Self-moving device, functional module and automatic working system

Abstract

The present application provides a kind of self-moving device, comprising: shell, wherein main cavity is formed;Mobile module, installed on the shell, and configured to actuate the self-moving device moves;Main work module, installed on the shell, and configured to perform work task;Control module, comprising main control board, and configured to control the mobile module to actuate the self-moving device moves, and control the main work module to perform the work task, wherein: the main control board is arranged in the main cavity, wherein at least one secondary cavity is also formed in the shell;The secondary cavity is configured to install at least one functional module different from the mobile module and the main work module;And the self-moving device comprises at least one first interface corresponding to the secondary cavity and capable of being connected with the second interface of the functional module, and the first interface is connected with the second interface to make the functional module installed to the secondary cavity.

Description

[0001] This application is a divisional application of the Chinese patent application for invention entitled “Self-moving device, functional module, and automatic working system”, application number CN201980006905.0, filed on February 1, 2019, by the applicant. TECHNICAL FIELD

[0002] The present invention relates to a self-moving device, a functional module, and an automatic working system. BACKGROUND

[0003] Self-moving devices, such as automatic lawn mowers and automatic vacuum cleaners, are increasingly popular among users because they can free users from complex and messy work. Self-moving devices can automatically move within a preset working area and automatically perform work tasks. To make self-moving devices more reliable, safe, and provide better service to users, manufacturers continuously upgrade the performance of self-moving devices, including configuring various functional modules for self-moving devices.

[0004] One problem in reality is that functional modules, especially those that can provide high performance for self-moving devices, often have a relatively high price. These functional modules can only be necessary or preferred for specific work sites, so there will be only part of the users who have the demand for the functional modules. Manufacturers need to design different models of machines for users with different needs.

[0005] Another problem in reality is that to meet market competitiveness, manufacturers will improve machines, i.e., update and replace, and configure new functional modules for machines. In the traditional mode, a new generation of machines will be produced every time an improvement is made. If a user wants a machine with new functions, he or she needs to purchase another machine.

[0006] Still another problem in reality is that to meet the needs of different users and the need for machine update and replacement, manufacturers will produce many models of machines, causing management difficulties.

[0007] Another problem in designing self-moving devices is caused by the fact that these devices can need to work in different working environments, including different types of terrain, different levels of lighting, different numbers and types of obstacles, etc. SUMMARY

[0008] Therefore, it is necessary to provide a self-moving device that can selectively install different functional modules to solve the above problems. The present invention is not limited to solving the above problems, and in some aspects the present invention described herein can solve other problems.

[0009] In one aspect, the present invention provides a self-moving device, comprising: a housing having a main cavity; a moving module mounted on the housing and configured to actuate the self-moving device to move; a main working module mounted on the housing and configured to perform a working task; and a control module, optionally including a main control board and configured to control the moving module to move the self-moving device and control the main working module to perform the working task, wherein: the main control board is disposed in the main cavity, and the housing further forms at least one secondary cavity; the secondary cavity is configured to mount at least one functional module different from the moving module and the main working module; and the self-moving device includes at least one first interface corresponding to the secondary cavity and capable of connecting to a second interface of the functional module, and the first interface is connected to the second interface to allow the functional module to be mounted in the secondary cavity.

[0010] The functional modules described herein can perform any type of function useful to self-moving devices, including but not limited to tasks such as mowing lawns, sensing such as location or working environment conditions, and external or internal (e.g., between modules) communication.

[0011] According to some embodiments of the present invention, at least two different functional modules can be detachably mounted in the same or different sub-cavities, and the at least two different functional modules may include sensing modules. A control module can control the operation of the operating module and / or the moving module based on signals from one or more sensing modules. Different sensing modules can be mounted in different sub-cavities on the device. The sub-cavities can be positioned on the housing at different locations adapted to the operating requirements of the sensing modules.

[0012] On the other hand, the present invention provides a self-moving device, comprising: a housing; a moving module mounted on the housing and drivable to move the device; a working module mounted on the housing and configured to perform working tasks; a plurality of cavities for receiving respective detachable modules; a control module; and a communication system that connects the control module to the moving module, the working module, and the detachable modules when the detachable modules are mounted on the housing; wherein the control module is configured to detect, for example, detachable modules located in cavities or mounted on the housing, and modify a control program according to the type of the detected detachable module, such that the self-moving device can perform functions corresponding to the detachable module. The modification may, for example, include obtaining content related to a particular module from any resource, such as, but not limited to, local storage devices, such as onboard memory; separate memory, such as in a plug-in, such as a USB device, or from a remote server.

[0013] In any of the embodiments described herein, the first interface may be detachably connected to the second interface.

[0014] In some embodiments, the at least one sub-cavity can be configured to selectively house different functional modules. In other embodiments, the sub-cavities and functional modules can be designed such that different modules can be housed in the same cavity and function within the same cavity.

[0015] In any of the embodiments described herein, the at least one first interface corresponding to the sub-cavity may include a first mechanical interface connected to a second mechanical interface of the corresponding functional module, and the first mechanical interface is connected to the second mechanical interface to allow the functional module to be installed into the sub-cavity.

[0016] In any of the embodiments described herein, the first mechanical interface may be shaped to match the second mechanical interface such that when the first mechanical interface mates with the second mechanical interface, the relative positional relationship between the functional module and the housing satisfies a preset condition.

[0017] In any of the embodiments described herein, for at least one functional module, when the first mechanical interface is connected to the second mechanical interface, the functional module may cover the opening of the housing recess formed by the sub-cavity.

[0018] In any of the embodiments described herein, the housing may include at least one cover plate corresponding to the sub-cavity, and the cover plate includes a shielding state in which it covers the opening of the housing recess formed by the sub-cavity.

[0019] In any of the embodiments described herein, the at least one first interface corresponding to the sub-cavity may include a first conductive interface connected to a second conductive interface of the corresponding functional module, and the first conductive interface may be connected to the second conductive interface via a socket connector.

[0020] The first conductive interface may include a communication interface and / or a power interface.

[0021] In any of the embodiments described herein, the secondary cavity may be isolated from the primary cavity.

[0022] In any of the embodiments described herein, the functional module may include a boundary detection module, such as an ultrasonic module, a camera module, or a magnetic detection module.

[0023] The secondary cavity for mounting the ultrasonic module or camera module can be located at the upper or front part of the housing.

[0024] The ultrasonic module may include at least two ultrasonic probes and a bracket connected to the ultrasonic probes, and may be installed into the sub-cavity via the bracket.

[0025] The sub-cavity for installing the magnetic detection module can be located at the lower part of the housing.

[0026] The functional module may include an interactive module, such as a speech recognition module.

[0027] The secondary cavity for installing the interactive module can be located at the rear of the housing.

[0028] In any of the embodiments described herein, the functional module may include a communication module, such as a cellular communication module, a Wi-Fi module, a Bluetooth module, or a Sub 1G radio frequency module.

[0029] The secondary cavity for mounting the communication module can be located on the upper part of the housing.

[0030] The functional module may include a positioning module, such as a satellite positioning module or a beacon positioning module.

[0031] The sub-cavity for installing the positioning module can be located on the upper part of the housing.

[0032] In any of the embodiments described herein, the functional module may include additional or auxiliary working modules, such as a trimming module.

[0033] The auxiliary cavity for installing the auxiliary working module can be located on the side of the housing.

[0034] In any of the above embodiments, the main control board can detect the functional modules connected to the self-moving device, and modify the control program of the self-moving device accordingly based on the type of the detected functional modules, so that the self-moving device can perform the functions corresponding to the functional modules.

[0035] The present invention further provides a functional module configured to be installed on a self-moving device to assist the self-moving device in operation, and includes: a second interface connectable to a first interface of the self-moving device, wherein the second interface is connectable to the first interface to enable the functional module to be installed on the self-moving device.

[0036] The present invention further provides an automated working system comprising any one of the self-moving devices disclosed herein and one or more functional modules.

[0037] Compared with the prior art, the present invention can provide the following beneficial effects in some aspects: optimize sensing capabilities according to the operating conditions of the equipment; diversify the configuration of self-moving equipment, so that products with different performance can be quickly assembled based on different usage requirements to meet the needs of different users; simplify and facilitate machine upgrades; and reduce the management burden on manufacturers of multiple machine models. Attached Figure Description

[0038] The objectives, technical solutions, and beneficial effects of the present invention described above can be clearly obtained through the following detailed description of specific embodiments that enable the realization of the present invention, and can also be clearly obtained with reference to the accompanying drawings.

[0039] Figure 1 This is a structural diagram of an automatic lawnmower system according to an embodiment of the present invention;

[0040] Figure 2 This is an illustration of an automatic lawnmower with its top cover opened, according to an embodiment of the present invention.

[0041] Figure 3 This is a schematic diagram illustrating multiple functional modules installed on an automatic lawnmower according to an embodiment of the present invention;

[0042] Figure 4 (a) is a cross-sectional view of an automatic lawnmower according to another embodiment of the present invention;

[0043] Figure 4 (b) is Figure 4 (a) is a partial enlarged view of the plug and socket connector.

[0044] Figure 5 (a) Figure 5 (b) and Figure 5 (c) is a schematic diagram of the ultrasonic module before, during and after installation according to an embodiment of the present invention;

[0045] Figure 6 (a) and Figure 6 (b) is a schematic diagram of the installation of the magnetic detection module according to an embodiment of the present invention;

[0046] Figure 7 This is a schematic diagram of the voice recognition module and anti-theft function module before installation according to an embodiment of the present invention;

[0047] Figure 8 This is a schematic diagram of the voice recognition module and anti-theft function module after installation according to an embodiment of the present invention; and

[0048] Figure 9 This is a schematic diagram of the circuit connection between the main control board and its respective functional modules according to an embodiment of the present invention;

[0049] Figure 10 For similar Figure 9 The schematic diagram illustrates a control module that communicates with a server and a user mobile device according to some embodiments of the present invention;

[0050] Figure 11 For similar Figure 10 The schematic diagram illustrates a control module that uses a radio frequency connection module to communicate with a server and a user mobile device according to some embodiments of the present invention; and

[0051] Figure 12 This is a bottom view of a self-moving device according to some embodiments of the present invention. Detailed Implementation

[0052] To address the problems in the prior art, embodiments of the present invention provide a self-moving device that is compatible with different functional modules to achieve different functions. Specifically, the self-moving device has several interfaces that can cooperate with the interfaces of different functional modules to achieve selective connection between the self-moving device and the functional modules. Embodiments of the present invention also provide an automated operating system including the above-mentioned self-moving device and functional modules. The term "self-moving device" is intended to include automated gardening equipment, automated vacuum cleaners, etc. The following description uses an automated lawnmower system as an example.

[0053] Figure 1 This is a configuration diagram of an automatic lawnmower system 100 according to an embodiment. The automatic lawnmower 1 includes a housing 3; a movement module 5, which includes, for example, one or more wheels driven by a drive motor (not shown) to move the automatic lawnmower 1; and a main working module 7, which includes, for example, a cutting disc driven by a cutting motor (not shown) to perform the mowing work. In use, a control module ( Figure 1 (Not shown) The control module 5 moves the automatic lawnmower 1 and controls the main working module 7 to perform mowing. The movement module 5, the main working module 7, and the control module are all mounted on the housing 3. The control module may include a computing system as known in the art and may include a processor and memory and be configured to perform various functions in use. For example, the processor may be programmed to cause the control module to control the main working module and / or the movement module.

[0054] refer to Figure 1 and Figure 2 In this embodiment, a main cavity 31 is formed within the housing 3 of the automatic lawnmower. Specifically, the housing 3 includes a base 4 and a top cover, and the main cavity 31 is formed between the base and the top cover. A control module may be disposed within the main cavity 31, and may include a control board 9, which is disposed within the main cavity 31 and specifically fixed to the base. Throughout this document, the control board 9 will be referred to as the "main" control board, as some other modules may include a control board.Figure 2 This diagram illustrates an automatic lawnmower 1 with its top cover opened. The main control board 9 is housed within the main cavity 31. In this embodiment, the housing 3 also forms at least one secondary cavity, such as... Figure 1 As shown in Figures 32, 33, 34, and 35, the at least one sub-cavity is configured to selectively (e.g., detachably) mount at least one functional module different from the moving module 5 and the main working module 7, such as... Figure 1 As shown in figures 11, 13, 15, and 17. In any of the embodiments described herein, one or more of the sub-cavities may be located in a portion of the housing extending into the moving module, for example, between the wheels, for example... Figures 1-3 As shown, cavities 34 and 35 are located between the wheels of the moving module 5. Figure 1 The sub-cavities 32, 33, 34, and 35, and functional modules 11, 13, 15, and 17 shown are illustrative. The functional modules are described in detail below. In this embodiment, the automatic lawnmower 1 includes at least one first interface corresponding to the sub-cavities and connected to a second interface of the functional modules, and the first interface is connected to the second interface to allow the functional modules to be mounted to the sub-cavities. Each cavity, such as a sub-cavity, may be provided with an interface, such as an electrical connector, for connection to the functional modules.

[0055] An automatic lawnmower 1, equipped with a moving module 5 and a main working module 7, is capable of autonomous movement and mowing under the control of a control module, thus realizing the basic functions of the automatic lawnmower 1. The device according to any embodiment of the invention may include at least one sensing module that is not designed to be removable, such that the device has some sensing capabilities in a basic or default configuration. A cavity for such a sensing module may be enclosed within a housing for inaccessibility. The default sensor may vary between different embodiments. In some embodiments, the default sensor may include an inductor. Therefore, to enable the automatic lawnmower 1 to automatically identify the working area, the automatic lawnmower 1 may also be equipped with a boundary inductor (not shown) of a type known in the art, configured to detect current signals transmitted in a boundary line set along the boundary of the working area, thereby enabling the automatic lawnmower 1 to determine whether it is located within the working area, thus ensuring the safe operation of the automatic lawnmower 1. Some or all of the functional modules described herein may each be installed in a cavity accessible to the user (e.g., accessible from the outside of the housing), while non-removable sensors, such as inductors, may be installed inside the housing in a less accessible location. The automatic lawnmower 1 may also be equipped with a STOP button (not described further in this document), as well as a control panel or display and / or communication module for user interaction, see reference. Figure 10 Further description.

[0056] Based on the basic functions of the automatic lawnmower 1 in this embodiment, various functional modules can be selectively installed on it. On the one hand, this diversifies the configuration of the automatic lawnmower 1, allowing for rapid assembly into products with different performance characteristics to meet the needs of different users. On the other hand, it simplifies machine upgrades by adding or replacing different functional modules without replacing the main unit. Furthermore, manufacturers only need to produce one basic model and a few accessories, reducing the management burden of managing multiple machine models. Since the basic structure of the automatic lawnmower 1, including the housing 3, moving module 5, and main working module 7, has a long lifespan and relatively stable operation, replacing functional modules can extend the machine's lifespan, simplify maintenance, and facilitate machine upgrades, benefiting both manufacturers and users.

[0057] In the automatic lawnmower 1 of this embodiment, not only are installation positions reserved for each functional module, but corresponding secondary cavities are also designed for installing the functional modules. The main cavity 31 of the automatic lawnmower 1 is configured to install control modules, such as the main control board 9, because the control module or the main control board 9 has relatively high protection requirements and needs to be sealed in a preferred manner. If the functional module and the main control board 9 are installed in the same cavity, the cavity will be exposed when installing the functional module, thus posing a risk of damage and failure to the main control board 9. In addition, if the main cavity 31 is exposed to the installer when installing the functional module, since the main cavity 31 contains a relatively large number of components, it cannot present a clean installation interface to the installer, which is particularly detrimental to the user experience when the consumer installs the functional module himself. Therefore, several secondary cavities are provided on the housing 3 of the automatic lawnmower 1, and the secondary cavities are configured to install their respective functional modules. This not only helps to protect the components in the main cavity 31, especially the main control board, but also improves the user experience and facilitates user operation.

[0058] In this embodiment, at least one first interface corresponding to the sub-cavity may include a first mechanical interface, which is designed to connect with the second mechanical interface of the corresponding functional module. In use, the first mechanical interface mates with the second mechanical interface, allowing the functional module to be mounted on the housing 3 of the automatic lawnmower. Specifically, the mating method between the first and second mechanical interfaces can be screw connection, clamping connection, or an internal shape matching the shape of the functional module, depending on the installation requirements of the functional module. For example, a screw connection can be used when the installation strength requirement of the functional module is relatively high, while a clamping connection or shape-matching connection can be used when the installation strength requirement of the functional module is relatively low. Because the first mechanical interface can mate with the second mechanical interface, the functional module can have a preset positional relationship relative to the housing 3 of the automatic lawnmower. For example, the functional module can be fixedly installed at a specific position on the housing 3, or the functional module can rotate relative to the housing about a specific fixed axis. The first mechanical interface can be disposed in the sub-cavity or disposed around the sub-cavity on the housing, as long as it enables the functional module to be mounted on the corresponding sub-cavity. The first mechanical interface of the automatic lawnmower 1 can be shaped to match the second mechanical interface on the functional module, such that the functional module can be installed on the housing 3 of the automatic lawnmower 1 only when the first mechanical interface and the second mechanical interface are mated. When the first mechanical interface and the second mechanical interface are mated, the relative positional relationship between the functional module and the housing 3 of the automatic lawnmower meets preset conditions. This design can prevent malfunctions of the automatic lawnmower 1 caused by incorrect installation and is more user-friendly. The preset conditions that the relative positional relationship between each functional module and the housing 3 of the automatic lawnmower must meet will be described in detail below.

[0059] Figure 3 This is a schematic diagram illustrating multiple functional modules installed on an automatic lawnmower.

[0060] In any of the embodiments described herein, different protective designs can be made for the corresponding sub-cavities depending on the different installation positions of the respective functional modules on the housing 3 and the different protection requirements of the respective functional modules. Specifically, some sub-cavities should not be exposed. For example, if a sub-cavity located at the top of the housing 3 is exposed, it will affect the aesthetics, and the sub-cavity is prone to water accumulation when rained on. When the functional module itself has protection requirements, the sub-cavities in which the functional module is placed should also not be exposed. Since the automatic lawnmower 1 of this embodiment selectively installs functional modules, when the corresponding sub-cavity is not used to install the functional module, a cover plate can be used to cover the corresponding sub-cavity to isolate the sub-cavity from the outside and also serve a decorative purpose. Specifically, the housing 3 includes at least one cover plate corresponding to the sub-cavity, the cover plate having a shielding state, and in the shielding state covering the opening of the groove of the housing 3 formed by the sub-cavity. When the corresponding functional module is installed in the sub-cavity, in one embodiment, the cover plate is still installed on the housing 3, together shielding the functional module placed in the sub-cavity. The cover plate can be pivotally connected to the housing 3 for opening and closing, or detachably connected to the housing 3. In another embodiment, when the cover plate is removed, the functional module covers the opening of the recess in the housing 3 formed by the sub-cavities. Of course, some sub-cavities can also be alternatively exposed directly, such as sub-cavities facing the working plane. This does not affect aesthetics.

[0061] When a functional module is installed on an automatic lawnmower 1, in order to achieve the corresponding function, in addition to requirements on the installation location, power supply and communication issues also need to be addressed. In particular, the communication problem between the functional module and the main control board 9 needs to be solved to enable the transmission of data and / or control signals between the functional module and the control module containing the main control board 9. In this embodiment, at least one first interface corresponding to any sub-cavity may include a first conductive interface, which connects to the second conductive interface of the corresponding functional module 11, 13, 15, or 17. The first / second conductive interface (hereinafter also referred to as a terminal) may include a power interface and a communication interface. In this embodiment, the first conductive interface can be connected to the second conductive interface via a plug and socket connector. For example, the plug can be disposed in the cavity, for example, connected to the control module via a lead wire, and the matching socket can be disposed in the corresponding functional module, and vice versa. In some embodiments, the same plug / socket design can be used for each of the functional modules.

[0062] Figure 4 This is a cross-sectional view of an automatic lawnmower 1 according to another embodiment of the present invention, in which the positions of some functional modules differ. Figures 1-3 Examples of implementations. In other respects, Figure 4 The embodiments may be the same as those described elsewhere in this document. Figure 4The connection relationship between the functional modules 11, 13, 15, and 17 installed in their respective sub-cavities 32', 33', 34', and 35' and the main control board 9 installed in the main cavity 31' is shown. Figure 4 The sub-cavities and functional modules shown are illustrative. Figure 4 As shown, several leads are led out from the main control board 9 and extend from the main cavity 31' to their respective sub-cavities 32', 33', 34', and 35', and the ends of the leads are connected to the socket connectors to form a first conductive interface for their respective functional modules. Figure 4 (b) A partial enlarged view of the suitable socket connector 18 and the mating plug 19. Therefore, the first conductive interface in the cavity can be connected to a second conductive interface provided on the respective functional modules, so that functional modules 11, 13, 15, and 17 can be connected to a control module, for example, at the main control board 9. The aforementioned leads may include power lines and communication lines. The power lines are used to provide electrical power to the functional modules, and the communication lines are used to transmit data and / or control signals. In this embodiment, functional modules 11, 13, 15, and 17 can be connected to the main control board 9 via a CAN bus, which can be provided on the main control board 9. The CAN bus can be expanded to have multiple interfaces, for example, in the form of one or more plugs or sockets, for easy connection, and can be arranged in a "plug-and-play" type to achieve connection with functional modules. A universal asynchronous receiver / transmitter "UART" can be provided on the main control board 9, and an I / O controller can be used, for example... 2 Known communication protocols such as CAN and SPI are used. The interface can be similar to USB, allowing for easy plugging and unplugging. In this embodiment, a multi-level connection can be used, with adapters dividing the CAN bus interface into multiple CAN bus interfaces to meet the connection requirements of more functional modules. In this embodiment, the leads extending from the main control board 9 extend from the main cavity 31' to the secondary cavities 32', 33', 34', and 35', making it easy for the installer to find the connectors when installing functional modules 11, 13, 15, and 17, facilitating installation. It is understood that... Figure 4 The diagram shows the state after functional modules 11, 13, 15, and 17 have been installed. In this case, due to the limited space in the secondary cavity, the socket connector may enter the main cavity through the through-hole between the main and secondary cavities. However, when the functional modules are disassembled, the socket connector can still be easily pulled back into the secondary cavity. Alternatively, the structural design can prevent the connector or the first interface (e.g., the first conductive interface, such as plug 19 or socket 18) from entering the main cavity 31 or 31'. The first conductive interface can be flexibly located in the secondary cavity or fixed to the wall of the secondary cavity.

[0063] In this embodiment and other embodiments of the present invention, the main cavity 31' of the housing 3 is isolated from the secondary cavities 32', 33', 34', and 35' to protect the main cavity 31'. Specifically, in Figure 4 In the illustrated embodiment, the main cavity 31' is sealed and isolated from the secondary cavities 32', 33', 34', and 35' to prevent moisture, dirt, etc., from entering the main cavity through the secondary cavities and damaging the main control board 9. In this embodiment, since the leads extending from the main control board 9 need to pass through the housing between the main cavity 31' and the secondary cavities 32', 33', 34', and 35', an opening is formed between the main cavity 31' and the secondary cavities 32', 33', 34', and 35'. The protection of the main cavity 31' can be ensured by setting a sealing strip or other means on the opening.

[0064] In this embodiment of the invention, the functional module can be powered via a first / second conductive interface or other means. In this embodiment, the automatic lawnmower 1 includes an energy module for providing electrical energy for the movement and operation of the automatic lawnmower 1. Specifically, the energy module may include a battery pack (not shown). In another embodiment, the battery pack may be detachably connected to the automatic lawnmower 1. Regardless of whether the battery pack is fixedly or detachably connected to the automatic lawnmower 1, the functional module can be powered by connecting the output of the battery pack to the functional module. The above power supply method is particularly suitable for situations where the functional module has high energy consumption. In another embodiment, the functional module may alternatively be powered by an independent battery, such as a battery housing the functional module, for example, via a CAN bus, for example, to power only the functional module or to other modules. When the functional module is located on top of the automatic lawnmower 1, it can be powered by a photovoltaic unit that converts light energy into electrical energy, etc. The photovoltaic unit may be integrated with its respective module or may include a separate detachable module.

[0065] The following provides a detailed description of the respective functional modules and their interaction with the automatic lawnmower 1. According to some embodiments of the invention, the multiple detachable modules, also referred to herein as functional modules, may include different types of sensing modules. The control module, for example including a main control board 9, can control the movement of the lawnmower and / or the operation of the main working module 7 based on signals from the sensing modules.

[0066] Therefore, some embodiments of the present invention provide a self-moving device comprising: a housing; a moving module mounted on the housing and drivable to move the device; a working module mounted on the housing and configured to perform a working task; a plurality of cavities for receiving respective detachable modules; a control module; and a communication system that connects the control module to the moving module, the working module, and the detachable module when the detachable modules are mounted on the housing; wherein at least two of the cavities are arranged to receive sensing modules using different sensing technologies selected from optical, magnetic, ultrasonic, and satellite positioning, and the control module is configured to control at least the moving module and the working module based on signals received from one or more sensing modules (e.g., depending on the presence of the sensing modules). Therefore, even if the device is not entirely used for a particular configuration, it can be equipped to use different types of sensing technologies. In some embodiments, the device includes cavities for ultrasonic sensors, magnetic detection modules, and satellite positioning modules.

[0067] The communication system may, for example, include a CAN bus. Depending on the function of each sensing module, the cavities may be located at different positions on the housing. For example, at least one cavity may be located on the top of the housing, while another cavity may be located on the bottom side of the housing. Sensing modules using ultrasonic technology may include ultrasonic modules for boundary detection or collision avoidance as further described herein, or ultrasonic beacon positioning modules as known in the art. Magnetic sensing modules may, for example, use inductive sensing or can sense static magnetic fields. Automated operating systems according to some embodiments of the invention may use static and changing magnetic fields. Sensing modules using optical technology may include cameras or laser rangefinders or any other optical sensors. Sensors using satellite technology may include, for example, a GPS module.

[0068] Additional cavities can be provided for any interactive module, such as a voice interaction module or other user interface, as well as for a communication module. The communication module can use Wi-Fi, radio frequency, mobile communication such as GPS, or any combination of these technologies.

[0069] Therefore, various sensing methods can be provided for the device, and are not limited to, for example, optical sensing.

[0070] exist Figures 1-4In the illustrated embodiment, multiple cavities are provided for their respective sensing modules. Each sensing module includes at least one or more induction coils (which may be removable or non-removable), a magnetic sensor optionally mounted below the housing, and an ultrasonic sensor optionally mounted on top of the housing. Additional sensing modules that may provide cavities may include positioning modules, such as GPS modules. One or more cavities may be able to receive more than one type of sensor. For example, the cavity for the ultrasonic sensor may alternatively house different types of sensors, such as a camera or a laser sensor.

[0071] In any embodiment, the functional module may include a boundary detection module. Specifically, the boundary detection module may include a remote sensing boundary detection module, such as a non-contact obstacle detection module, specifically an ultrasonic module configured to detect obstacles in the direction of movement of the automatic lawnmower. Alternatively, the remote sensing boundary detection module may include a camera, LiDAR, etc., and may be configured to detect the boundary of the work area or obstacles within the work area. The ultrasonic module 11 is described below as an example. The ultrasonic module can prevent the machine from colliding and injuring children, pets, furniture, saplings, etc., in the garden, thereby eliminating user concerns about safety regulations.

[0072] Figure 5 (a) Figure 5 (b) and Figure 5 (c) are schematic diagrams of the boundary or obstacle detection module, including the ultrasonic module 11, before, during, and after installation. Figure 5 (a) Figure 5 (b) and Figure 5 As shown in (c), in this embodiment, the reserved position for the ultrasonic module 11 on the housing 3 of the automatic lawnmower is located at the upper part of the housing 3, so that when the ultrasonic module 11 is installed on the housing 3, it protrudes relative to the housing surrounding the ultrasonic module 11, especially relative to the housing surrounding the ultrasonic module 11 within the detection angle range. This ensures that the transmission / reception path of the ultrasonic module 11 is not obstructed by the housing 3. In any embodiment described herein, the ultrasonic module 11 can detect obstacles in the direction of movement of the automatic lawnmower 1 and is positioned facing forward in the direction of movement of the automatic lawnmower 1. Therefore, the ultrasonic module 11 is installed not only at the upper part of the housing 3 but also at the front of the housing 3 to better prevent the transmission / reception path from being obstructed by the front of the housing. It should be noted that, compared to, for example, a vehicle reversing sensor, the module 11 is installed at the top of the housing 3, rather than on the "bumper," side wall, or front wall, and is spaced from the front to the rear in the forward direction of movement. Therefore, compared to the case where the module 11 is installed at the front of the lawnmower, it provides the lawnmower with a wider field of view.

[0073] In this embodiment, the ultrasonic module 11 includes at least two ultrasonic probes 111 and 112. The positional and angular relationships between the two probes are described in reference to international application PCT / CN2017 / 099698, and will not be repeated here. In this embodiment, the ultrasonic module 11 also includes a bracket 113 connected to the probes 111 and 112, and is mounted on the housing 3 of the automatic lawnmower via the bracket 113. Since the function of the ultrasonic module 11 requires the cooperation of multiple probes 111 and 112, there are strict requirements for the positional and angular relationships between the probes 111 and 112. For traditional automatic lawnmowers, the functional modules are pre-installed on the housing at the factory, or even integrally formed with the housing, requiring no additional installation. Therefore, there is no issue of installation accuracy. However, in this embodiment, the automatic lawnmower 1 selectively installs functional modules. When the installation position or angle of the functional module has strict requirements, it places relatively high demands on the installer's operation. When the installer is a user, such requirements reduce the ease of use of the product, and the product may malfunction due to problems with the installation of the functional modules. This is detrimental to user experience. To address the aforementioned issues, in any of the embodiments described herein, the ultrasonic module may include multiple ultrasonic probes in a predetermined relationship. For example, multiple ultrasonic probes 111 and 112 may be located on their respective arms extending from a bracket 113, and may be integrated together, for example, via the bracket 113, making the ultrasonic module 11 a single unit. In this way, the positional and angular relationships between the ultrasonic probes 111 and 112 are fixed at the factory, and therefore, when the user installs the ultrasonic module 11, only one component needs to be installed, avoiding the malfunctions caused by low installation accuracy when multiple probes 111 and 112 are installed independently, thereby greatly improving the user experience.

[0074] like Figure 5 (a) Figure 5 (b) and Figure 5 As shown in (c), in this embodiment, the secondary cavity 32 on which the ultrasonic module 11 is mounted is located on the upper part of the housing 3 and has a shallow groove shape. This is because the ultrasonic module 11 needs to protrude from the housing 3, so the secondary cavity 32 for mounting the ultrasonic module 11 does not need a large receiving space, only a receiving space large enough to accommodate the terminals connected to the ultrasonic module 11.

[0075] In other words, the sub-cavity described in this embodiment of the invention includes a shallow groove-shaped receiving space on the housing 3, and specifically, includes a receiving space recessed inward relative to the surrounding housing. Alternatively, the receiving space may be formed by a cover plate or the housing of a functional module.

[0076] In this embodiment, a decorative cover 114 is provided for the sub-cavity 32 where the ultrasonic module 11 is installed to cover and fix the terminals connected to the ultrasonic module 11. When the ultrasonic module 11 is installed on the housing 3, the decorative cover 114 is removed, and the terminals of the ultrasonic module 11 are aligned with the terminals pre-installed on the automatic lawnmower 1. For example, the bracket 113 of the ultrasonic module is fixed to the housing 3 by using screws, and the ultrasonic module 11 covers the opening of the groove in the housing 3 formed by the sub-cavity 32.

[0077] In this embodiment, the ultrasonic module 11 further includes a control circuit capable of processing at least some signals received by the ultrasonic probes 111 and 112, and transmitting the processed signals to the main control board 9 via a communication terminal. The division of labor for signal processing between the respective functional modules and the main control board is further described below. It is understood that each functional module can either process data locally and transmit control signals to the main control board based on the processing results, or transmit data to the main control board for processing. This depends on the data processing load and processing capability of each functional module, as well as the processing load and processing capability of the main control board.

[0078] In any embodiment of the invention, the cavity or sub-cavity as described herein can be designed to accommodate different modules, such as different sensing modules. Therefore, in an automated operating system, different modules can be designed to be interchangeably received within the same cavity. In this embodiment, the location for mounting the ultrasonic module can be used alternatively for mounting cameras, lidar, etc., provided the interface is uniform. The mounting locations of these modules have similar requirements. In other words, different functional modules can be selectively mounted to the same interface of the housing. The user can select functional modules based on their needs and the working scenario of the automated lawnmower. It is understood that, in addition to detecting the boundaries of the working area or obstacles within the working area, sensors, such as cameras, can also perform monitoring, patrolling, and security functions by capturing images. According to some embodiments of the invention, the control module can monitor the operation of the device, for example, by using functional modules, and can automatically recommend functional modules to the user. Reference Figure 10 To describe this in more detail.

[0079] In another embodiment of the invention, the boundary detection module may include a ground boundary detection module configured to determine whether a boundary has been detected by detecting a target or signal on or near the ground surface. Specifically, the boundary detection module may include a magnetic detection module configured to detect magnetic markers placed in a garden. Thus, any self-moving device described herein may include a cavity for one or more removable sensing modules, wherein at least one removable sensing module includes a sensor for sensing a static magnetic field, such as the magnetic detection module 13 described elsewhere herein. The ability to detect a static magnetic field in a self-moving device may be an additional component that uses a boundary sensing sensor as described elsewhere herein to detect a changing magnetic field. However, the detection of both static and changing magnetic fields is not necessary in all embodiments of the invention. As described elsewhere herein, a sensor for a static magnetic field may be disposed on the lower surface of the housing and / or facing the working surface. Alternatively or additionally, the boundary detection module may include a capacitance detection module configured to detect grass and non-grass. In this embodiment, a magnetic detection module is used as an example. A magnetic detection module includes a geomagnetic sensor, a Hall sensor, etc. In this embodiment, the magnetic detection module detects magnetic strips placed in a garden. With the above solution, users no longer need to create isolated areas that don't require cutting, such as flower beds, using "active" or energized boundary lines. If the isolated area changes, the boundary lines need to be cut and readjusted. This is cumbersome and poses a risk of signal loss. The magnetic strip is a passive marker and can be adjusted and changed arbitrarily, making it easy to operate.

[0080] Figure 6 (a) and Figure 6 (b) is a schematic diagram of the installation of the magnetic detection module. Figure 6 (a) and Figure 6 (b) is a partial perspective view of the automatic lawnmower 1 from below. Figure 6 (a) and Figure 6As shown in (b), in this embodiment, the reserved position for the magnetic detection module 13 on the housing 3 of the automatic lawnmower is located at the lower part of the housing 3, which facilitates the magnetic detection module 13 in sensing the magnetic strip signal. Specifically, the installation position of the magnetic detection module 13 meets the requirement that there are no metal objects obstructing it below, so as to prevent signal interference. In this embodiment, the magnetic detection module 13 is not only installed at the lower part of the housing 3, but also at the front part of the housing 3, so that the magnetic detection module 13 can detect the magnetic strip arranged in the moving direction of the automatic lawnmower 1 in a timely manner and take avoidance measures in time. In this embodiment, a cover plate 131 is provided for the secondary cavity 33 where the magnetic detection module 13 is installed. Before and after the installation of the magnetic detection module 13, the secondary cavity 33 is covered by the cover plate 131 to prevent moisture or dirt from entering the secondary cavity 33. It can be understood that when the identification of the working area by the automatic lawnmower 1 can be achieved by other means besides detecting the boundary line, the boundary inductor can be replaced as an optional functional module and installed in a similar position at the lower part of the housing 3. In a possible embodiment, the user can choose to configure the automatic lawnmower 1 with a high-precision positioning module, such as a high-precision satellite positioning module, or a boundary inductor module. Specifically, the function of work area identification can be achieved by selecting different functional modules. If the automatic lawnmower 1 is configured with a high-precision positioning module, the user does not need to lay boundary lines. Operation is simple and the garden remains aesthetically pleasing. However, high-precision positioning modules are expensive. If the automatic lawnmower 1 is configured with a boundary inductor module, the user needs to lay boundary lines, but the cost is relatively low. This method of allowing users to selectively configure functional modules fully reflects the characteristics of user personalization.

[0081] Alternatively, a capacitance detection module, etc., can be installed in a similar location within the housing 3. The capacitance probe is preferably exposed outside the housing 3 to improve its sensitivity.

[0082] In another embodiment of the present invention, the functional module includes a user interaction module. The user interaction module may be a voice recognition module, a gesture recognition module, a manual input module, etc. In this embodiment, a voice recognition module is used as an example for description.

[0083] refer to Figure 1 , Figure 7 and Figure 8 ,in Figure 7 and Figure 8 This is a diagram showing the installation of the voice recognition module and the anti-theft module, which will be introduced below, before and after installation. Figure 1As shown, the voice recognition module 15 includes a microphone 151 and a speaker 152. The microphone 151 is configured to receive the user's voice signal, and the speaker 152 is configured to transmit feedback signals to interact with the user. The voice recognition module simplifies human-computer interaction and can prompt the user on how to operate the machine, making it easier for the user to understand and assisting users, especially elderly users, in setting up and operating the machine. In this embodiment, the reserved position for the voice recognition module 15 on the housing 3 of the automatic lawnmower is located at the rear of the housing 3, facilitating voice communication for the user. In addition, the microphone 151 can easily receive the user's voice commands. Specifically, the microphone 151 is installed near the upper surface of the housing 3. The microphone 151 can be either protruding from the top cover of the housing 3 or located below the top cover and near the upper surface, so that the voice commands received by the microphone 151 are more accurate, reliable, and have a higher recognition rate. Specifically, a small hole is provided above the microphone 151 on the housing of the voice recognition module 15 to allow voice information to enter the microphone 151. The speaker 152 is positioned downwards and faces the lower area of ​​the housing 3. Sound travels to the ground and is reflected back to the ear. In one embodiment, the speaker can be open, which facilitates sound propagation. Specifically, the voice recognition module 15 can be mounted from the bottom, in which case the corresponding sub-cavity 34 faces downward and is recessed towards the upper part of the housing 3. Alternatively, the voice recognition module 15 can be mounted from the top, in which case the corresponding sub-cavity 34 faces upward and is recessed towards the lower part of the housing 3. No limitation is made herein.

[0084] When the voice recognition module 15 is not sealed within the housing 3 of the automatic lawnmower, its protection rating must meet the inlet protection "IP" rating of IP67. Similarly, since the ultrasonic module 11 described above protrudes from the housing 3, it also has relatively high protection requirements. For example, it needs to meet the protection rating of IP67. However, for functional modules sealed within the housing 3 of the automatic lawnmower, such as the magnetic detection module 13 described above, the protection rating only needs to reach IPX4.

[0085] According to any embodiment of the invention, the speech recognition module does not require internet communication, such as cellular communication. In other words, it can operate "offline." Therefore, instead of, or in addition to, full speech recognition capabilities that can be obtained online, for example from a speech recognition server, the speech recognition module can be programmed to recognize a limited number of identical words, such as commands, by simple comparison with representative samples of spoken word recordings. This can be implemented using a suitably programmed processor and associated memory that forms part of the speech recognition module, or the necessary signal recognition can be performed at the control module. This means that the device can operate very quickly without a mobile connection, which is also beneficial for the elderly or people in remote locations with less reliable connections. It may not be possible to distinguish one speech from another as effectively as through speech recognition.

[0086] Other user interaction modules can be installed in similar locations on housing 3. In another embodiment of the invention, the functional module includes a communication module, and specifically, includes one or more of a cellular communication unit, a Wi-Fi module, a Bluetooth module, a Sub 1G radio frequency module, etc.

[0087] In a specific embodiment, a cellular communication module is combined with a satellite (e.g., GPS) positioning module to form an anti-theft module 17. Therefore, in any embodiment of the invention, the communication module and the positioning module can be installed separately or together in the same cavity, which can be located in the upper part of the housing, or they can be housed in a single module configured to function as an anti-theft module. Specifically, the cellular communication module can be a 2G / 3G / 4G / 5G module, and the satellite positioning module can be a GPS module. The GPS module referred to herein specifically refers to a low-precision GPS module. When the anti-theft module 17 is installed on the automatic lawnmower 1, the satellite positioning module can determine the location of the automatic lawnmower 1 and transmit the location of the automatic lawnmower 1 to a remote device, such as a server or user terminal, via the cellular communication module for user inquiry or to alert the user of any abnormalities. Figure 10 This is illustrated in more detail with diagrams.

[0088] In any embodiment of the invention described herein, a radio frequency (RF) module may be provided, configured to communicate with a remote server, for example, via an internet gateway such as a router at a user's home. This may be useful, for example, when the user's Wi-Fi coverage does not cover the entire work area. The RF module may operate at frequencies below 1 GHz. The RF module, or any other communication module, may be housed in any suitable location on the device. One possible location is within cavity 35; for example, the RF module, or Bluetooth module, or Wi-Fi module may be provided instead of the anti-theft module 17. Alternatively, separate locations and / or cavities may be provided for different communication modules. Any of the RF module, Bluetooth module, or Wi-Fi module may have the same appearance as the illustrated anti-theft module.

[0089] exist Figure 10 In this context, various modules, such as those previously described herein, communicate with the control module 25, optionally including the main control board 9, a processor, and memory. The control module 25 controls the operation of the mobile module 5 and the main operating module 7 based on signals from one or more sensing modules (some of which are collectively referred to as "other detachable modules" 170) and optionally based on position signals from the satellite positioning module 21. The control module 25 is capable of communicating with the server 155 or the user terminal 160 via the Internet 120 using the cellular communication module 22. Alternatively, communication with the server 155 can be conducted via Wi-Fi, as is known to those skilled in the art; for simplicity, [further details are omitted]. Figure 10 This is not shown in detail. According to some embodiments of the present invention, radio frequency communication (e.g., radio frequency communication using frequencies below 1 GHz) can be used instead of Wi-Fi or Bluetooth. Figure 11 For similar Figure 10 The diagram illustrates how the radio frequency module can communicate with a remote server via the internet. From the above, it can be understood that server 155 can act as an "Internet of Things" or IoT platform, and the self-moving device can behave as an IoT device. As described elsewhere in this document, at least some modules (e.g., sensing and communication modules) can be configured to send conventional signals, such as messages, to control module 25 to acknowledge its presence. The control module can determine that a module no longer exists based on the absence of any messages within a predetermined time period.

[0090] Messages exchanged between devices, such as those between control module 25 and server 155, can use a specific bit-field format to indicate to the server which modules are installed. This can be a binary indication, where one state indicates that a module is present, while the other indicates that a module is absent or may be defective.

[0091] For example, using GPS positioning is suitable for users with gardens without fences or large areas, and it allows for machine location tracking and theft prevention. Mobile communication, such as cellular or radio frequency communication as described elsewhere in this document, is suitable for communication between the machine and users not in Wi-Fi coverage areas. Any type of communication with a remote server is suitable for remote program modifications, such as updates. Signal coverage varies in different regions of Europe and America; a combination of 2G+4G NMB IoT technology can achieve full signal coverage. To enable the automatic lawnmower with its functional modules to perform their respective functions, the user can pre-set an "electronic fence" for the automatic lawnmower, for example, setting the area within which the automatic lawnmower cannot leave the coordinates defined by the electronic fence. Then, during operation, if the automatic lawnmower detects that it has left the area defined by the electronic fence via the satellite positioning module, it can trigger the cellular communication module 22 to send an alert to a remote device such as the mobile device 160, notifying the user of the anomaly. Simultaneously, the machine can lock at least some functions; for example, the control module 25 can be configured to cause the main operating module 7 to operate to stop and / or "lock" the movement module. Upon receiving the alert, if the user confirms that the machine has been stolen, the user can track the machine's location using the satellite positioning module 21; or if the user confirms that it was a false trigger, the machine can be unlocked and allowed to resume operation.

[0092] refer to Figure 1 , Figure 7 and Figure 8 In this embodiment, the space reserved for the anti-theft module 17 on the housing 3 of the automatic lawnmower is close to the upper surface of the housing 3, facilitating the antenna of the satellite positioning module 21 to receive satellite signals and the cellular communication module to send / receive information. Specifically, there are no metal obstructions above the anti-theft module 17. In particular, there are no metal obstructions within a 120-degree range above the antenna of the satellite positioning module. The module 17 can be located at the front or rear of the housing 3, and can be installed from the bottom or the top. There are no restrictions. In this embodiment, the secondary cavity where the module is installed is covered by a cover plate. On the one hand, this prevents the entry of external moisture and dirt. On the other hand, the cover plate serves to fix and press the module.

[0093] In another embodiment, the theft of the automatic lawnmower can be determined alternatively by determining whether the cellular network base station to which the automatic lawnmower is connected has changed.

[0094] Other communication modules can be installed in similar locations on housing 3.

[0095] In another embodiment of the invention, the functional module includes an auxiliary working module (not shown), and specifically, may include an edge trimming module, such as a mowing device. The mowing device performs mowing using a flexible cutting element. A space for the mowing device is reserved on the lower part of the automatic lawnmower housing, and may be located on the side of the housing, including the inner and outer sides. The side may be the front side or the left and right sides. The mowing device may be directly powered by a battery pack or powered by the main control board. The mowing device may be equipped with an independent drive motor, or may be driven by the automatic lawnmower's motor via a transmission mechanism. The mowing device can cut the edges of the lawn, avoiding secondary work.

[0096] In another embodiment of the invention, the functional module includes a positioning module (not shown), specifically a high-precision positioning module. The automatic lawnmower equipped with the positioning module identifies the working area, eliminating the need for boundary lines, and also enables path planning through positioning. This functional module is particularly suitable for scenarios with relatively large lawns. Specifically, the positioning module can be a satellite positioning module, such as a Differential Global Positioning System (DGPS) module, a Real-Time Kinematic (RTK) module, or an Artificial Intelligence of Things (ARTK) module, or a beacon positioning module, such as an ultrasonic beacon positioning module or an Ultra-Wideband (UWB) beacon positioning module. The reserved position for the positioning module on the automatic lawnmower housing is located in the upper part of the housing, specifically at the top. Specifically, the antenna is positioned upwards to facilitate signal reception. When the positioning module is installed on the housing, it can protrude from the surrounding housing and cover the opening of the recess in the housing formed by the sub-cavity.

[0097] In another embodiment of the invention, the functional module may include environmental detection sensors (not shown), specifically including a grass height detection sensor, a soil detection sensor, a color sensor, a light sensor, a rain sensor, etc. The environmental detection sensors can be flexibly installed in different locations depending on the object being detected. For example, the grass height detection sensor and soil detection sensor can be installed at the bottom of the housing, the color sensor can be installed at the front or bottom of the housing, the light sensor can be installed at the top or front of the housing, and the rain sensor can be installed at the top or rear of the housing. Different environmental detection sensors can be selected according to the specific working scenario of the automatic lawnmower.

[0098] As mentioned earlier, different functional modules can be selectively installed / connected to the same mounting location / interface on the automatic lawnmower. Therefore, these functional modules can have independent mounting locations / interfaces, or share a single mounting location / interface. Alternatively, different functional modules can share a single sub-cavity even if they have different mounting locations / interfaces.

[0099] In the above embodiments, different protective designs can be applied to the main unit and functional modules of the automatic lawnmower for each module. For example, waterproof designs are needed for the interfaces on the main unit and functional modules. The waterproof design varies depending on the module's waterproof requirements. For simple waterproofing, a protective cover is provided for the secondary cavity, or the functional module is used as a protective cover to cover the opening of the recess in the shell formed by the secondary cavity. When the functional module has further waterproofing requirements, waterproofing can be enhanced by adding sealing strips or other methods. In addition, when the functional module generates a lot of heat during operation, a heat dissipation design is needed for the functional module or the secondary cavity on which it is installed to ensure the normal operation of the functional module itself. For example, phase change materials or cooling systems can be used. When the operation of the functional module is greatly affected by temperature, a heat insulation design may be needed for the functional module or the secondary cavity on which it is installed, such as installing heat insulation sheets or temperature control units.

[0100] Each of the aforementioned functional modules is an independent module, comprising a module housing and components housed within the housing, such as sensors and control circuits. It also includes a second interface that matches the automatic lawnmower's housing, comprising a second mechanical interface and a second conductive interface. The second conductive interface includes a communication interface and a power interface. When the functional module is mounted to the automatic lawnmower's housing using screws, it is also equipped with mounting screws.

[0101] When the respective functional modules are installed on the automatic lawnmower 1, the software of the automatic lawnmower 1 must be compatible with the functions of the functional modules in order for the automatic lawnmower 1 to perform its functions. In this embodiment, the software of the main control board 9 is compatible with the respective functional modules.

[0102] In a specific embodiment, the main control board 9 pre-stores software, such as drivers, corresponding to each functional module. When a functional module is installed on the automatic lawnmower 1, especially when the functional module is communicatively connected to the main control board 9, each functional module can enter a working state. The main control board 9 can call the functions of each functional module, control the operation of each functional module, receive data and / or control signals collected by the functional modules, and control the movement and operation of the automatic lawnmower 1 based on the data and / or control signals from the functional modules.

[0103] In another specific embodiment, when a functional module is installed on the automatic lawnmower 1, particularly when the functional module is communicatively connected to the control module or main control board 9, the control module or main control board 9 can be triggered to modify the installed software, and in response to the trigger, the main control board 9 can obtain the software corresponding to the functional module. In other words, the control module, such as the processor at the control module, can be programmed with basic software to modify according to the removable modules installed on the device. The main control board 9 can remotely obtain (e.g., from a remote server 155) updated or modified software via a communication module. Alternatively, the respective functional modules can pre-store software. When a functional module is docked with the automatic lawnmower 1, the main control board 9 can obtain updated or modified software through the communication interface between the functional module and the automatic lawnmower 1. Modified software, also described herein as instructions for implementation in the processor or control module, can include software modules corresponding to the respective removable modules of the device.

[0104] Figure 9 This is a schematic diagram illustrating the circuit connections between the main control board 9 and its respective functional modules according to one embodiment. Control modules that have control functions but do not necessarily include the main control board can be used for reference. Figure 9 The main control board described operates in the same manner. Each functional module can be connected to the main control board 9 via a CAN bus or using any other suitable communication technology or components. The communication protocol of each functional module can be consistent with the communication protocol of the main control board. Each functional module can have a unique address. When the unique address of a functional module is detected, i.e., when it is determined that the functional module is connected, the main control board can automatically enable the functional module. The main control board can determine the version status based on the software version of the functional module and automatically update it when necessary. When the functional module is used for the first time on the automatic lawnmower, it records the machine address. When the functional module identifies the machine again, if it is determined that the machine is not the machine to which the functional module was first connected, the functional module cannot be used, thus preventing the theft of the functional module.

[0105] In any of the embodiments described herein, firmware and / or communications to and from control module 25 can be encrypted and / or signed. This is advantageous because, depending on the installed module, software upgrades can be performed wirelessly, and even communication via wires within the device is susceptible to interception. For example, cryptographic hash functions such as HMAC can be used to sign information exchanged between control module 25 and other modules, and known encryption schemes such as XXTEA can be used. Communication via CAN bus, for example, can be based on any known standard or protocol, such as ISO TP used in CAN bus communication.

[0106] Figure 12 This illustrates a possible arrangement of modules on the underside of the housing according to some embodiments of the present invention.Figure 11 In one embodiment, the device includes three wheels, two at the rear and one at the front, which can be considered as a separate moving module. The device according to the invention may include any number of moving modules and does not necessarily include wheels. In this embodiment, the main working module 7, comprising a rotary cutting device, is mounted on the lower side of the housing 3. Figure 12 In one embodiment, the auxiliary working module 8 is mounted on the lower side of the housing and includes an edge trimming device, which can be used, for example, to trim the edges of a lawn area. An auxiliary working module, such as an edge trimming device, may be provided in any of the embodiments described herein. This module may be mounted, for example, towards one side of the housing, such as on a side wall of the lower side of the housing, off-center, or in any other lateral position. In any embodiment of the invention, the main working module may be mounted off-center, for example, as... Figure 12 As shown. For example, assuming the working module 8 in the form of a mowing device is installed on an automatic lawnmower, the first interface of the automatic lawnmower mates with the second interface of the mowing device, and the terminals are interconnected. For example, the control module 25 on the main control board 9 of the automatic lawnmower can detect the address of the mowing device, determine that the mowing device is connected, and automatically update the software to make the mowing device ready. During operation, when the automatic lawnmower enters mowing mode, the main control board sends a control signal to the mowing device, instructing the mowing device to enter the working state, and the mowing device starts working. The mowing device may also include sensors for detecting the surrounding environment. When the sensor or a separate detachable sensing module 170, as described elsewhere in this document, detects an anomaly in the surroundings, such as detecting the approach of a living organism, the sensor can transmit a detection signal to the main control board 9. The main control board 9 can then send a stop signal to the mowing device 7, and the mowing device stops working. This is an example of the control module controlling the operation of the detachable module.

[0107] The above description uses the mowing device as an example to illustrate the compatibility between the automatic lawnmower and the functional modules. Other functional modules can be handled similarly and will not be elaborated further. It is understood that the processing of data collected by the functional modules can be completed either within the functional modules themselves or on the main control board; alternatively, it can be partially completed within the functional modules and partially on the main control board. No restrictions are imposed.

[0108] As described elsewhere herein, in any embodiment of the invention, modules can be located based on their functional and / or protection requirements. Certain non-limiting instances of certain modules (one or more of which may be used in any embodiment of the invention) are as follows:

[0109] Magnetic detection module: located at the bottom of the device, such as on the underside of the housing, at least one at the front or rear, away from the magnetic signal source (e.g., the motor), so as not to interfere with the wheels.

[0110] Ultrasonic module: located on the top or side, or possibly inside.

[0111] Voice control module: The microphone faces outward, preferably upward and close to the top, but may also be rearward or lateral, with a straight path (no more than a few millimeters) leading outward; the speaker faces outward, preferably towards the bottom, and / or is in a lateral position.

[0112] Anti-theft: Any location not covered by metal.

[0113] In this embodiment, to reduce overall power consumption, power is supplied intermittently to the functional modules. Specifically, when a functional module is not in operation, it is put into a sleep state, i.e., a low-power state. When the functional module needs to operate, the main control board activates it via the CAN bus.

[0114] The automatic lawnmowers in the above embodiments can be selectively equipped with different functional modules, allowing the same automatic lawnmower with basic functions to achieve different performance levels by selectively configuring different functional modules. Upgrading the automatic lawnmowers is simple and allows for personalized customization.

[0115] The design of the aforementioned automatic lawnmower and its functional modules brings a completely new model to the sales and user experience of automatic lawnmowers. In other words, manufacturers no longer sell fully integrated automatic lawnmowers; instead, they sell the main unit and its individual functional modules separately. The functional modules can be packaged independently as accessories. Correspondingly, factories will develop separate production plans based on the demand for both the main unit and the accessories.

[0116] For users, when purchasing an automatic lawnmower, they can buy accessories separately. Specifically, users can choose the accessories they need based on the working conditions of their own garden. For example, for a large garden, a high-precision positioning module can be selected. Users can also purchase the automatic lawnmower main unit and each accessory separately. For example, after purchasing the automatic lawnmower main unit, if a user finds they need a particular accessory, they can then purchase that accessory. Users can purchase new accessories when garden conditions change, or they can purchase new accessories for the purpose of upgrading the automatic lawnmower. This provides users with more choices. For manufacturers, this model can extend the sales season, as users may purchase accessories again after buying the main unit. In addition, users can purchase one or more modules based on the operating conditions of the equipment.

[0117] In most cases, users install the accessories themselves after purchasing them. However, the aforementioned automatic lawnmower and functional modules feature a quick-installation / disassembly design, facilitating user operation.

[0118] Manufacturers can also use an app on the automatic lawnmower to recommend accessories to users. The app can collect operating data from the user's automatic lawnmower, determine the condition of the user's garden, and recommend necessary accessories accordingly. The app can also monitor the operating parameters of each accessory to determine its lifespan and remind the user to replace it in time. The app can also alert the user to malfunctions of the automatic lawnmower or accessories, enabling self-diagnosis. The app can be installed in the control module and accessed by the user through an interface such as a display 150. Alternatively, the app can be installed in the user device 160.

[0119] Therefore, in any embodiment of the device or system described herein, for example, through appropriate programming of a processor included in the control module, the control module can be configured to analyze the use of the removable module and provide guidance to the user when the user uses the removable module.

[0120] Therefore, in another aspect, the present invention provides a self-moving device, comprising: a housing; a mobility module drivable to move the device; a plurality of cavities within the housing for receiving respective detachable modules; a working module configured to perform working tasks; a control module, including, for example, a processor and a memory, configured to control the mobility module and at least the working module; and a communication system connecting the control module to the mobility module and the detachable modules when the detachable modules are mounted on the housing, wherein the control module is configured to monitor the operation of the device and provide guidance to the user when the user uses the detachable modules. Monitoring may include monitoring the use of the detachable modules and / or signals from one or more sensor modules on the device.

[0121] Instructions may include indications about whether the module is being received correctly in the cavity, such as whether the device is being mechanically positioned correctly, electrically connected correctly, or in the correct cavity.

[0122] The guidance may be provided on the device itself or on other devices such as a user's mobile device. In either case, the guidance may be visible and / or audible. The guidance may be generated at a control module or user device, for example, using an app. Accordingly, some embodiments of the invention provide a computer-implemented method comprising: receiving data relating to the operation of a system including a self-moving device and a plurality of modules installable on the device, wherein the data relates to the installation and removal of the removable modules on the device, and the method comprising analyzing the data to provide guidance to a user when the user uses the removable modules. The method may be implemented in various locations, such as at a device control module 25, at a remote server, or at a user device, such as, but not limited to, a smartphone, tablet, or computer. Similarly, some embodiments of the invention provide a computer-readable medium including instructions that, when implemented in a processor of any computing system such as, but not limited to, a computing system in a control module, server, or user device, cause the module to perform any of the methods described herein.

[0123] As described elsewhere herein, the device may include a wireless communication module, optionally a detachable wireless communication module, for use with, for example... Figure 10 The instructions can communicate with a remote server, such as server 155. For example, instructions can be transmitted to server 155 via a dedicated app on user device 160, and the server can relay the instructions to the user's mobile device or other device 160. Alternatively, instructions can be transmitted to the user via a screen or other display 150 on device 1. The instructions may include recommendations for using additional or alternative removable modules. Providing instructions may include prompting the user for information related to the use of one or more removable modules in response to detecting a condition, such as a lawnmower stopping operation, to provide guidance.

[0124] According to some embodiments of the invention, for example, a "connection history" of the detachable module can be compiled in the memory of the control module, which can be used to provide guidance to the user. For example, if a user repeatedly uses a certain module within a short period of time, it may indicate that the user is encountering some difficulties in using the module.

[0125] Any removable module can be configured to send a periodic signal to control module 25, thereby informing the control module of the presence of a removable module on the device. In this way, the control module can interpret the absence of a periodic signal as meaning that a removable module is not present. In other embodiments, the control module can send a request to the removable module to confirm its presence or absence.

[0126] The guidance provided according to some embodiments of the invention may include recommendations to purchase or use modules different from those currently installed in the device. For example, for devices operating using short-range radio communications such as Wi-Fi, the communication or control module may detect discontinuous Wi-Fi reception throughout the operating area. In such cases, it may be recommended to use a different wireless communication module, such as an RF module for extended-area reception described elsewhere herein, or a cellular communication module.

[0127] Another possibility is that if the device frequently encounters objects, such as from frequent stops or clearly visible in camera information, collision avoidance, such as ultrasonic modules, could be recommended. Recommendations can be generated after a predetermined or threshold number or rate of collisions (e.g., per unit time).

[0128] The control module 25 can be configured to determine the total installation time of one or more removable modules, wherein the guidance includes generating an alarm when the total installation time of one of the removable modules exceeds a predetermined time, for example because the module needs to be replaced.

[0129] A light sensor may be provided on the device in any of the embodiments described herein, for example, in a detachable module. The control module 25 can then assist or guide the user in selecting a detachable module, such as a camera or laser sensor, based on the light level in the operating environment.

[0130] The above embodiments merely illustrate several implementations of the present invention in detail, and should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this patent should be determined by the appended claims.

Claims

1. A self-moving device, comprising: A housing comprising a base and a cover, a main cavity being formed between the base and the cover; a movement module mounted on the housing and configured to drive the device to move; a work module mounted on the housing and configured to perform a work task; at least one secondary cavity configured to receive a respective detachable module; a control module comprising a main control board and configured to control the movement module to drive the self-moving device to move and to control the work module to perform the work task, the main control board being disposed in the main cavity; and a communication system configured to connect the control module with the movement module and with the detachable module when the detachable module is mounted on the housing; wherein the detachable module comprises a sensing module, the secondary cavity is isolated from the main cavity, the secondary cavity is arranged to receive the sensing module, and the control module is configured to control at least the movement module and / or the work module based on signals received from one or more sensing modules. The control module is configured to detect a detachable module connected to the self-moving device and to modify the control program according to the functionality of the detachable module.

2. The apparatus of claim 1, wherein, The sensing module comprises at least one of: an ultrasonic module, a camera module, a satellite positioning module, and a magnetic detection module.

3. The apparatus of claim 1, wherein, The control module stores instructions for at least some of the detachable modules, the instructions when implemented in the control module enabling the device to perform a function corresponding to the detachable module.

4. A self-moving device, comprising: A housing comprising a base and a cover, a main cavity being formed between the base and the cover; a movement module mounted on the housing and configured to drive the device to move; a work module mounted on the housing and configured to perform a work task; at least one secondary cavity configured to receive a respective detachable module; a control module comprising a main control board and configured to control the movement module to drive the self-moving device to move and to control the work module to perform the work task, the main control board being disposed in the main cavity; and a communication system configured to connect the control module with the movement module, the work module and with the detachable module when the detachable module is mounted on the housing; wherein the secondary cavity is isolated from the main cavity, the control module is configured to detect a detachable module and to modify the control program according to the type of the detected detachable module, enabling the self-moving device to perform a function corresponding to the detachable module; wherein the detachable module is different from the movement module and the work module. The control module stores instructions for at least one of the detachable modules, and / or instructions for at least one of the detachable modules are stored at the detachable module, wherein the instructions when implemented in the control module enable the device to perform a function corresponding to the detachable module, and wherein the control module is configured to modify the control program using the stored instructions.

5. The self-moving device of claim 4, wherein, ​ 6. The self-moving device of claim 4, wherein, The control module is configured to modify the control program by retrieving instructions for at least one detachable device from a remote server.

7. The self-moving device of claim 4, wherein, The detachable module comprises a sensing module.

8. The device of claim 4, comprising an additional cavity for detachably receiving either of an interaction module and a communication module.

9. The device of claim 4, comprising a cavity for a sensing module enclosed in the housing so as to be inaccessible.

10. The device of claim 4, comprising an additional cavity housing the control module separate from at least one of the secondary cavities.

11. The device of claim 4, comprising a secondary cavity detachably receiving one or both of a satellite positioning module and a communication module.

12. The device of claim 4, further comprising an auxiliary work module.

13. The apparatus of claim 4, wherein, Encrypting and / or signing communications to and from the control module.

14. An automated work system comprising a self-moving device and a module operable with the self-moving device, characterized in that The self-moving device comprises: a housing comprising a base and a cover, a main cavity formed between the base and the cover, a movement module mounted on the housing and drivable to cause the device to move, at least one secondary cavity for detachably receiving a detachable module, the secondary cavity being isolated from the main cavity, a work module configured to perform a work task, a control module configured to control the movement module and / or the work module, the control module comprising a main control board disposed in the main cavity, and a communication system connecting the control module with the movement module and with the detachable module when the detachable module is mounted on the housing, wherein the detachable module is different from the movement module and the work module, and a computer readable medium comprising instructions implemented in a computing system to cause the computing system to: monitor the operation of the device; and provide guidance to a user when the user uses the detachable module.

15. The automated work system of claim 14, comprising a server with a computing system remote from the self-moving device, characterized in that, The computing system at the server is configured to implement at least part of the instructions.

16. The automated work system of claim 14, wherein, The guidance comprises an indication as to whether a module is correctly received in a secondary cavity.

17. The automated work system of claim 14, wherein, The guidance indicates to the user which detachable module or modules are mounted on the device.

18. The automated work system of claim 14, wherein, The monitoring comprises detecting mounting and dismounting of the detachable module to compile a connection history of each module at a memory.

19. The automated work system of claim 18, wherein, The control module is configured to determine a total mounting time of one or more of the detachable modules, wherein the guidance comprises an alert generated when the total mounting time of one of the detachable modules exceeds a predetermined time.

20. The automated work system of claim 14, wherein, The detachable module comprises at least one module capable of sensing a working condition of the device, wherein the guidance is provided in response to the sensing.

21. The automated work system of claim 14, wherein, The guidance comprises a recommendation to use an additional or alternative detachable module.

22. The automated work system of claim 21, wherein, The control module is configured to detect collisions of the device with one or more obstacles and to recommend use of a collision avoidance module when a number or rate of collisions exceeds a predetermined threshold.

23. The automated work system of claim 14, configured such that for at least one of the secondary cavities, different modules can be interchangeably received in the same secondary cavity.

24. The automatic working system of claim 14, comprising an ultrasonic module, the ultrasonic module comprising at least two ultrasonic probes and a bracket connected with the ultrasonic probes, so as to be mounted into the sub-cavity through the bracket.

25. A self-moving device, comprising: a housing comprising a base and an upper cover, a main cavity being formed between the base and the upper cover; a moving module mounted on the housing and configured to drive the self-moving device to move; a main working module mounted on the housing and configured to perform a working task; a control module comprising a main control board and configured to control the moving module to drive the self-moving device to move and control the main working module to perform the working task, characterized in that: the main control board is arranged in the main cavity, wherein: the housing further forms at least one sub-cavity, the sub-cavity being isolated from the main cavity; the sub-cavity is configured to detachably mount at least one functional module different from the moving module and the main working module.

26. The self-moving device of claim 25, wherein, the sub-cavity has an opening; a lead wire is drawn out from the main control board, passes through the opening and extends into the sub-cavity; the lead wire is configured to detachably connect the functional module.

27. The self-moving device of claim 26, wherein, the lead wire comprises a power line and a communication line.

28. The self-moving device of claim 26, wherein, the opening is provided with a sealing strip.

29. The self-moving device of claim 26, wherein, the sub-cavity is configured to accommodate terminals of the lead wire and terminals of the functional module.

30. The self-moving device of claim 25, wherein, a lead wire is drawn out from the main cavity and detachably connected to the functional module.

31. The self-moving device of claim 25, wherein, at least part of the structure of the functional module is located outside the sub-cavity.

32. The self-moving device of claim 25, wherein, the self-moving device comprises at least one first interface corresponding to the sub-cavity and capable of connecting with a second interface of the functional module, the first interface comprising a first mechanical interface, the second interface comprising a second mechanical interface, the first mechanical interface being configured to detachably connect with the second mechanical interface.

33. The self-moving device of claim 32, wherein, the first mechanical interface is provided with internal threads, the second mechanical interface is a through hole, the second mechanical interface is configured to pass through a screw, and the first mechanical interface is configured to threadedly connect with the screw.

34. The self-moving device of claim 32, wherein, when the first mechanical interface connects with the second mechanical interface, the functional module covers a groove of the housing formed by the sub-cavity.

35. The self-moving device of claim 25, wherein, the housing comprises at least one cover plate corresponding to the sub-cavity, and the cover plate comprises a shielding state in which the cover plate covers the groove of the housing formed by the sub-cavity.

36. The self-moving device of claim 25, wherein, the at least one sub-cavity is configured to selectively mount different functional modules.

37. The self-moving device of claim 25, wherein, the functional module comprises a boundary detection module, the boundary detection module comprising an ultrasonic module, a camera module or a magnetic detection module.

38. The self-moving device of claim 37, wherein, the sub-cavity mounting the ultrasonic module or the camera module is arranged at an upper part or a front part of the housing.

39. The self-moving device of claim 37, wherein, the sub-cavity mounting the magnetic detection module is arranged at a lower part of the housing.

40. The self-moving device of claim 25, wherein, the functional module comprises an interaction module.

41. The self-moving device of claim 40, wherein, the sub-cavity mounting the interaction module is arranged at a rear part of the housing.

42. The self-moving device of claim 25, wherein, The functional modules include a communication module, which includes a cellular communication module, a Wi-Fi module, a Bluetooth module, or a Sub 1G radio frequency module.

43. The self-moving device of claim 42, wherein, The sub-cavity in which the communication module is installed is disposed at an upper portion of the housing.

44. The self-moving device of claim 25, wherein, The functional modules include a positioning module, which includes a satellite positioning module or a beacon positioning module.

45. The self-moving device of claim 44, wherein, The sub-cavity in which the positioning module is installed is disposed at an upper portion of the housing.

46. The self-moving device of claim 25, wherein, The functional modules include an auxiliary work module, which includes a trimming module.

47. The self-moving device of claim 46, wherein, The sub-cavity in which the auxiliary work module is installed is disposed at a side portion of the housing.

48. An automated work system, comprising a self-moving device according to any one of claims 1 to 47 and a functional module, which is detachably installed in a sub-cavity of the self-moving device.

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