2The traveling wheel 2 includes a wheel body 20, which includes a hub portion 202, a rim portion 204, at least one receiving cavity 206 constructed between the hub portion 202 and the rim portion 204, and at least one magnetic component 4 disposed within the receiving cavity 206. The magnetic component 4 is configured to tumble within the receiving cavity 206 in at least one preset direction. The preset direction is perpendicular to the rotation axis of the traveling wheel 2 and includes the traveling direction of the traveling wheel. It should be noted that this embodiment and subsequent embodiments are described using the example of only one receiving cavity 206 in the traveling wheel 2, and the number of receiving cavities 206 in the traveling wheel 2 is not limited.

[0062] During the rolling of the wheel 2, the magnetic component 4 in the wheel 2 can tumble in the receiving cavity 206, thereby causing a change in the magnetic field and generating a signal that can be detected by the change in the magnetic field. Thus, the rotation state of the wheel 2 can be determined based on the signal that changes in the magnetic field.

[0063] The specific structure of magnetic component 4 is described below.

[0064] In one embodiment, the outer contour of the magnetic component 4 is any of the following shapes: sphere, cylinder, frustum, bipyramid, bipyramidal truncated cone, bipyramidal prism, prism, or convex polyhedron. In one example, the outer contour of the magnetic component is a regular hexahedron, a regular dodecahedron, a regular icosahedron, or a biregular N-square frustum prism, where N is an integer greater than or equal to 3 and less than or equal to 10. In one example, the outer contour of the magnetic component 4 is a cylinder, and the magnetic component 4 is a magnet with a circular cross-section based on the outer contour of the magnetic component 4 being radially magnetized.

[0065] For a better option, please refer to the following. Figures 3 to 7 N equals 8, which gives the magnetic component 4 a good rolling effect. Specifically, the outer contour of the magnetic component 4 is a double octagonal frustum prism, with the angle between the bottom (or top) surface and the adjacent trapezoidal surface being 135 degrees. The trapezoidal surface and the magnetic component 4 along line L... j The angle between the cross sections is 45 degrees.

[0066] In one embodiment, please refer to Figure 8 and Figure 9 The magnetic component 4 includes a magnetic body 42 and a sleeve 44 enclosing the magnetic body 42. The sleeve 44 is made of an elastic material to reduce the impact force on the magnetic body 42 during rolling, thereby preventing damage to the magnetic body 42 and extending the service life of the magnetic component 4. The elastic material is, for example, rubber; preferably, silicone rubber.

[0067] In one embodiment, the magnetic component 4 has a first feature line, which is the longest line segment among the lines connecting any two points on the outer surface of the magnetic component 4; the first feature line of the magnetic component 4 can be rotated by a preset angle in at least one preset direction.

[0068] In one embodiment, the magnetic moment feature line obtained by connecting any two points on the outer surface of the magnetic component 4 is parallel to the magnetic moment direction of the magnetic component, and the magnetic moment feature line of the magnetic component can be rotated by a preset angle in at least one preset direction.

[0069] In this embodiment, the preset angle is greater than or equal to 90 degrees. Preferably, the preset angle is greater than or equal to 180 degrees.

[0070] The following is combined Figure 1 , Figure 2 , Figures 10 to 13 The specific structure of the storage cavity 206 is explained.

[0071] In one embodiment, the storage cavity 206 is an arc-shaped cavity extending along the circumference of the wheel 2, with the preset direction including the rolling direction of the wheel. That is, the shape of the storage cavity 206 is an arc-shaped cavity similar to the shape of the hub portion 202. When the wheel 2 rotates, the magnetic component 4 inside the storage cavity 206 will also roll in the rolling direction of the wheel 2.

[0072] In one embodiment, the wheel 2 includes at least one housing 22 disposed between the hub portion 202 and the rim portion 204, and the inner cavity of the housing 22 forms a receiving cavity 206. That is, the receiving cavity 206 is formed by the inner cavity of the housing 22, and the housing 22 can be fitted between the hub portion 202 and the rim portion 204, thereby forming the receiving cavity 206 between the hub portion 202 and the rim portion 204.

[0073] In one embodiment, the wheel 2 further includes a wheel cover portion 208, the wheel cover portion 208, the wheel rim portion 204 and the wheel hub portion 202 surround to form a wheel cavity, and the receiving cavity 206 is formed by the wheel cavity, that is, the wheel cavity is the receiving cavity 206.

[0074] In one embodiment, the wheel 2 further includes a wheel cover portion 208, which closes with the wheel rim portion 204 and the wheel hub portion 202 to form an inner wheel cavity. The inner wheel cavity is configured to include a rib plate 210. The receiving cavity 206 is configured to be formed by the rib plate 210, or by the rib plate 210 and the wheel cover portion 208 and / or the wheel rim portion 204. Specifically, the rib plate 210 connects between the wheel hub portion 202 and the wheel rim portion 204, and can be formed by the rib plate 210, or by the rib plate 210 and the wheel cover portion 208, or by the rib plate 210 and the wheel rim portion 204, or by the rib plate 210, the wheel cover portion 208, and the wheel rim portion 204.

[0075] In this embodiment, the receiving cavity 206 can be constructed as a sealed cavity, which can achieve waterproof and / or dustproof, prevent dust or water from entering the receiving cavity 206, affect the rolling of the magnetic component 4 in the receiving cavity 206, and increase the service life of the magnetic component 4 in the receiving cavity 206.

[0076] In this embodiment, please refer to Figure 2 , Figure 12 as well as Figure 13 When the rotation axis of the traveling wheel 2 is parallel to the traveling surface, at least part of the projection of the receiving cavity 206 on the traveling surface falls within the projection of the rim portion 204 on the traveling surface.

[0077] In one embodiment, please refer to Figure 10 , Figure 11 The receiving cavity 206 includes an inner wall 2060 that contacts the outer surface of the magnetic component 4. A stop structure is provided on the inner wall 2060 to restrict the magnetic component 4 from sliding along the inner wall 2060 in a predetermined direction. That is, a stop structure is provided on the inner wall 2060 of the receiving cavity 206 to prevent the magnetic component 4 from sliding in the receiving cavity 206 when the wheel 2 is stationary.

[0078] In this embodiment, the stop structure includes multiple protrusions 24, each protrusion 24 being parallel to the rotation axis of the traveling wheel 2. When the magnetic component 4 is stationary between two adjacent protrusions 24, the magnetic component 4 is in contact with at least one of the two adjacent protrusions 24 and the inner wall 2060 of the cavity between the two adjacent protrusions 24. Specifically, taking the receiving cavity 206 as an arc-shaped cavity as an example, the inner wall 2060 of the receiving cavity 206 can be divided into upper and lower arc-shaped inner walls and left and right planar inner walls. Multiple protrusions 24 can be evenly distributed on the two arc-shaped inner walls. When the magnetic component 4 is stationary in the receiving cavity 206, the magnetic component 4 can be located in the groove formed by the two protrusions 24 on the arc-shaped inner wall. At this time, the magnetic component 4 is at least abutting against two opposite surfaces of the two adjacent protrusions 24 and two surfaces of the arc-shaped inner wall between the two adjacent protrusions 24; or it can be located in the groove formed by one protrusion 24 and the planar inner wall on the arc-shaped inner wall.

[0079] The height of the protruding ridge 24 can be set to be greater than or equal to half the length of the second feature line, which is the longest line segment formed by connecting the center of the magnetic component 4 to any point on the outer surface of the magnetic component 4. Furthermore, having the height of the protruding ridge 24 greater than or equal to two-thirds the length of the second feature line allows the magnetic component 4 to have better stability within the receiving cavity 206.

[0080] In one embodiment, the coefficient of static friction between the inner wall 2060 of the cavity and the outer surface of the magnetic component 4 is greater than or equal to 0.3 to prevent the magnetic component 4 from sliding within the receiving cavity 206. Furthermore, the coefficient of static friction between the inner wall 2060 of the cavity and the outer surface of the magnetic component 4 is greater than or equal to 0.5 to achieve a better anti-slip effect.

[0081] In one embodiment, the receiving cavity 206 includes an inner wall 2060 that contacts the outer surface of the magnetic component 4. The inner wall 2060 and / or the outer surface of the magnetic component 4 are textured to increase the friction between the inner wall 2060 and the outer surface of the magnetic component 4, preventing the magnetic component 4 from sliding within the receiving cavity 206. The textured structure may be, for example, a leather-like texture.

[0082] The second embodiment of the present invention relates to a walking wheel assembly for detachable mounting on an autonomous working device, wherein the walking wheels included in the walking wheel assembly can be used as drive wheels and / or driven wheels.

[0083] Please refer to Figure 14 and Figure 15The walking wheel assembly 6 includes: a mounting base 62, an axle 64, and the walking wheel 2 in the first embodiment (i.e., the walking wheel 2 includes a tumbling magnetic component 4, see the above embodiment for details); the wheel body 20 of the walking wheel 2 includes a hub portion 202 and a rim portion 204; the first end 642 of the axle 64 is connected to the hub portion 202, and the wheel body 20 is rotatable around the first end 642 of the axle 64; the second end 644 of the axle 64 is connected to the mounting base 62, and the mounting base 62 is detachably connected to the mounting part 112 on the autonomous operating device.

[0084] In one example, the wheel assembly 6 also includes a sensor mounted on the mounting base 62, which can be used to determine whether the wheel assembly 6 is installed.

[0085] The third embodiment of the present invention relates to an autonomous operating device. The autonomous operating device, the docking station, and the boundary constitute an autonomous operating system. The autonomous operating device can move autonomously within a set work area and perform set work tasks. The autonomous operating device is, for example, an intelligent sweeping robot / vacuum cleaner that performs cleaning work, or a lawn mowing robot that performs lawn mowing work. The set work tasks refer to the work content of processing the work surface and changing the state of the work surface.

[0086] The autonomous operating equipment includes: a main body mechanism; a moving mechanism, which is mounted on the main body mechanism, for example, fixed to it, and used to support the main body mechanism on a walking surface and drive it to move on the walking surface; the moving mechanism includes the aforementioned walking wheels; a working mechanism, which is mounted on the main body mechanism, for example, fixed to it, and used to perform work tasks; a control module, which is mounted on the main body mechanism, for example, fixed to it, and used to control the working mechanism to perform set work tasks according to received control commands; and a detection module, which includes a first sensor communicatively connected to the control module, the first sensor used to acquire magnetic field change signals generated by the movement of magnetic components in the walking wheels; the control module used to determine the rotation state of the walking wheels based on the magnetic field change signals.

[0087] Please refer to Figures 16 to 19 Taking the autonomous operating device 100 as an example of a lawnmower robot, the autonomous operating device 100 includes: a main body mechanism 102, a moving mechanism 104, a working mechanism 106, an energy module, a detection module 110, an interaction module, a control module 108, etc.

[0088] The main structure 102 includes a chassis and a housing. The chassis is used to install and house the moving mechanism 104, the working mechanism 106, the energy module, the detection module 110, the interaction module, the control module 108, and other functional mechanisms and modules. The housing is typically constructed to at least partially cover the chassis, primarily to enhance the aesthetics and recognizability of the autonomous operating equipment 100. The housing is configured to be able to translate and / or rotate relative to the chassis under external force, and, in conjunction with a suitable detection module 110, such as a Hall sensor, can further detect events such as collisions and lifting.

[0089] The mobile mechanism 104 is configured to support the main body 102 on the ground and drive the main body 102 to move on the ground. It typically includes wheeled mobile mechanisms, tracked or half-tracked mobile mechanisms, and walking mobile mechanisms.

[0090] In this embodiment, the moving mechanism 104 is a wheeled moving mechanism, including at least one drive wheel 42 and at least one prime mover 1040. The prime mover 1040 is preferably an electric motor, but in other embodiments it can also be an internal combustion engine or a machine powered by other types of energy. In this embodiment, preferably, a left drive wheel, a left prime mover driving the left drive wheel, a right drive wheel, and a right prime mover driving the right drive wheel are provided. In this embodiment, the straight-line movement of the autonomous working device 100 is achieved by the same-speed rotation of the left and right drive wheels in the same direction, and the turning movement is achieved by the differential speed rotation of the left and right drive wheels in the same direction or by their opposite rotation. In other embodiments, the moving mechanism 104 may also include a steering mechanism independent of the drive wheels and a steering prime mover independent of the prime mover 1040. In this embodiment, the moving mechanism 104 also includes at least one driven wheel 44, which is typically constructed as a caster wheel. The drive wheel 42 and the driven wheel 44 are located at the front and rear ends of the autonomous working device 100, respectively.

[0091] The working mechanism 106 is configured to perform a set work task. The working mechanism 106 includes a working component and a prime mover 1060 that drives the working component. For example, in a smart sweeper / vacuum cleaner, the working component includes a roller brush, a suction pipe, and a dust collection chamber; in a smart lawnmower, the working component includes a cutting blade or cutting disc 1062, and further includes other components such as a height adjustment mechanism for adjusting the mowing height to optimize or adjust the mowing effect. The prime mover 1060 is preferably an electric motor, but in other embodiments it may be an internal combustion engine or a machine powered by other types of energy. In some other embodiments, the prime mover 1060 and the drive prime mover 1040 are configured as the same prime mover, i.e., the same prime mover drives the working component and the drive wheel.

[0092] The energy module is configured to provide energy for the various operations of the autonomous operating device 100. In this embodiment, the energy module includes a battery and a charging connection structure, wherein the battery is preferably a rechargeable battery, and the charging connection structure is preferably a charging electrode that can be exposed to the outside of the autonomous operating device.

[0093] The detection module 110 includes at least one sensor for sensing environmental parameters of the autonomous operating device 1000 or its own operating parameters. For example, the detection module 110 may include sensors related to the defined working area, such as magnetic induction, impact, ultrasonic, infrared, and radio sensors, with the sensor type corresponding to the location and number of the corresponding signal generating device. The detection module 110 may also include sensors related to positioning and navigation, such as GPS positioning devices, laser positioning devices, electronic compasses, accelerometers, odometers, angle sensors, and geomagnetic sensors. The detection module 110 may also include sensors related to its own operational safety, such as obstacle sensors, lift sensors, and battery pack temperature sensors. The detection module 110 may also include sensors related to the external environment, such as ambient temperature sensors, ambient humidity sensors, light sensors, and rain sensors.

[0094] The interaction module is configured to at least receive user-input control commands, issue information that the user needs to perceive, and communicate with other systems or devices to send and receive information. In this embodiment, the interaction module includes an input device installed on the autonomous operating device 100 for receiving user-input control commands, typically such as a control panel or emergency stop button. The interaction module also includes a display screen, indicator lights, and / or a buzzer installed on the autonomous operating device 100 to make the user perceive information through light or sound. In other embodiments, the interaction module includes a communication module installed on the autonomous operating device 100 and a terminal device independent of the autonomous operating device 100, such as a mobile phone, computer, or network server. User control commands or other information can be input on the terminal device and reach the autonomous operating device 100 via wired or wireless communication modules.

[0095] The control module 108 typically includes at least one processor and at least one non-volatile memory. The memory stores pre-written computer programs or instruction sets, and the processor controls the execution of actions such as movement and operation of the autonomous operating device 100 according to the computer programs or instruction sets. Furthermore, the control module 108 can also control and adjust the corresponding behavior of the autonomous operating device 100 and modify parameters in the memory according to signals from the detection module 110 and / or user control commands.

[0096] Boundaries define the working area of ​​a robotic system and typically include an outer boundary and an inner boundary. The autonomous operating device 100 is confined to move and operate within the outer boundary, outside the inner boundary, or between the outer and inner boundaries. Boundaries can be physical, typically such as walls, fences, or railings; they can also be virtual, typically such as virtual boundary signals emitted by a boundary signal generator, which are usually electromagnetic or optical signals, or, for the autonomous operating device 100 equipped with a positioning device (such as GPS), virtual boundaries set in an electronic map, exemplarily formed by two-dimensional or three-dimensional coordinates. In this embodiment, the boundary is constructed as a closed, energized conductor electrically connected to a boundary signal generator, which is typically located within a docking station.

[0097] The docking station is usually constructed on or within the boundary to provide parking for the autonomous operating equipment 100 and to supply energy to the autonomous operating equipment 100 parked at the docking station.

[0098] In this embodiment, the moving mechanism 104 includes at least one walking wheel 2 as in the first embodiment, which can be used as a driving wheel or a driven wheel.

[0099] The detection module 110 includes a first sensor 1102, which is communicatively connected to the control module 108. The communication connection can be wired or wireless.

[0100] The first sensor 1102 is used to acquire the magnetic field change signal generated by the movement of the magnetic component 4 in the walking wheel 2. Specifically, the first sensor 1102 includes a Hall sensor or an induction coil. Each time the magnetic component 4 moves, the first sensor 1102 can pick up a sinusoidal signal, thereby obtaining the magnetic field change signal generated by the movement of the magnetic component 4 in the walking wheel 2. This magnetic field change signal can be recorded as the first magnetic signal. Each first sensor 1102 is used to pick up the first magnetic signal generated when the corresponding magnetic component 4 in the walking wheel 2 moves, and sends the picked-up first magnetic signal to the control module 108. In one example, the minimum distance between the magnetic component 4 in the walking wheel 2 and the first sensor 1102 is no greater than 80mm. Further, the minimum distance between the magnetic component 4 in the walking wheel 2 and the first sensor 1102 is no greater than 50mm.

[0101] In one example, as the wheel 2 rotates, the magnetic component 4 tumbles freely within the receiving cavity 206. During this free tumbling, the magnetic component 4 may reach a position where the distance from it to the first sensor 1102 is no greater than the distance at any other position. This position represents the minimum distance between the magnetic component 4 and the first sensor 1102. The quotient of the radius of the wheel 2 divided by the minimum distance between the magnetic component 4 and the first sensor 1102 is less than or equal to 1.0. Furthermore, the quotient of the radius of the wheel 2 divided by the minimum distance between the magnetic component 4 and the first sensor 1102 is less than or equal to 0.7, thereby improving the accuracy of the first magnetic signal picked up by the first sensor 1102.

[0102] The control module 108 is used to determine the rotation state of the walking wheel 2 based on the received first magnetic signal.

[0103] In this embodiment, when the control module 108 receives a magnetic field change signal, it determines whether the signal strength of the magnetic field change signal is outside a preset strength range. If the signal strength of the magnetic field change signal is outside the preset strength range, it determines that the walking wheel 2 is in a rotating state. Please refer to [reference needed]. Figure 20 This is a schematic diagram of the magnetic field change signal when the walking wheel 2 is rotating. If the signal strength of the magnetic field change signal is within a preset strength range, timing begins. If the signal strength remains within the preset strength range until the first preset time, it is determined that the walking wheel 2 is in a non-rotating state. At this time, the walking wheel 2 may be in a stopped state. Please refer to [the diagram]. Figure 21 This is a schematic diagram of the magnetic field change signal when the walking wheel 2 is stationary; or when the walking wheel 2 is vibrating, please refer to... Figure 22 This diagram illustrates the magnetic field change signal when the walking wheel 2 is in a shaking state. As shown, while the signal strength of the magnetic field change signal is within a preset strength range, it exhibits irregular increases. The preset strength range includes an upper threshold and a lower threshold, with the lower threshold being less than the upper threshold. When the control module 108 receives the magnetic field change signal, it determines whether the signal strength is greater than or equal to the upper threshold or less than or equal to the lower threshold. If the signal strength is greater than or equal to the upper threshold or less than or equal to the lower threshold, it determines that the walking wheel 2 is rotating, meaning the autonomous operating device 100 is in a walking state. If the signal strength is between the upper and lower thresholds, it determines that the walking wheel 2 is in a shaking state, meaning the autonomous operating device 100 is in an on state but has not yet started working. Figures 20 to 22 In the graph, the horizontal axis represents time in milliseconds (ms), and the vertical axis represents voltage in millivolts (mV).

[0104] In this embodiment, when the control module 108 does not receive a magnetic field change signal, it starts timing. If no magnetic field change signal is received after timing up to the second preset time, it determines that the walking wheel 2 is in a non-rotating state. At this time, the walking wheel 2 is in a stationary state.

[0105] In one embodiment, the moving mechanism 104 is provided with a mounting portion 112 that can be selectively and detachably connected to the walking wheel assembly 6 or the non-magnetic wheel assembly 7; wherein the walking wheel assembly 6 is provided with a magnetic component 4 that can freely roll in at least one preset direction; the specific structure of the walking wheel assembly 6 can refer to the walking wheel assembly 6 in the second embodiment. The non-magnetic wheel assembly 7 is not provided with a rollable magnetic component.

[0106] In one embodiment, the autonomous operating device 100 further includes a third sensor 1106 communicatively connected to the control module 108. The third sensor 1106 is used to identify the mating of the walking wheel assembly 6 with the mounting part 112 and / or the mating of the non-magnetic wheel assembly 7 with the mounting part 112. That is, the third sensor 1106 is used to identify whether the wheel assembly mated on the autonomous operating device 100 contains the magnetic component 4; wherein, the number of third sensors 1106 can be set according to the number of wheel assemblies assembled on the autonomous operating device 100, and each wheel assembly has a corresponding third sensor 1106 to detect the type of wheel assembly.

[0107] In this embodiment, the autonomous operating device 100 includes multiple operating modes corresponding to the type of detection wheel assembly, and the control module 108 of the autonomous operating device 100 is loaded with a corresponding control program in each operating mode.

[0108] Specifically, when the non-magnetic wheel assembly 7 installed on the mounting section 112 of the autonomous working device 100 is removed, and the walking wheel assembly 6 containing the magnetic component 4 is installed on the mounting section 112 of the autonomous working device 100, the control module 108 controls the autonomous working device 100 to enter a working mode that includes walking abnormality detection. The control module 108 updates the control program of the autonomous working device 100 to load a program containing walking abnormality detection into the control module 108 of the autonomous working device 100. The control module 108 can update the control program by: automatically connecting to the network to update the control program when the walking wheel assembly 6 containing the magnetic component 4 is installed on the mounting section 112 of the autonomous working device 100; or by issuing a reminder message to the user to update the control program, allowing the user to manually update the control program by loading a program from an external storage device, or by adjusting the working mode switch on the autonomous working device 100; or by manually controlling the autonomous working device 100 to connect to the network to update the control program.

[0109] When a non-magnetic wheel assembly 7 without magnetic component 4 is installed on the mounting section 112 of the autonomous working equipment 100, the autonomous working equipment 100 is in a working mode without abnormal walking status detection, that is, the control program of the autonomous working equipment 100 does not include a walking abnormal status detection program.

[0110] When the walking wheel assembly 6 containing the magnetic component 4 is removed from the mounting section 112 of the autonomous working equipment 100, and the non-magnetic wheel assembly 7 is installed on the mounting section 112 of the autonomous working equipment 100, the autonomous working equipment 100 is controlled to enter a working mode without walking abnormality detection. The control module 108 updates the control program of the autonomous working equipment 100 to load the control program for non-walking abnormality detection into the control module 108 of the autonomous working equipment 100. The control module 108 can update the control program by: automatically connecting to the network to update the control program when the non-magnetic wheel assembly 7 with the non-magnetic component 4 is installed on the mounting section 112 of the autonomous working equipment 100; or by issuing a reminder message to the user to update the control program, allowing the user to manually update the control program by loading the program from an external storage device, adjusting the working mode switch on the autonomous working equipment 100, or manually controlling the autonomous working equipment 100 to connect to the network to update the control program.

[0111] In one example, the third sensor 1106 is a non-contact sensor; one of the walking wheel assembly 6 and the non-magnetic wheel assembly 7 is provided with a first sensing element; the other is not provided with a first sensing element or is provided with a second sensing element different from the first sensing element.

[0112] Specifically, the control module 108 presets the sensor types corresponding to the walking wheel assembly 6 and the non-magnetic wheel assembly 7. The walking wheel assembly 6 and the non-magnetic wheel assembly 7 correspond to different sensor types. For example, if the walking wheel assembly 6 is provided with a first sensor 622 and the non-magnetic wheel assembly 7 is provided with a second sensor 624, then the sensor type corresponding to the walking wheel assembly 6 is the first sensor 622 and the sensor type corresponding to the non-magnetic wheel assembly 7 is the second sensor 624. Thus, when the third sensor 1106 detects that the sensing type of a certain wheel assembly is the first sensor 622, the control module 108 determines that the wheel assembly is the walking wheel assembly 6; when the third sensor 1106 detects that the sensing type of a certain wheel assembly is the second sensor 624, the control module 108 determines that the wheel assembly is the non-magnetic wheel assembly 7.

[0113] In this embodiment, when the first sensor 622 is disposed in the walking wheel assembly 6, the first sensor 622 is mounted on the mounting base 62 of the walking wheel assembly 6; or, when the second sensor 624 is disposed in the walking wheel assembly 6, the second sensor 624 is mounted on the mounting base 62 of the walking wheel assembly 6.

[0114] In another example, the third sensor 1106 is a contact sensor; one of the walking wheel assembly 6 and the non-magnetic wheel assembly 7 is equipped with a trigger structure, while the other is not. Taking the walking wheel assembly 6 as an example, when the trigger structure 626 is triggered, the third sensor 1106 sends a trigger signal indicating that it has been triggered to the control module 108. The control module 108 can then determine that the wheel assembly is the walking wheel assembly 6; the control module 108 will determine that the wheel assembly corresponding to the third sensor 1106 that sends the trigger signal is the non-magnetic wheel assembly 7.

[0115] The fourth embodiment of the present invention relates to an autonomous operating device. The autonomous operating device in this embodiment adds a walking wheel status detection function to the autonomous operating device in the third embodiment.

[0116] In this embodiment, please refer to Figures 19 to 23 The moving mechanism 104 includes a driving wheel and a driven wheel. The driven wheel includes at least one receiving cavity 206 and a magnetic component 4 disposed in the receiving cavity 206 that can freely roll in at least one preset direction. That is, the driven wheel is the walking wheel in the first embodiment.

[0117] The first sensor 1102 in the detection module 110 is used to acquire the magnetic field change signal generated by the movement of the magnetic component 4 in the driven wheel.

[0118] The control module 108 is used to determine the rotational state of the driven wheel based on the magnetic field change signal.

[0119] The detection module 110 also includes a second sensor 1104, which is communicatively connected to the control module 108.

[0120] The second sensor 1104 is used to detect the rotational state of the drive wheel. Specifically, the second sensor 1104 can be used to read the operating parameters of the prime mover 1040 that drives the drive wheel, and send the operating parameters to the control module 108, thereby enabling the control module 108 to detect the rotational state of the drive wheel.

[0121] In this embodiment, after the control module 108 acquires the rotational state of the driven wheel through the first sensor 1102 and the rotational state of the drive wheel through the second sensor 1104, it determines whether the autonomous operating device is in an abnormal walking state based on the rotational states of the drive wheel and the driven wheel. The abnormal walking states include: slippage and / or stagnation. In the slippage state, the drive wheel cannot move forward due to insufficient grip, for example, if it is stuck in mud. At this time, the drive wheel is still rotating, but the autonomous operating device 100 does not move forward or moves slowly, and the driven wheel is in a non-rotating state or a slow-rotating state. In the stagnation state, the autonomous operating device 100 encounters an obstacle but does not trigger the collision protection function. At this time, the drive wheel is still rotating, the autonomous operating device 100 does not move forward, and the driven wheel is in a non-rotating state.

[0122] In one example, the control module 108 determines that the autonomous operating device 100 is in an abnormal walking state when the absolute value of the difference between the linear velocity of the drive wheel and the linear velocity of the driven wheel is greater than a preset speed difference threshold. That is, when the difference in rotational linear velocities between the drive wheel and the driven wheel is too large, the autonomous operating device 100 is determined to be in an abnormal walking state.

[0123] In another example, when the drive wheel is rotating and the driven wheel is not rotating, the control module 108 determines that the autonomous operating device 100 is in an abnormal walking state.

[0124] In one embodiment, after determining that the autonomous operating device 100 is in an abnormal walking state, the control module 108 controls the autonomous operating device 100 to perform preset operations, including escape actions and / or alarm actions. An escape action may be, for example, driving in reverse or turning; an alarm action may be sending an alarm signal to a connected external electronic device (computer, mobile phone, etc.) or directly issuing an alarm voice notification through a speaker.

[0125] The fifth embodiment of the present invention relates to an autonomous operating device. The autonomous operating device in this embodiment adds a signal detection circuit to the autonomous operating device in the fourth or fifth embodiment.

[0126] In this embodiment, please refer to Figures 19 to 24 The signal detection circuit includes: a first sensor 1102, a signal processing circuit, and a processor connected in sequence, with the processor located in the control module 108.

[0127] The first sensor 1102 is used to acquire the magnetic field change signal generated by the movement of the magnetic component 4 in the walking wheel 2, and convert the magnetic field change signal into a first electrical signal, which is used to indicate the rotation state of the walking wheel 2.

[0128] The first sensor 1102 is also used to acquire a boundary signal for defining the boundary of the working area of ​​the autonomous operating device 100, and convert the boundary signal into a second electrical signal.

[0129] The control module 108 is used to determine the rotation state of the walking wheel based on the first electrical signal.

[0130] The control module 108 is also used to determine the relative positional relationship between the autonomous operating device 100 and the boundary of the work area based on the second electrical signal. The relative positional relationship between the autonomous operating device 100 and the boundary of the work area includes: whether the autonomous operating device 100 has traveled beyond the boundary line of the work area; controlling the autonomous operating device 100 to travel along the boundary line; the distance of the autonomous operating device 100 to the boundary line of the work area; and the angle between the heading of the autonomous operating device 100 and the boundary line of the work area.

[0131] In one example, the signal detection circuit includes a first signal channel SC1 and a second signal channel SC2. The input terminals of the first signal channel SC1 and the second signal channel SC2 are electrically connected to the first sensor 1102, respectively. The output terminals of the first signal channel SC1 and the second signal channel SC2 are electrically connected to the control module 108, respectively. The output terminals of the first signal channel SC1 and the second signal channel SC2 are electrically connected to different pins of the control module 108.

[0132] The first signal channel SC1 includes: a first filter circuit, which is used to filter out the second electrical signal.

[0133] The second signal channel SC2 includes a second filter circuit, which is used to filter out the first electrical signal.

[0134] In this embodiment, the first sensor 1102 can simultaneously pick up magnetic field change signals and boundary signals, and filter out the second electrical signal converted from the boundary signal through the first filter circuit and filter out the first electrical signal converted from the magnetic field change signal through the second filter circuit, thereby avoiding mutual interference between the first electrical signal and the second electrical signal. This allows the control module 108 to determine the rotation state of the walking wheel based on the first electrical signal and adjust the working range of the working equipment according to the second electrical signal.

[0135] In this embodiment, the first signal channel SC1 further includes a first amplification circuit connected between the first sensor and the first filter circuit; in one example, the first filter circuit includes a first RC filter, the cutoff frequency of which is less than or equal to the minimum frequency of the second frequency band. For details, please refer to... Figure 25In the first signal channel SC1, the first RC filter includes a first resistor R1 and a first capacitor C1; the first amplifier circuit includes an operational amplifier U1A, a second resistor R2, a second capacitor C2, a first diode D1, and a second diode D2. The inverting input of the first operational amplifier U1A is connected to the first sensor 1102, and the non-inverting input of the first operational amplifier U1A is connected to the positive power supply voltage V. dc The positive power supply pin of the first operational amplifier U1A is connected to VCC+, and the ground pin is connected to GND. The output terminal of the first operational amplifier U1A is connected to one end of the first resistor R1. The second resistor R2 is connected in parallel between the inverting input terminal and the output terminal of the first operational amplifier U1A. The second capacitor C2 is connected in parallel between the inverting input terminal and the output terminal of the first operational amplifier U1A. The cathode of the first diode D1 is connected to the inverting input terminal of the first operational amplifier U1A, and the anode of the first diode D1 is connected to the output terminal of the first operational amplifier U1A. The anode of the second diode D1 is connected to the inverting input terminal of the first operational amplifier U1A, and the cathode of the second diode D1 is connected to the output terminal of the first operational amplifier U1A. The other end of the first resistor R1 is connected to one end of the first capacitor C1, and the other end of the first capacitor C1 is grounded. The connection between the first resistor R1 and the first capacitor C1 is connected to the control module 108. The second electrical signal obtained by the boundary signal conversion is a narrow pulse. After the second electrical signal enters the first signal channel SC1, it will be filtered out by the first RC filter and will not interfere with the first electrical signal input to the control module 108. Similarly, the interference generated by the walking prime mover 1040 in the autonomous operating device 100 is also a narrow pulse and will also be filtered out by the first RC filter.

[0136] In this embodiment, the second signal channel SC2 further includes a second amplification circuit connected between the first sensor and the second filtering circuit. In one example, the second filtering circuit includes a filter capacitor with a capacitive reactance greater than or equal to 100kΩ relative to the first electrical signal. Further, the second filtering circuit also includes a second RC filter used to filter out narrow pulse interference generated by the walking prime mover 1040 in the autonomous operating device 100. For details, please refer to... Figure 26 In the second signal channel SC1, the second amplification circuit includes: a second operational amplifier U2A, a third resistor R3, a fourth resistor R4, and a third capacitor C3; the second filter circuit includes a filter capacitor C4; and the second RC filter includes: a fifth capacitor C5 and a fifth resistor R5.

[0137] The inverting input of the second operational amplifier U2A is connected to one end of the third resistor R3, the other end of the third resistor R3 is connected to one end of the filter capacitor C4, the other end of the filter capacitor C4 is connected to the first sensor 1102, and the non-inverting input of the second operational amplifier U2A is connected to the positive power supply voltage V. dc The positive power supply pin of the second operational amplifier U2A is connected to VCC+, and the ground pin is connected to GND. The fourth resistor R4 is connected in parallel between the inverting input and output of the second operational amplifier U2A. The third capacitor C3 is connected in parallel between the inverting input and output of the second operational amplifier U2A. The output of the second operational amplifier U2A is connected to one end of the fifth resistor R5, and the other end of the fifth resistor R5 is connected to one end of the fifth capacitor C5. The other end of the fifth capacitor C5 is grounded. The connection between the fifth resistor R5 and the fifth capacitor C5 is connected to the control module 108. The first electrical signal obtained from the magnetic field change signal is a low-frequency, slowly varying signal. The capacitance of the filter capacitor C4 can be set to a low value (e.g., 0.1uF) to make the capacitive reactance of the filter capacitor C4 to the first electrical signal large, thus blocking the first electrical signal. Therefore, the magnetic field change signal will not interfere with the processing of the boundary signal in the control module 108.

[0138] In this embodiment, the first electrical signal has a first frequency band, the second electrical signal has a second frequency band, and the cutoff frequency of the first RC filter is less than or equal to the minimum frequency of the second frequency band. Preferably, the cutoff frequency of the first RC filter is less than or equal to half the minimum frequency of the second frequency band. For example, the cutoff frequency of the first RC filter is less than or equal to 35Hz in the second frequency band.

[0139] In this embodiment, the first electrical signal has a first frequency band, the second electrical signal has a second frequency band, and the ratio of the maximum frequency of the first frequency band to the minimum frequency of the second frequency band is less than or equal to 1 / 3.

[0140] In this embodiment, the frequency range of the first frequency band is less than or equal to 10 Hz. Further, the frequency range of the first frequency band is less than or equal to 8 Hz. Further still, the frequency range of the first frequency band is less than or equal to 5 Hz. Preferably, the frequency range of the first frequency band is 2 Hz to 3 Hz.

[0141] In this embodiment, the frequency range of the second frequency band is 30Hz to 80Hz. Preferably, the frequency range of the second frequency band is 60Hz to 70Hz.

[0142] The sixth embodiment of the present invention relates to a method for detecting the state of walking wheels, used to detect the rotational state of the walking wheels in the autonomous operating equipment 100 in the above embodiments.

[0143] The specific process of the method for detecting the status of the walking wheels in this embodiment is as follows: Figure 27 As shown.

[0144] Step 101: Obtain the magnetic field change signal generated by the movement of the magnetic components in the walking wheels of the autonomous operating equipment.

[0145] Step 102: Determine the rotation state of the walking wheel based on the magnetic field change signal.

[0146] In one example, please refer to Figure 28 Step 102 includes the following sub-steps:

[0147] Sub-step 1021: Determine whether a magnetic field change signal is received within the second preset time period. If yes, proceed to sub-step 1022; otherwise, proceed to sub-step 1025.

[0148] Sub-step 1022: Determine whether the signal strength of the magnetic field change signal is outside the preset strength range. If yes, proceed to step 1023; if no, proceed to sub-step 1024.

[0149] Sub-step 1023: Determine that the walking wheels are in a rotating state.

[0150] Sub-step 1024: Determine whether the signal strength of the magnetic field change signal is within a preset intensity range for a first preset time period. If yes, proceed to step 1025; otherwise, proceed to sub-step 1023.

[0151] Sub-step 1025: Determine that the walking wheels are in a non-rotating state.

[0152] Specifically, when the control module 108 receives a magnetic field change signal, it determines whether the signal strength of the magnetic field change signal is outside a preset strength range. If the signal strength is outside the preset strength range, it determines that the walking wheel 2 is rotating. If the signal strength is within the preset strength range, it starts timing. If the signal strength remains within the preset strength range until the first preset time, it determines that the walking wheel 2 is not rotating, i.e., the walking wheel 2 is stationary. If the signal strength is outside the preset strength range until the first preset time, it determines that the walking wheel 2 is rotating. The preset strength range includes an upper threshold and a lower threshold, where the lower threshold is less than the upper threshold. When the control module 108 receives a magnetic field change signal, it determines whether the signal strength is greater than or equal to the upper threshold or less than or equal to the lower threshold. If the signal strength is greater than or equal to the upper threshold or less than or equal to the lower threshold, it determines that the walking wheel 2 is rotating, i.e., the autonomous operating device 100 is in a walking state. If the signal strength is between the upper and lower thresholds, it determines that the walking wheel 2 is not rotating, i.e., the autonomous operating device 100 is stationary.

[0153] When the control module 108 does not receive a magnetic field change signal, it starts timing. If no magnetic field change signal is received after timing reaches the second preset time, it determines that the walking wheel 2 is in a non-rotating state, that is, the walking wheel 2 is in a stationary state.

[0154] The seventh embodiment of the present invention relates to a method for detecting abnormal walking behavior, used to detect abnormal walking behavior in the autonomous working device 100 of the fourth embodiment. For the specific structure of the autonomous working device 100, please refer to the relevant content in the fourth embodiment, which will not be repeated here.

[0155] The specific process of the walking anomaly detection method in this embodiment is as follows: Figure 29 As shown.

[0156] Step 201: Detect the rotational state of the drive wheel and the driven wheel, wherein the rotational state of the driven wheel is determined based on the magnetic field change signal generated by the movement of the magnetic component in the driven wheel.

[0157] Specifically, the detection module 110 of the autonomous operating equipment 100 is equipped with a second sensor 1104. The second sensor 1104 is used to detect the rotation state of the drive wheel. The second sensor 1104 can be used to read the operating parameters of the prime mover 1040 that drives the drive wheel and send the operating parameters to the control module 108, thereby the control module 108 can detect the rotation state of the drive wheel.

[0158] The first sensor 1102 is used to acquire the magnetic field change signal generated by the movement of the magnetic component 4 in the driven wheel, and send the magnetic field change signal to the control module 108. The control module 108 can then determine the rotation state of the driven wheel based on the magnetic field change signal.

[0159] Step 202: Determine whether the autonomous operating equipment is in an abnormal walking state based on the rotation state of the drive wheel and the driven wheel.

[0160] Specifically, after acquiring the rotational state of the driven wheel through the first sensor 1102 and the rotational state of the drive wheel through the second sensor 1104, the control module 108 determines whether the autonomous operating device is in an abnormal walking state based on the rotational states of the drive wheel and the driven wheel. Abnormal walking states include: slippage and / or stagnation. In the slippage state, the drive wheel cannot move forward due to insufficient traction, for example, if it is stuck in mud. In this case, the drive wheel is still rotating, but the autonomous operating device 100 does not move forward or moves slowly, while the driven wheel is in a non-rotating state or a slow-rotating state. In the stagnation state, the autonomous operating device 100 encounters an obstacle but does not trigger the collision protection function. In this case, the drive wheel is still rotating, but the autonomous operating device 100 does not move forward, while the driven wheel is in a non-rotating state.

[0161] In one example, the autonomous operating device is determined to be in an abnormal walking state based on the rotational states of the drive wheel and the driven wheel. This includes determining that the autonomous operating device is in an abnormal walking state if the absolute value of the difference between the linear velocity of the drive wheel and the linear velocity of the driven wheel is greater than a preset speed difference threshold. In other words, when the difference in rotational linear velocities between the drive wheel and the driven wheel is too large, the autonomous operating device 100 is determined to be in an abnormal walking state.

[0162] In another example, the determination of whether the autonomous working device is slipping is based on the rotational states of the drive wheel and the driven wheel. This includes determining that the autonomous working device is in an abnormal walking state if the drive wheel is rotating and the driven wheel is not rotating. That is, the control module 108 determines that the autonomous working device 100 is in an abnormal walking state when the drive wheel is rotating and the driven wheel is not rotating.

[0163] In one embodiment, after determining that the autonomous operating device 100 is in an abnormal walking state, the control module 108 controls the autonomous operating device 100 to perform preset operations, including escape actions and / or alarm actions. An escape action may be, for example, driving in reverse or turning; an alarm action may be sending an alarm signal to a connected external electronic device (computer, mobile phone, etc.) or directly issuing an alarm voice notification through a speaker.

[0164] The eighth embodiment of the present invention provides a method for enhancing the functionality of an autonomous working device. Applied to the autonomous working device in the third embodiment, this method enables the autonomous working device to switch to a working mode that includes detection of abnormal walking conditions after a walking wheel assembly containing magnetic components is installed in the autonomous working device. For the specific structure of the autonomous working device 100, please refer to the relevant content in the third embodiment, which will not be repeated here.

[0165] The specific process of the method for removing the function of autonomous operating equipment in this embodiment is as follows: Figure 30 As shown.

[0166] Step 301: Disassemble the non-magnetic wheel assembly installed on the mounting section of the autonomous operating equipment.

[0167] Step 302: Install the walking wheel assembly containing magnetic components on the mounting section of the autonomous operating equipment.

[0168] Step 303: Control the autonomous operating equipment to enter the working mode that includes abnormal walking status detection.

[0169] Specifically, when a non-magnetic wheel assembly 7 without magnetic component 4 is installed on the mounting section 112 of the autonomous working device 100, the autonomous working device 100 is in a working mode without abnormal walking status detection, that is, the control program of the autonomous working device 100 does not include a walking abnormal status detection program. Subsequently, when the non-magnetic wheel assembly 7 installed on the mounting section 112 of the autonomous working device 100 is removed, and a walking wheel assembly 6 containing magnetic component 4 is installed on the mounting section 112 of the autonomous working device 100, the control module 108 controls the autonomous working device 100 to enter a working mode including walking abnormal status detection, that is, when the type of wheel assembly installed on the autonomous working device 100 changes, the working mode of the autonomous working device 100 is switched accordingly.

[0170] The control module 108 controls the autonomous working device 100 to enter a working mode that includes detection of abnormal walking conditions. This includes: the control module 108 updating the control program of the autonomous working device 100 to load the program containing the detection of abnormal walking conditions into the control module 108 of the autonomous working device 100. The control module 108 can update the control program in the following ways: automatically updating the control program when the walking wheel assembly 6 containing the magnetic component 4 is installed on the mounting part 112 of the autonomous working device 100, or issuing a reminder message to remind the user to update the control program, so that the user can manually update the control program by loading the program from an external storage device, or by adjusting the working mode switch on the autonomous working device 100, or manually controlling the autonomous working device 100 to connect to the network to update the control program.

[0171] The ninth embodiment of the present invention provides a method for removing the function of an autonomous working device, applied to the autonomous working device in the third embodiment. This method enables the autonomous working device to switch to a working mode without abnormal walking state detection after a non-magnetic wheel assembly (excluding magnetic components) is installed in the autonomous working device. For the specific structure of the autonomous working device 100, please refer to the relevant content in the third embodiment, which will not be repeated here.

[0172] The specific process of the method for removing the function of autonomous operating equipment in this embodiment is as follows: Figure 31 As shown.

[0173] Step 401: Disassemble the walking wheel assembly containing magnetic components that is installed on the mounting section of the autonomous operating equipment.

[0174] Step 402: Install the non-magnetic wheel assembly on the mounting section of the autonomous operating equipment.

[0175] Step 403: Control the autonomous operating equipment to enter the working mode without abnormal walking status detection.

[0176] Specifically, when the walking wheel assembly 6 containing the magnetic component 4 is installed on the mounting section 112 of the autonomous working equipment 100, the autonomous working equipment 100 is in a working mode that includes walking abnormality detection, that is, the control program of the autonomous working equipment 100 includes a walking abnormality detection program. Subsequently, when the walking wheel assembly 6 containing the magnetic component 4 is removed from the mounting section 112 of the autonomous working equipment 100 and a non-magnetic wheel assembly 7 is installed on the mounting section 112 of the autonomous working equipment 100, the control module 108 controls the autonomous working equipment 100 to enter a working mode without walking abnormality detection, that is, when the type of wheel assembly installed on the autonomous working equipment 100 changes, the working mode of the autonomous working equipment 100 is switched accordingly.

[0177] The control module 108 controls the autonomous operating equipment 100 to enter a working mode without walking abnormality detection. This includes: the control module 108 updating the control program of the autonomous operating equipment 100 to load the program for detecting the walking abnormality into the control module 108 of the autonomous operating equipment 100. The control module 108 can update the control program in the following ways: automatically updating the control program when the non-magnetic wheel assembly 7 of the non-magnetic component 4 is installed on the mounting section 112 of the autonomous operating equipment 100, or issuing a reminder message to remind the user to update the control program, so that the user can manually update the control program by loading the program from an external storage device, or by adjusting the working mode switch on the autonomous operating equipment 100, or manually controlling the autonomous operating equipment 100 to connect to the network to update the control program.

[0178] The tenth embodiment of the present invention provides a control method for an autonomous working device, applied to the autonomous working device in the third embodiment. This method enables the autonomous working device to detect abnormal walking conditions when the mounting part of the autonomous working device is detected to be mated with the walking wheel assembly. For the specific structure of the autonomous working device 100, please refer to the relevant content in the third embodiment; it will not be repeated here.

[0179] The specific flow of the control method for the autonomous operating equipment in this embodiment is as follows: Figure 32 As shown.

[0180] Step 501: Determine whether the connection between the walking wheel assembly and the mounting part is identified by the third sensor. If yes, proceed to step 502; otherwise, return to step 501.

[0181] Step 502: Control the autonomous operating equipment to detect abnormal walking conditions.

[0182] Specifically, the third sensor 1106 is used to identify the mating of the walking wheel assembly 6 with the mounting part 112 and / or the mating of the non-magnetic wheel assembly 7 with the mounting part 112. That is, the third sensor 1106 is used to identify whether the wheel assembly mated on the autonomous operating device 100 contains the magnetic component 4.

[0183] When the control module 108 identifies, via the third sensor 1106, that a walking wheel assembly 6 containing a magnetic component 4 is attached to the mounting part 112, it controls the autonomous working device 100 to perform abnormal walking state detection. That is, it controls the autonomous working device 100 to enter a working mode that includes abnormal walking state detection, or it enables the abnormal walking state detection function to determine whether the autonomous working device 100 is in an abnormal walking state. If the control module 108 identifies, via the third sensor 1106, that a walking wheel assembly containing a magnetic component 4 is not attached to the mounting part 112, it controls the autonomous working device to maintain the current working mode and continues to detect whether a walking wheel assembly 6 containing a magnetic component 4 is attached to the mounting part 112.

[0184] In one example, when the first sensor 622 is disposed in the wheel assembly 6 and mounted on the mounting base 62 of the wheel assembly 6, if the third sensor 1106 senses the first sensor 622, it is determined that the wheel assembly 6 is mated with the mounting part 112; or, when the second sensor 624 is disposed in the wheel assembly 6 and mounted on the mounting base 62 of the wheel assembly 6, if the third sensor 1106 senses the second sensor 624, it is determined that the wheel assembly 6 is mated with the mounting part 112.

[0185] The eleventh embodiment of the present invention provides a non-transitory computer-readable storage medium having executable instructions of a control module 108 stored thereon, the executable instructions being configured to cause the processor of the autonomous operating device 100 to perform operations including the control method described above.

[0186] The twelfth embodiment of the present invention provides an autonomous operating device 100, including a main body 102; a moving mechanism 104 configured to support the main body 102 on the ground and drive the main body 102 to move on the ground; a working mechanism 106 configured to perform specific work tasks; and a control module 108 configured to control the autonomous operating device 100 to operate autonomously according to a preset program; the control module 108 includes the aforementioned non-transitory computer-readable storage medium.

[0187] The present invention provides an autonomous operating device 100, comprising a main body 102; a moving mechanism 104 configured to support the main body 102 on the ground and drive the main body 102 to move on the ground; a working mechanism 106 configured to perform specific work tasks; and a control module 108 configured to control the autonomous operating device 100 to operate autonomously according to a preset program; the control module 108 includes embodiments configured to execute the above control method.

[0188] The preferred embodiments of the present invention have been described in detail above, but it should be understood that, if necessary, aspects of the embodiments can be modified to utilize aspects, features, and concepts from various patents, applications, and publications to provide other embodiments.

[0189] In light of the detailed description above, these and other changes can be made to the embodiments. Generally, the terminology used in the claims should not be considered limited to the specific embodiments disclosed in the specification and claims, but should be understood to include all possible embodiments together with the full scope of equivalents enjoyed by these claims.

Claims

1. An autonomous operating device, characterized in that, include: Main body; A moving mechanism, disposed on the main body, supports the main body on a walking surface and drives the main body to move on the walking surface; the moving mechanism includes a drive wheel and a driven wheel, the driven wheel including at least one receiving cavity and a magnetic component disposed in the receiving cavity that can freely roll in at least one preset direction; a working mechanism, disposed on the main body, performs a work task; a control module, disposed on the main body, controls the working mechanism to perform a set work task according to received control commands; a first sensor, communicatively connected to the control module, acquires the magnetic field change signal generated by the movement of the magnetic component in the driven wheel; a second sensor, communicatively connected to the control module, detects the rotation state of the drive wheel; the control module determines the rotation state of the driven wheel based on the magnetic field change signal; the control module detects the rotation state of the drive wheel through the second sensor; the control module determines whether the autonomous operating device is in an abnormal walking state based on the rotation states of the drive wheel and the driven wheel.

2. The autonomous operating equipment according to claim 1, characterized in that, The control module is used to determine that the autonomous operating device is in an abnormal walking state when the absolute value of the difference between the linear velocity of the drive wheel and the linear velocity of the driven wheel is greater than a preset speed difference threshold.

3. The autonomous operating equipment according to claim 2, characterized in that, The control module is used to determine that the autonomous operating device is in an abnormal walking state when the drive wheel is rotating and the driven wheel is not rotating.

4. The autonomous operating equipment according to any one of claims 1 to 3, characterized in that, The control module is used to control the autonomous operating equipment to perform preset operations after determining that the autonomous operating equipment is in an abnormal walking state.

5. The autonomous operating equipment according to claim 4, characterized in that, The preset operations include: escape actions and / or alarm actions.

6. The autonomous operating equipment according to claim 1, characterized in that, The first sensor is a Hall sensor.

7. The autonomous operating equipment according to claim 1, characterized in that, The minimum distance between the magnetic component in the driven wheel and the first sensor is no greater than 80 mm.

8. The autonomous operating equipment according to claim 1, characterized in that, The minimum distance between the magnetic component in the driven wheel and the first sensor is no more than 50 mm.

9. The autonomous operating equipment according to claim 1, characterized in that, The quotient of the radius of the driven wheel divided by the minimum distance between the magnetic component in the driven wheel and the first sensor is less than or equal to 1.

0.

10. The autonomous operating equipment according to claim 1, characterized in that, The quotient of the radius of the driven wheel divided by the minimum distance between the magnetic component in the driven wheel and the first sensor is less than or equal to 0.

7.

11. The autonomous operating equipment according to claim 1, characterized in that, The abnormal walking states include: slipping and / or stagnation.

12. A method for detecting abnormal walking patterns, characterized in that, The method is applied to the autonomous operating device according to any one of claims 1 to 11; the method includes: detecting the rotational state of the drive wheel and the rotational state of the driven wheel, wherein the rotational state of the driven wheel is determined based on the magnetic field change signal generated by the movement of the magnetic component in the driven wheel; and determining whether the autonomous operating device is in an abnormal walking state based on the rotational state of the drive wheel and the rotational state of the driven wheel.

13. The walking anomaly detection method according to claim 12, characterized in that, The step of determining whether the autonomous operating device is in an abnormal walking state based on the rotational states of the drive wheel and the driven wheel includes: If the absolute value of the difference between the linear velocity of the drive wheel and the linear velocity of the driven wheel is greater than a preset speed difference threshold, the autonomous operating device is determined to be in an abnormal walking state.

14. The walking anomaly detection method according to claim 13, characterized in that, If the absolute value of the difference between the linear velocity of the driving wheel and the linear velocity of the driven wheel is greater than a preset speed difference threshold, the autonomous operating device is determined to be in an abnormal walking state, including: If the drive wheel is rotating and the driven wheel is not rotating, the autonomous operating device is determined to be in an abnormal walking state.

15. The walking anomaly detection method according to claim 12, characterized in that, The abnormal walking states include: slipping and / or stagnation.

16. The method for detecting walking anomalies according to any one of claims 12 to 15, characterized in that, After determining that the autonomous operating device is in an abnormal walking state, the method further includes: controlling the autonomous operating device to perform a preset operation.

17. The walking anomaly detection method according to claim 16, characterized in that, The preset operations include: escape actions and / or alarm actions.

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