Self-walking operation device

Abstract

The invention provides a self-walking operation device which comprises an equipment body, a walking device and an operation device, at least part of a to-be-protected component is arranged on the surface of the equipment body, and the self-walking operation device moves through the walking device located at the bottom of the equipment body; the operation device is arranged on the equipment body and used for executing preset tasks such as mowing, snow sweeping or cleaning. The self-walking operation device further comprises a repelling device, the repelling device surrounds at least part of the peripheral side of the to-be-protected component, and the repelling device is used for repelling the to-be-repelled body so that a protection area can be formed on the peripheral side of the to-be-protected component, and the to-be-repelled body about to enter the protection area can be repelled. The to-be-repelled body stops moving or changes the moving direction when making contact with the repelling device, the to-be-repelled body is prevented from entering the protection area, and then the to-be-protected part is prevented from being blocked by the to-be-repelled body or being influenced by mucus secreted by the to-be-repelled body.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a self-propelled working device. Background Art

[0002] With the widespread use of self-propelled working devices such as self-propelled lawn mowers, self-propelled snow sweepers, and self-propelled cleaning robots, self-propelled working devices are vulnerable to invasion by small creatures such as snails and slugs. Small creatures such as snails and slugs climb onto the surface of the fuselage, which can easily block the perception of the sensing module, causing the sensitivity of the sensing module to decrease or the obstacle avoidance function to be falsely triggered; the mucus secreted by small creatures such as snails and slugs will corrode the charging electrode, causing the charging electrode to be corroded. However, the current self-propelled working devices are not yet equipped with an effective solution to prevent snails from climbing, which makes the sensing module at risk of being blocked and the charging electrode at risk of being corroded, thereby affecting the positioning and obstacle avoidance functions of the self-propelled working device and damaging the charging electrode, which may lead to a decrease in its working efficiency and accuracy. Based on this, how to improve the avoidance function of the self-propelled working device has become a technical problem that needs to be solved. Summary of the invention

[0003] The main purpose of this application is to propose a self-propelled working device to solve the technical problem of how to improve the avoidance function of the self-propelled working device.

[0004] To achieve the above objectives, the present application provides a self-propelled working device, comprising: A device body, wherein at least one component to be protected is disposed on a surface of the device body; A walking device, which is arranged at the bottom of the equipment body and is used to drive the self-propelled working device to move; An operating device, which is disposed on the equipment body and is used to perform a preset task; and A repelling device surrounds at least a portion of the circumference of the component to be protected to form a protective area on the circumference of at least one component to be protected, so that the subject to be repelled stops moving or changes the direction of movement when contacting the repelling device.

[0005] The self-propelled working device provided in the present application includes a device body, a traveling device, and a working device, wherein at least a portion of the component to be protected is arranged on the surface of the device body, and the self-propelled working device moves through the traveling device located at the bottom of the device body; the working device is arranged on the device body and is used to perform preset tasks, such as mowing, snow removal or cleaning. The self-propelled working device also includes a repelling device, which surrounds at least a portion of the circumference of the component to be protected, and the repelling device is used to repel the subject to be repelled, so as to form a protective area around the side of the component to be protected, so as to repel the subject to be repelled that is about to enter the protective area, so that the subject to be repelled stops moving or changes the direction of movement when contacting the repelling device, so as to avoid the subject to be repelled from entering the protective area, thereby preventing the subject to be repelled from being blocked by the subject to be repelled or being affected by the mucus secreted by the subject to be repelled, so that the self-propelled working device has better repelling function and self-protection function, and improves the reliability of the self-propelled working device.

[0006] In an optional embodiment, the repelling device is arranged around the side and / or top of the device body.

[0007] In an optional implementation, the at least one component to be protected includes a sensor module, and the repelling device is disposed around the sensor module.

[0008] In an optional implementation, the sensor module is located at the top of the device body and / or the rear of the device body.

[0009] In an optional embodiment, the at least one component to be protected includes a charging component, and the repelling device is arranged around the charging component.

[0010] In an optional embodiment, the charging component is located at the rear, front, or side of the device body.

[0011] In an optional implementation, the repelling device is used to generate a repelling current to repel the subject to be repelled.

[0012] In an optional embodiment, the repelling device includes a first electrode and a second electrode. When the subject to be repelled contacts the first electrode and the second electrode at the same time, a conductive loop is formed between the first electrode and the second electrode and a repelling current is generated.

[0013] In an optional implementation, the first electrode is electrically connected to a positive electrode of a power source, and the second electrode is electrically connected to a negative electrode of a power source.

[0014] In an optional implementation, the first electrode and the second electrode include a plurality of each, and the plurality of first electrodes and the plurality of second electrodes are alternately arranged at intervals.

[0015] In an optional implementation, the first electrode and the second electrode are electrically connected to two positive voltage output terminals of a power supply, respectively, and there is a potential difference between the two positive voltage output terminals.

[0016] In an optional embodiment, the repelling device further includes a plurality of third electrodes, wherein the plurality of third electrodes are located between the first electrode and the second electrode, the first electrode is located on a side away from the component to be protected, and the second electrode is located on a side close to the component to be protected.

[0017] In an optional implementation, in a direction from the first electrode toward the second electrode, the potential difference between two adjacent third electrodes increases sequentially.

[0018] In an optional implementation, the first electrode is a ring electrode, and the second electrode is a ring electrode; or, The first electrode is a planar spiral electrode, and the second electrode is a planar spiral electrode.

[0019] In an optional embodiment, the first electrode and the second electrode include a plurality of each, the plurality of first electrodes and the plurality of second electrodes are crisscrossed, the plurality of first electrodes are arranged in sequence at intervals, and the plurality of second electrodes are arranged in sequence at intervals.

[0020] In an optional embodiment, the plurality of first electrodes include alternately arranged first positive electrodes and first negative electrodes, the plurality of second electrodes include alternately arranged second positive electrodes and second negative electrodes, the first positive electrodes and the second negative electrodes are electrically isolated at their intersection, and the first negative electrodes and the second positive electrodes are electrically isolated at their intersection.

[0021] In an optional implementation, the first positive electrode is electrically connected to the second positive electrode at a junction therebetween, and the first negative electrode is electrically connected to the second negative electrode at a junction therebetween.

[0022] In an optional embodiment, the plurality of first electrodes include a plurality of third positive electrodes, the plurality of second electrodes include a plurality of fourth positive electrodes, and the intersections between each of the third positive electrodes and each of the fourth positive electrodes are electrically isolated.

[0023] In an optional implementation, the second electrode is arranged to protrude relative to the first electrode.

[0024] In an optional embodiment, a plurality of conductive portions distributed at intervals are provided on the second electrode, and the plurality of conductive portions are electrically connected to the second electrode respectively and are protruded relative to the first electrode.

[0025] In an optional embodiment, the repelling device includes a conductive layer, two ends of which are electrically connected to the positive and negative electrodes of a power source, respectively, for applying electrical stimulation to the subject to be repelled when the subject contacts the conductive layer.

[0026] In an optional embodiment, the repelling device includes a galvanic battery electrode, and when the subject to be repelled contacts the galvanic battery electrode, a current is generated through the galvanic battery effect to apply electrical stimulation to the subject to be repelled.

[0027] In an optional embodiment, the galvanic cell electrode comprises a copper layer.

[0028] In an optional embodiment, the repelling device further includes a first power supply, the positive electrode of the first power supply is electrically connected to the first electrode, the negative electrode of the first power supply is electrically connected to the second electrode, and the first electrode and the second electrode are connected through the subject to be repelled to generate a repelling current; or, The self-propelled working device includes a second power supply, the positive pole of the first power supply is electrically connected to the first electrode, the negative pole of the first power supply is electrically connected to the second electrode, and the first electrode and the second electrode are connected through the main body to be repelled to generate a repelling current.

[0029] In an optional embodiment, the repelling device includes a spike structure, which is protruding from the surface of the device body and surrounding the peripheral side of the component to be protected.

[0030] In an optional embodiment, the repelling device is detachably connected to the equipment body.

[0031] In an optional embodiment, a receiving groove is provided on the surface of the device body, and the repelling device includes a mounting portion, which is embedded in the receiving groove and at least partially protrudes from the surface of the device body.

[0032] In an optional embodiment, the self-propelled working device further includes a controller, the component to be protected includes a humidity sensor, and the humidity sensor is electrically connected to the controller; the controller is at least used to control the repelling device to be electrically connected to a power supply when the humidity sensor detects that the humidity is greater than or equal to a humidity threshold; or, The controller is used to control the repelling device to be electrically connected to a power source when the self-propelled working device is in a charging state or a working state. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments are briefly introduced below.

[0034] Figure 1It is a side view schematic diagram of a self-propelled working device provided in an embodiment of the present application; Figure 2 It is a three-dimensional diagram from the rear end perspective of a self-propelled working device provided in an embodiment of the present application; Figure 3 It is a stereoscopic diagram from the front-end perspective of a self-propelled working device provided in an embodiment of the present application; Figure 4 It is a schematic diagram of a repelling device of a self-propelled working device provided in an embodiment of the present application, which is arranged at a position near the bottom of the side of the device body; Figure 5 It is a schematic diagram of a self-propelled working device provided by an embodiment of the present application, in which a repelling device is arranged on the side of the device body at a position higher than the front running wheels and the rear running wheels; Figure 6 The embodiment of the present application provides a schematic diagram of a self-propelled working device provided with a repelling device disposed on the side of the device body near the top. Figure 1 ; Figure 7 The embodiment of the present application provides a schematic diagram of a self-propelled working device provided with a repelling device disposed on the side of the device body near the top. Figure 2 ; Figure 8 is a structural schematic diagram of a first repelling device provided in an embodiment of the present application; Fig. 9 is a structural schematic diagram of a second repelling device provided in an embodiment of the present application; Fig.10 is a schematic structural diagram of a third repelling device provided in an embodiment of the present application; Fig.11 is a schematic structural diagram of a fourth repelling device provided in an embodiment of the present application; Fig.12 is a structural schematic diagram of a fifth repelling device provided in an embodiment of the present application; Fig.13 is a structural schematic diagram of a sixth repelling device provided in an embodiment of the present application; Fig.14 is a structural schematic diagram of a seventh repelling device provided in an embodiment of the present application; Fig.15 is a schematic structural diagram of an eighth repelling device provided in an embodiment of the present application; Fig.16 is a schematic structural diagram of a ninth repelling device provided in an embodiment of the present application; Fig.17 is a schematic structural diagram of a tenth repelling device provided in an embodiment of the present application; Fig.18is a schematic structural diagram of an eleventh repelling device provided in an embodiment of the present application; Fig.19 is a schematic structural diagram of a twelfth repelling device provided in an embodiment of the present application; Fig. 20 is a schematic structural diagram of a thirteenth repelling device provided in an embodiment of the present application; Fig.21 It is a structural schematic diagram of an installation method of the repelling device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0035] The technical solution of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the embodiments described in the present application are only a part of the embodiments, not all of the embodiments. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of the present application.

[0036] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it mutually exclusive, independent, or alternative to other embodiments. It can be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0037] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example: a component or device including one or more parts is not limited to the one or more parts listed, but optionally includes one or more parts that are not listed but inherent to the exemplified product, or one or more parts that it should have based on the described function.

[0038] See also Figure 1 The present application proposes an outdoor self-propelled working device 100 for working in a family garden, a manor, a hotel, etc. The self-propelled working device 100 includes but is not limited to a lawn mower, a snow sweeper, a cleaning robot, etc.

[0039] At present, the self-propelled working device 100 generally lacks protection design against small creatures such as snails and slugs. These creatures can easily climb onto the surface of the fuselage during the operation of the equipment, causing signal obstruction to the self-propelled working device 100; the mucus secreted by these small creatures may corrode the metal structure of the self-propelled working device 100.

[0040] The embodiment of the present application takes a lawn mower as an example. The body shell of the lawn mower is provided with visual sensors, laser radars and other perception modules. If a snail climbs onto the body shell of the lawn mower and blocks key perception modules such as visual sensors or laser radars. This blocking phenomenon will cause the positioning accuracy of the equipment to decrease and the environmental perception capability to weaken. In severe cases, it may cause the obstacle avoidance function to fail, affecting the normal working performance and safety reliability of the lawn mower. If a snail climbs to the charging electrode, the mucus produced by the snail will corrode the charging electrode, causing the charging of the lawn mower to be blocked.

[0041] Current lawn mowers are not equipped with an effective solution to prevent snails from climbing, which makes the visual module or lidar easily blocked and the charging electrode easily corroded, thus affecting the positioning and obstacle avoidance functions of the lawn mower and damaging the charging electrode, which may lead to a decrease in its working efficiency and accuracy.

[0042] See also Figure 1 and Figure 2 Based on the above problems, the present application proposes a self-propelled working device 100, which includes an equipment body 10, a walking device 20, a working device 30 and at least one repelling device 40.

[0043] See also Figure 1 and Figure 2 The device body 10 includes a body shell 11.

[0044] See also Figure 1 and Figure 2 , at least one component to be protected 12 is disposed on the surface of the device body 10. Further optionally, at least one component to be protected 12 is disposed on the surface of the body shell 11. The component to be protected 12 includes but is not limited to a sensing module 121 or a charging component 122 that is easily affected by small organisms such as snails and slugs.

[0045] See also Figure 1 , Figure 2 and Figure 3 , the walking device 20 is arranged at the bottom of the equipment body 10, and is used to drive the self-propelled working device 100 to move. Optionally, the walking device 20 includes a front walking wheel assembly 21 and a rear walking wheel assembly 22. Among them, the front walking wheel assembly 21 includes but is not limited to a universal wheel arranged at the bottom of the equipment body 10 near the front end; or, two front walking wheels 211 are arranged on both sides of the equipment body 10 and near the front end, and the two front walking wheels are connected to the fuselage shell 11 through a first connecting structure 212. The rear walking wheel assembly 22 includes but is not limited to two rear walking wheels 221 are arranged on both sides of the equipment body 10 and near the rear end, and the two rear walking wheels 221 are connected to the fuselage shell 11 through a second connecting structure 222.

[0046] The working device 30 is arranged on the equipment body 10 and is used to perform a preset task. Optionally, the self-propelled working device 100 is a lawn mower, and the working device 30 is a cutting device. Optionally, the self-propelled working device 100 is a snow sweeper, and the working device 30 is a snow sweeping device. Optionally, the self-propelled working device 100 is a cleaning robot, and the working device 30 is a cleaning roller brush device.

[0047] The repelling device 40 surrounds at least a portion of the circumference of the component to be protected 12 to form a protective area 13 on the circumference of the component to be protected 12 , so that the subject to be repelled stops moving or changes the direction of movement when contacting the repelling device 40 .

[0048] At least part of the circumference of the component 12 to be protected includes at least one of the front side, the left side, the rear side, and the right side of the component 12 to be protected.

[0049] The repelling device 40 is disposed at least partially around the protected component 12 to form a protective area 13 around the protected component 12 so that the subject to be repelled stops moving or changes its direction of movement when it contacts the repelling device 40 .

[0050] For example, the repelling device 40 is disposed on at least one of the front side, left side, rear side, and right side of the component to be protected 12. Specifically, the repelling device 40 may be annular; or, the repelling device 40 may be in an open shape such as a straight line, an arc, a semi-annular shape, a zigzag line, a dot matrix, a linear array, etc.

[0051] For example, the repelling device 40 may be annular in shape, and the annular repelling device 40 surrounds the circumference of the component 12 to be protected.

[0052] Optionally, the repelling device 40 is in an open shape such as a straight line, an arc, a semi-circular shape, a bending line, a dot matrix, a linear array, etc.

[0053] For example, a repelling device 40 is semi-annular, and a semi-annular repelling device 40 is arranged on the peripheral side of the component to be protected 12, for example, arranged on the path of the component to be protected 12 where snails often crawl.

[0054] For another example, the two repelling devices 40 are semi-annular, and the two semi-annular repelling devices 40 are combined to form a ring shape, which is arranged around the circumference of the component 12 to be protected.

[0055] For another example, the plurality of repelling devices 40 are in an arc shape, and the plurality of repelling devices 40 in an arc shape are combined to form a ring shape, which is disposed around the circumference of the component 12 to be protected.

[0056] For ease of explanation, this embodiment takes the repelling device 40 as an example, which is annular and arranged around the component to be protected 12. Of course, the implementation of the repelling device 40 in other open structures can refer to this embodiment.

[0057] The subjects to be repelled include but are not limited to small reptiles such as snails and slugs, so as to prevent these creatures from affecting the operation of the sensing module 121 of the lawn mower or corroding the metal parts of the lawn mower.

[0058] The sensing module 121 includes but is not limited to at least one of a visual sensor, an ultrasonic sensor, a laser radar, a rain detector, and a humidity sensor.

[0059] The present application does not specifically limit the repelling device 40. The repelling device may be an electric shock repelling device or a physical repelling device, such as a thorn net with a spike structure.

[0060] The number of the components 12 to be protected may be one or more.

[0061] When the number of components 12 to be protected is one, the number of repelling devices 40 is one, and one repelling device 40 is arranged on the peripheral side of the component 12 to be protected to form a protective area 13 on the peripheral side of the component 12 to be protected, so as to repel the subject to be repelled that is about to enter the protective area 13, for example, to make the subject to be repelled stop moving or change the direction of movement when contacting the repelling device 40, so as to avoid the subject to be repelled from entering the protective area 13, thereby preventing the component to be protected 12 from being blocked by the subject to be repelled or being affected by the mucus secreted by the subject to be repelled.

[0062] When there is one component 12 to be protected, there are multiple repelling devices 40, and the multiple repelling devices 40 can be arranged in a ring shape around the component 12 to be protected; or each repelling device 40 is arranged around the component 12 to be protected, and the multiple repelling devices 40 are distributed inside and outside the component 12 to be protected, so as to form a protective area 13 around the component 12 to be protected, so as to repel the subject to be repelled that is about to enter the protective area 13, for example, to make the subject to be repelled stop moving or change the direction of movement when contacting the repelling device 40, so as to avoid the subject to be repelled from entering the protective area 13, thereby preventing the subject to be repelled from entering the protective area 13, thereby preventing the component to be protected 12 from being blocked by the subject to be repelled or being affected by the mucus secreted by the subject to be repelled.

[0063] See also Figure 3When there are multiple components 12 to be protected, there is one repelling device 40, and one repelling device 40 is arranged around the multiple components 12 to be protected to form a protective area 13 around the multiple components 12 to be protected, so as to repel the subject to be repelled that is about to enter the protective area 13, for example, to make the subject to be repelled stop moving or change the direction of movement when contacting the repelling device 40, so as to prevent the subject to be repelled from entering the protective area 13, thereby preventing the component to be protected 12 from being blocked by the subject to be repelled or being affected by the mucus secreted by the subject to be repelled. For example, one repelling device 40 surrounds and forms a region to be protected 13, and multiple components to be protected 12 are all located in the region to be protected 13.

[0064] See also Figure 2 , when there are multiple components 12 to be protected, there are multiple repelling devices 40. Optionally, multiple repelling devices 40 are arranged to form a protective area 13, and multiple components 12 to be protected are all located in the protective area 13; or, multiple repelling devices 40 are arranged to form multiple protective areas 13, and multiple components 12 to be protected are respectively located in multiple protective areas 13, so as to repel the subject to be repelled that is about to enter the multiple protective areas 13, for example, to make the subject to be repelled stop moving or change the direction of movement when contacting the repelling device 40, so as to avoid the subject to be repelled from entering the protective area 13, thereby preventing the component to be protected 12 from being blocked by the subject to be repelled or being affected by the mucus secreted by the subject to be repelled.

[0065] Generally, a portion of the perception module 121 is exposed from the body shell 11. For example, the visual sensor is exposed from the body shell 11, and the self-propelled working device 100 is positioned and obstacles are detected by collecting images or light. If a snail climbs onto the visual sensor of the body shell 11, it will block the visual sensor from transmitting or receiving images or light, resulting in inaccurate signal collection by the visual sensor, which in turn leads to problems such as inaccurate positioning accuracy of the equipment or confusion of obstacle avoidance functions. In addition, the laser radar is exposed from the body shell 11, and the self-propelled working device 100 is positioned by transmitting and receiving radar signals. If a snail climbs onto the laser radar of the body shell 11, it will block the laser radar from transmitting or receiving images or light, resulting in inaccurate signal collection by the laser radar, which in turn leads to problems such as inaccurate positioning accuracy of the equipment. For example, the charging electrode sheet is exposed on the body shell 11 and is used to dock with the charging interface on the charging pile to charge the self-propelled working device 100. If a snail crawls onto the charging electrode sheet of the body shell 11, since the charging electrode sheet is made of metal, the mucus secreted by the snail will corrode the charging electrode sheet, causing the charging electrode sheet to be corroded, thereby affecting the charging efficiency of the self-propelled working device 100.

[0066] The self-propelled working device 100 provided in the present application includes an equipment body 10, a walking device 20, and an working device 30, wherein at least a portion of the component 12 to be protected is arranged on the surface of the equipment body 10, and the self-propelled working device 100 is moved by the walking device 20 located at the bottom of the equipment body 10; the working device 30 is arranged on the equipment body 10, and is used to perform preset tasks, such as mowing, snow sweeping or cleaning. The self-propelled working device 100 also includes at least one repelling device 40, which is arranged on the peripheral side of at least one component 12 to be protected. The repelling device 40 is used to repel the subject to be repelled, so as to form a protective area 13 on the peripheral side of at least one component 12 to be protected, so as to repel the subject to be repelled that is about to enter the protective area 13, so that the subject to be repelled stops moving or changes the direction of movement when contacting the repelling device 40, so as to avoid the subject to be repelled from entering the protective area 13, thereby preventing the component 12 to be protected from being blocked by the subject to be repelled or being affected by the mucus secreted by the subject to be repelled, so that the self-propelled working device 100 has better repelling function and self-protection function, thereby improving the reliability of the self-propelled working device 100.

[0067] The position of the repelling device 40 on the device body 10 is specifically described below with reference to the accompanying drawings.

[0068] For ease of explanation, the part of the self-propelled working device 100 facing the ground is defined as the bottom, and the part of the self-propelled working device 100 facing away from the ground is defined as the top. The self-propelled working device 100 also has a side portion connected between the top and the bottom, and the side portion of the self-propelled working device 100 can be the peripheral side surface of the self-propelled working device 100. Among the peripheral side surfaces of the self-propelled working device 100, one end in the forward direction of the self-propelled working device 100 is the front end, and one end in the backward direction of the self-propelled working device 100 is the rear end. The self-propelled working device 100 also has two side surfaces connected between the top and the bottom, and these two side surfaces are respectively recorded as the first side surface and the second side surface.

[0069] When the self-propelled working device 100 is set on the ground, the way for the subject to be avoided to climb onto the self-propelled working device 100 includes: Figure 1 , Path 1-The subject to be repelled climbs from the front wheel assembly 21 (such as a universal wheel) and the bottom of the self-propelled working device 100 to a position near the bottom of the peripheral side of the self-propelled working device 100 (see Figure 1 Refer to Figure 3 , Path 2: The subject to be repelled climbs to a position near the top of the side surface of the self-propelled working device 100 via stones, steps or walls near the self-propelled working device 100 (see Figure 3 Refer to Figure 3, Path 3: The subject to be repelled climbs to a position near the top of the side surface of the self-propelled working device 100 via the front running wheel 211 or the rear running wheel 221 (see Figure 3 Refer to Figure 2 and Figure 3 , Path 4: The subject to be repelled climbs to a position near the top of the side surface of the self-propelled working device 100 through the connection structure (the first connection structure 212 or the second connection structure 222) between the walking wheel and the fuselage shell 11 (see Figure 2 and Figure 3 (as indicated by the ④ arrow in the middle).

[0070] See also Figure 4-Figure 9 , the repelling device 40 is arranged around the side of the device body 10. In other words, the arrangement path of the repelling device 40 is at least located at the side of the device body 10.

[0071] The area surrounded by the repelling device 40 on the surface of the equipment body 10 is the protection area 13. It should be noted that the side of the equipment body 10 can be the peripheral side of the self-propelled working device 100 mentioned above.

[0072] For the first alternative implementation, see Figure 1 and Figure 4 The repelling device 40 is disposed around the side surface of the device body 10 and close to the bottom. In other words, the repelling device 40 is disposed at least around the side surface of the device body 10 and close to the bottom. Figure 4 The position indicated by S1 in .

[0073] The area surrounded by the repelling device 40 on the surface of the equipment body 10 is the protection area 13. It should be noted that the peripheral side of the equipment body 10 can be the peripheral side of the aforementioned self-propelled working device 100; the bottom of the equipment body 10 can be the bottom of the aforementioned self-propelled working device 100.

[0074] In this embodiment, by surrounding the repelling device 40 and circumferentially disposed on the side surface of the equipment body 10 and close to the bottom, the subject to be repelled that climbs along the path 1 (from the front walking wheel assembly 21 and the bottom of the self-propelled working device 100 to the side surface of the self-propelled working device 100 close to the bottom) to the side surface of the self-propelled working device 100 close to the bottom can be effectively repelled. When the subject to be repelled climbs along the path 1 to a position near the bottom of the peripheral side of the self-propelled working device 100, it will encounter the repelling device 40. The repelling device 40 performs electrical stimulation by releasing a small current, or blocks the subject to be repelled from continuing to move forward by providing physical stimulation such as spikes, so that the subject to be repelled stops moving or changes its direction of movement when it contacts the repelling device 40, thereby preventing the subject to be repelled from entering the protection area 13, and further preventing the protected component 12 from being blocked by the subject to be repelled or affected by the mucus secreted by the subject to be repelled, so that the self-propelled working device 100 has better repelling function and self-protection function, thereby improving the reliability of the self-propelled working device 100.

[0075] Optionally, when the subject to be repelled climbs along path 2 (the subject to be repelled climbs to a position near the top of the peripheral side of the self-propelled working device 100 via stones, steps or walls near the self-propelled working device 100), along path 3 (the subject to be repelled climbs to a position near the top of the peripheral side of the self-propelled working device 100 via the rear walking wheels 221) or path 4 (the subject to be repelled climbs to a position near the top of the peripheral side of the self-propelled working device 100 via the first connecting structure 212 or the second connecting structure 222), it may directly pass over the repelling device 40 provided by the first optional embodiment. Based on this, the present application also provides the following layout position of the repelling device 40.

[0076] For the second alternative implementation, see Figure 2 , Figure 3 and Figure 5 The repelling device 40 is arranged around the side of the equipment body 10 and is higher than the first connection structure 212 and the second connection structure 222. When the repelling subject climbs along the first connection structure 212 or the second connection structure 222 (path 4) to the surrounding side of the self-propelled working device 100, it will encounter the repelling device 40, which performs electrical stimulation by releasing a small current or by setting physical stimulation such as spikes to block the subject to be repelled from moving forward, so that the subject to be repelled stops moving or changes its direction of movement when it contacts the repelling device 40, avoiding the subject to be repelled from entering the protection area 13, thereby avoiding the protected part 12 from being blocked by the subject to be repelled or being affected by the mucus secreted by the subject to be repelled, so that the self-propelled working device 100 has better repelling function and self-protection function, and improves the reliability of the self-propelled working device 100.

[0077] For further optional information, see Figure 5 , the setting path of the repelling device 40 is located on the side of the equipment body 10 and is higher than the positions of the front running wheel 211 and the rear running wheel 221. When the repelling subject climbs along the rear running wheel 221 (path 3) to the surrounding side of the nearby self-propelled working device 100, it will encounter the repelling device 40, which performs electrical stimulation by releasing a small current or by setting physical stimulation such as spikes to block the subject to be repelled from continuing to move forward, so that the subject to be repelled stops moving or changes its direction of movement when it contacts the repelling device 40, avoiding the subject to be repelled from entering the protection area 13, thereby avoiding the protected part 12 from being blocked by the subject to be repelled or being affected by the mucus secreted by the subject to be repelled, so that the self-propelled working device 100 has better repelling function and self-protection function, and improves the reliability of the self-propelled working device 100.

[0078] Since the repelling device 40 in this embodiment is arranged around the surrounding side of the equipment body 10, when the repelling body climbs to the surrounding side of the self-propelled working device 100 along the path 2 (the body to be repelled passes through the stones, steps or walls near the self-propelled working device 100), it will encounter the repelling device 40. The repelling device 40 performs electrical stimulation by releasing a small current, or blocks the body to be repelled from continuing to move forward by providing physical stimulation such as spikes, so that the body to be repelled stops moving or changes its direction of movement when it contacts the repelling device 40, thereby preventing the body to be repelled from entering the protection area 13, and further preventing the protected component 12 from being blocked by the body to be repelled or affected by the mucus secreted by the body to be repelled, so that the self-propelled working device 100 has better repelling function and self-protection function, thereby improving the reliability of the self-propelled working device 100.

[0079] For further optional information, see Figure 6 and Fig. 9 , the repelling device 40 can be arranged around the side surface of the equipment body 10 and close to the top. In this way, the repelling device 40 is arranged at a relatively high position, and the protective area 13 surrounded by the repelling device 40 is close to the top of the equipment body 10 (i.e., the top of the self-propelled working device 100). When the repelling body climbs to the side surface of the self-propelled working device 100 along the path 2 (the body to be repelled passes through the stones, steps or walls near the self-propelled working device 100), even if the stones, steps or walls on which the body to be repelled is placed are at a high height, it will not enter the protective area 13 surrounded by the repelling device 40.

[0080] See also Figure 2 and Figure 3The repelling device 40 can also be arranged around the top of the device body 10, and the top of the device body 10 is provided with a component to be protected 12. The repelling device 40 can also be arranged around the top of the device body 10 to protect the component to be protected 12 on the top.

[0081] Further optionally, the repelling device 40 can also be arranged around the top and side of the device body 10. In this embodiment, one repelling device 40 is arranged around the side of the device body 10, and another repelling device 40 is arranged around the top of the device body 10, thereby providing double protection for the top part 12 to be protected. The snails that climb onto the device body 10 through the aforementioned paths 1, 2, 3, and 4 can be effectively protected.

[0082] The following embodiments of the present application provide specific examples for illustrating the specific structure of the component to be protected 12 and the position of the repelling device 40 .

[0083] Optional, see Figure 1 and Figure 2 , at least one component to be protected 12 includes a sensor module 123. The repelling device 40 is arranged around the sensor module 123. The sensor module 123 includes but is not limited to a sensing module 121. The sensing module 121 includes but is not limited to at least one of a visual sensor, an ultrasonic sensor, a laser radar, a rain detector, and a humidity sensor.

[0084] In this embodiment, the repelling device 40 is arranged around the sensor module 123, so that the sensor module 123 is located in the protection area 13, so as to prevent the subject to be avoided from entering the protection area 13, thereby preventing the sensor module 123 from being blocked by the subject to be avoided or being affected by the mucus secreted by the subject to be avoided, resulting in inaccurate detection and other problems, thereby improving the detection accuracy and reliability of the self-propelled working device 100.

[0085] Further optionally, the sensor module 123 is located at the top of the device body 10 and / or the rear of the device body 10. Specific implementations include the following: See also Figure 2The sensor module 123 is located at the top of the device body 10, and the sensor module 123 includes at least one of a visual sensor, an ultrasonic sensor, a laser radar, a rain detector, a humidity detector, etc. The repelling device 40 is arranged around the top of the device body 10, and surrounds the peripheral side of the sensor module 123 of at least one of the visual sensor, the ultrasonic sensor, the laser radar, the rain detector, the humidity detector, etc., so as to effectively protect at least one of the visual sensor, the ultrasonic sensor, the laser radar, the rain detector, the humidity detector, etc., and prevent at least one of the visual sensor, the ultrasonic sensor, the laser radar, the rain detector, the humidity detector, etc. from being blocked by the subject to be repelled or being affected by the mucus secreted by the subject to be repelled.

[0086] See also Figure 1 The sensor module 123 is located at the rear of the device body 10, and the sensor module 123 includes an infrared sensor, etc. The repelling device 40 is arranged around the rear of the device body 10 and surrounds the infrared sensor, etc. The sensor module 123 is used to effectively protect the infrared sensor, etc., and prevent at least one of the infrared sensor, etc. from being blocked by the subject to be repelled or being affected by the mucus secreted by the subject to be repelled.

[0087] See also Figure 2 The sensor module 123 is located at the top and the tail of the device body 10, and the sensor module 123 includes at least one of a visual sensor, an ultrasonic sensor, a laser radar, a rain detector, a humidity detector, etc., and an infrared sensor, etc. The repelling device 40 is arranged around the top and the tail of the device body 10, and surrounds the sensor module 123 such as the visual sensor, the ultrasonic sensor, the laser radar, the rain detector, the humidity detector, etc., and the infrared sensor, so as to effectively protect the visual sensor, the ultrasonic sensor, the laser radar, the rain detector, the humidity detector, etc., and the infrared sensor, etc., and prevent the visual sensor, the ultrasonic sensor, the laser radar, the rain detector, the humidity detector, etc., and the infrared sensor, etc. from being blocked by the subject to be repelled or affected by the mucus secreted by the subject to be repelled.

[0088] Optional, see Figure 2 The at least one component to be protected 12 includes a charging component 122. The repelling device 40 is arranged around the peripheral side of the charging component 122. The charging component 122 includes but is not limited to a charging interface, a charging electrode, or a charging terminal.

[0089] In this embodiment, a repelling device 40 is arranged around the charging component 122 such as a charging interface, a charging electrode, or a charging terminal, so that the charging component 122 such as the charging interface, the charging electrode, or the charging terminal is located in the protection area 13, thereby preventing the subject to be repelled from entering the protection area 13, thereby preventing the charging component 122 such as the charging interface, the charging electrode, or the charging terminal from being blocked by the subject to be repelled or being affected by the mucus secreted by the subject to be repelled, resulting in low charging efficiency, even failure to charge or charging short circuit, etc., thereby improving the charging protection capability of the self-propelled working device 100.

[0090] Further optionally, the charging component 122 is located at the rear, front, or side of the device body 10. Specific implementations include the following: The charging components 122 such as the charging interface, the charging electrode, or the charging terminal are located at the rear of the device body 10. The repelling device 40 is arranged around the rear of the device body 10 and surrounds the charging components 122 such as the charging interface, the charging electrode, or the charging terminal to effectively protect the charging components 122 such as the charging interface, the charging electrode, or the charging terminal, so as to prevent the charging components 122 such as the charging interface, the charging electrode, or the charging terminal from being blocked by the subject to be repelled or corroded by the mucus secreted by the subject to be repelled, thereby improving the charging protection capability of the self-propelled working device 100.

[0091] The charging components 122 such as the charging interface, the charging electrode, or the charging terminal are located at the front end of the device body 10. The repelling device 40 is arranged around the front end of the device body 10 and surrounds the charging components 122 such as the charging interface, the charging electrode, or the charging terminal to effectively protect the charging components 122 such as the charging interface, the charging electrode, or the charging terminal to prevent the charging components 122 such as the charging interface, the charging electrode, or the charging terminal from being blocked by the subject to be repelled or corroded by the mucus secreted by the subject to be repelled, thereby improving the charging protection capability of the self-propelled working device 100.

[0092] The charging components 122 such as the charging interface, the charging electrode, or the charging terminal are located on the side (including the first side and / or the second side) of the device body 10. The repelling device 40 is arranged around the side of the device body 10 and surrounds the charging components 122 such as the charging interface, the charging electrode, or the charging terminal to effectively protect the charging components 122 such as the charging interface, the charging electrode, or the charging terminal to prevent the charging components 122 such as the charging interface, the charging electrode, or the charging terminal from being blocked by the subject to be repelled or corroded by the mucus secreted by the subject to be repelled, thereby improving the charging protection capability of the self-propelled working device 100.

[0093] Optionally, the repelling device 40 is used to generate a repelling current to repel the subject to be repelled.

[0094] In this embodiment, the repellent device 40 is an electric stimulation device. When the subject to be repelled, such as a snail, crawls and contacts the electric stimulation device, the microcurrent generated by the electric stimulation device will be transmitted to the snail's body, causing the snail to receive a slight electric shock and feel uncomfortable, thereby changing its crawling direction and moving away from the area where the repellent device 40 is located (i.e., the protection area 13), thereby repelling the snail and preventing the protected component 12 in the protection area 13 from being blocked by the snail or affected by the mucus secreted by the snail.

[0095] Optionally, the repelling current generated by the repelling device 40 is a microcurrent. The repelling current intensity generated by the repelling device 40 is less than the first preset current intensity. The first preset current intensity is 2mA. The present application does not specifically limit the repelling current intensity generated by the repelling device 40. Optionally, the current range of the repelling current is milliampere or microampere current, which will not pose a threat to the human body and will not cause fatal harm to the snail, but will only make the snail feel uncomfortable. For example, the current intensity of the repelling current can be, but is not limited to, any one of 10μA, 50μA, 100μA, 200μA, 300μA, 400μA, 500μA, 600μA, 700μA, 800μA, 900μA, 1mA, etc., or data between any two of them.

[0096] The following embodiments illustrate the specific structure of the repelling device 40. Of course, the repelling device 40 provided in the present application includes but is not limited to the following embodiments.

[0097] In the first optional embodiment of the repelling device 40, please refer to Figure 8 The repelling device 40 includes a first electrode 41 and a second electrode 42 .

[0098] Optionally, the arrangement of the first electrode 41 and the second electrode 42 includes, but is not limited to, parallel arrangement, non-parallel and non-intersecting arrangement, and intersecting but electrically isolated arrangement. In this embodiment, the parallel arrangement between the first electrode 41 and the second electrode 42 is taken as an example. In this embodiment, the extension direction of the first electrode 41 and the second electrode 42 is not specifically limited.

[0099] When the subject to be repelled contacts the first electrode 41 and the second electrode 42 at the same time, a conducting loop is formed between the first electrode 41, the subject to be repelled and the second electrode 42, and a repelling current is generated. The repelling current is a microcurrent, which is transmitted to the snail's body, causing the snail to receive a slight electric shock and feel uncomfortable, thereby changing the crawling direction and moving away from the area where the repelling device 40 is located (i.e., the protection area 13), thereby repelling the snail and preventing the protected component 12 in the protection area 13 from being blocked by the snail or affected by the mucus secreted by the snail.

[0100] Further optionally, the first electrode 41 is electrically connected to the positive electrode of the power supply, and the second electrode 42 is electrically connected to the negative electrode of the power supply.

[0101] The power source includes but is not limited to the power source of the self-propelled working device 100, or a micro power source formed by providing voltage to the power source of the self-propelled working device 100, or a repelling power source provided by the repelling device 40. The power source will be described in detail with examples later.

[0102] In this embodiment, the first electrode 41 is a positive electrode, and the second electrode 42 is a negative electrode. In the initial state, the first electrode 41 and the second electrode 42 are in an open circuit state. When the subject to be repelled contacts the first electrode 41 and the second electrode 42 at the same time, the first electrode 41 and the second electrode 42 are electrically connected. Among them, a preset potential difference is formed between the first electrode 41 and the second electrode 42. When the subject to be repelled contacts the first electrode 41 and the second electrode 42 at the same time, a conductive loop is formed between the first electrode 41, the subject to be repelled and the second electrode 42, and a repelling current is generated, so that the subject to be repelled receives a slight electric shock and produces discomfort, thereby changing the crawling direction and moving away from the area where the repelling device 40 is located (i.e., the protection area 13).

[0103] Optionally, the distance between the first electrode 41 and the second electrode 42 is greater than or equal to a first preset distance, and less than or equal to a second preset distance.

[0104] For example, the first preset spacing is 0.1 cm, and the second preset spacing is 1 cm. If the spacing between the first electrode 41 and the second electrode 42 is too large, some small snails may not be able to contact the first electrode 41 and the second electrode 42 at the same time, thereby causing a conduction loop to be unable to be formed between the first electrode 41 and the second electrode 42, and some small snails will not generate a repelling current when passing through the repelling device 40, causing the repelling device 40 to be unable to prevent some small snails from blocking the protected component 12 or affecting the protected component 12 with the mucus they secrete.

[0105] If the distance between the first electrode 41 and the second electrode 42 is too small, the first electrode 41 and the second electrode 42 may be directly connected to each other, thereby causing a short circuit.

[0106] For example, the first preset spacing is 0.1 cm, and the second preset spacing is 0.5 cm. Generally, the width of a snail is about 0.6 cm. By setting the spacing between the first electrode 41 and the second electrode 42 to be greater than or equal to 0.1 cm and less than or equal to 0.5 cm, even if the snail crawls along the gap between the first electrode 41 and the second electrode 42, it will contact the first electrode 41 and the second electrode 42 at the same time, thereby preventing the snail from crawling along the gap between the first electrode 41 and the second electrode 42, and the snail can be driven away from the repellent device 40 as soon as possible, further reducing the probability of the snail entering the protection area 13, and improving the repellent rate for the snail.

[0107] The following embodiments of the present application illustrate the shape of the first electrode 41 and the shape of the second electrode 42 by way of example.

[0108] In the first embodiment of the optional electrode shape, please refer to Figure 8 The first electrode 41 is a ring electrode. The second electrode 42 is a ring electrode.

[0109] For example, the first electrode 41 is in a ring shape and the second electrode 42 is in a ring shape. The first electrode 41 is disposed around the circumference of the component to be protected 12 (specifically, it can be designed in combination with the position of the aforementioned repellent device 40 ).

[0110] See also Figure 8 The repelling device 40 further includes a first extension electrode 43, one end of which is electrically connected to the first electrode 41, and the other end of which is electrically connected to the positive electrode of the power supply. For example, the positive electrode of the power supply is located in the device body 10, the first electrode 41 is disposed on the outer surface of the device body 10, one end of the first extension electrode 43 contacts the outer surface of the device body 10, and the other end enters the device body 10 and extends to the position of the positive electrode of the power supply.

[0111] The first electrode 41 includes but is not limited to a metal wiring, and the first extended electrode 43 includes but is not limited to a wire with a protective cover.

[0112] The second electrode 42 is also disposed around the periphery of the component to be protected 12 (specifically, it can be designed in combination with the position of the aforementioned repellent device 40). In one embodiment, the second electrode 42 is located between the first electrode 41 and the component to be protected 12. In other embodiments, the first electrode 41 is located between the second electrode 42 and the component to be protected 12.

[0113] See also Figure 8The repelling device 40 further includes a second extension electrode 44, one end of which is electrically connected to the second electrode 42, and the other end of which is electrically connected to the negative electrode of the power supply. For example, the negative electrode of the power supply is located in the device body 10, the second electrode 42 is disposed on the outer surface of the device body 10, one end of the second extension electrode 44 contacts the outer surface of the device body 10, and the other end enters the device body 10 and extends to the position of the negative electrode of the power supply.

[0114] The second electrode 42 includes but is not limited to a metal wiring, and the second extended electrode 44 includes but is not limited to a wire with a protective cover.

[0115] In the second embodiment of the optional electrode shape, please refer to Fig. 9 The first electrode 41 is a planar spiral electrode. The first electrode 41 is a first planar spiral electrode. One end of the first planar spiral electrode is electrically connected to the positive electrode of the power supply, the first planar spiral electrode is arranged in a planar spiral shape around the periphery of the component to be protected 12, and the other end of the first planar spiral electrode is a disconnection end.

[0116] The second electrode 42 is a planar spiral electrode. The second electrode 42 is a second planar spiral electrode. One end of the second planar spiral electrode is electrically connected to the negative electrode of the power supply, the second planar spiral electrode is arranged in a planar spiral around the periphery of the component to be protected 12, and the other end of the second planar spiral electrode is a disconnection end.

[0117] The present application does not specifically limit the number of turns of the first planar spiral electrode and the number of turns of the second planar spiral electrode. Optionally, the first planar spiral electrode is wound around one turn, and the second planar spiral electrode is wound around one turn, and the first planar spiral electrode and the second planar spiral electrode are arranged at intervals. A potential difference and a line of electrical stimulation protection are formed between the first planar spiral electrode and the second planar spiral electrode. Optionally, the first planar spiral electrode is wound around two turns, and the second planar spiral electrode is wound around one turn, and the first turn of the first planar spiral electrode, the second planar spiral electrode, and the second turn of the first planar spiral electrode are arranged at intervals in sequence. A potential difference and a first line of electrical stimulation protection are formed between the first turn of the first planar spiral electrode and the second planar spiral electrode, and a potential difference and a second line of electrical stimulation protection are formed between the second planar spiral electrode and the second turn of the first planar spiral electrode.

[0118] In this embodiment, compared with the first optional electrode shape, there is no need to additionally set the first extended electrode 43 and the second extended electrode 44, and multiple circles of positive electrodes and multiple circles of negative electrodes can be alternately arranged in sequence to form multi-channel electrical stimulation protection.

[0119] The present application does not specifically limit the number of the first electrodes 41 and the number of the second electrodes 42 .

[0120] Optionally, there is one first electrode 41 and one second electrode 42.

[0121] Take the first electrode 41 in a ring shape and the second electrode 42 in a ring shape as an example. The first electrode 41 is arranged around the circumference of the component to be protected 12 (specifically, it can be designed in combination with the position of the aforementioned repellent device 40). The second electrode 42 is also arranged around the circumference of the component to be protected 12 (specifically, it can be designed in combination with the position of the aforementioned repellent device 40).

[0122] In one embodiment, the second electrode 42 is located between the first electrode 41 and the component to be protected 12. In other embodiments, the first electrode 41 is located between the second electrode 42 and the component to be protected 12. There is a potential difference between the first electrode 41 and the second electrode 42, and a first electrical stimulation protection is formed.

[0123] For optional reference, see Fig.10 , the first electrode 41 and the second electrode 42 include a plurality of electrodes, respectively. The number of the first electrode 41 is a plurality, and the number of the second electrode 42 is a plurality. The plurality of first electrodes 41 and the plurality of second electrodes 42 are alternately arranged. For example, the first electrode 41, the second electrode 42, the first electrode 41, the second electrode 42, the first electrode 41, the second electrode 42, ... are alternately arranged in sequence.

[0124] Take the first electrode 41 in a ring shape and the second electrode 42 in a ring shape as an example. The multiple first electrodes 41 are ring electrodes of multiple different radial sizes. The multiple second electrodes 42 are ring electrodes of multiple radial sizes. The first electrode 41, the second electrode 42, the first electrode 41, and the second electrode 42 are arranged alternately in sequence. In this way, a potential difference is formed between each two adjacent electrodes to form an electric stimulation protection outside the protection area 13. In this embodiment, multiple electric stimulation protections can be formed outside the protection area 13 to prevent the subject to be repelled from directly entering the protection area 13 after passing through the first electric stimulation protection, so that even if the subject to be repelled passes through the first electric stimulation protection, if it continues to move toward the protection area 13, it will encounter the next electric stimulation protection, thereby causing the subject to be repelled to move in a direction away from the protection area 13, thereby improving the repellency rate for the subject to be repelled.

[0125] In other embodiments, the arrangement of the first electrode 41, the second electrode 42, the second electrode 42, the first electrode 41, the first electrode 41... can also be presented between the plurality of first electrodes 41 and the plurality of second electrodes 42. In some cases, the subject to be repelled does not contact the first electrode 41 or the second electrode 42 due to some gaps between the subject to be repelled and the surface of the device body 10, which leads to the problem that the first electrode 41 and the second electrode 42 are not conductive and the repelling current cannot be generated. In this embodiment, two (or more) first electrodes 41 and two (or more) second electrodes 42 are alternately arranged in sequence, so that even when there are some gaps between the subject to be repelled and the surface of the device body 10, the probability of the subject to be repelled contacting the first electrode 41 or the second electrode 42 can be increased, thereby increasing the probability of generating a repelling current when encountering the subject to be repelled, and increasing the interception rate of the subject to be repelled.

[0126] Optionally, the voltages of the plurality of first electrodes 41 are the same, and the voltages of the plurality of second electrodes 42 are the same, that is, the plurality of first electrodes 41 are all electrically connected to the positive pole of the power supply, and the plurality of second electrodes 42 are all electrically connected to the negative pole of the power supply.

[0127] For further optional information, see Fig.10 , the repelling device 40 also includes a first extended electrode 43, the first extended electrode 43 intersects with the plurality of first electrodes 41 and is electrically conductive, and the first extended electrode 43 intersects with the plurality of second electrodes 42 and is electrically insulated. A portion of the first extended electrode 43 is electrically connected to the plurality of first electrodes 41, and another portion of the first extended electrode 43 is electrically connected to the positive electrode of the power supply. For example, the positive electrode of the power supply is located in the device body 10, the first electrode 41 is disposed on the outer surface of the device body 10, a portion of the first extended electrode 43 contacts the outer surface of the device body 10, the first electrode 41 includes but is not limited to being a metal trace, and a portion of the first extended electrode 43 is a metal trace. Another portion of the first extended electrode 43 enters the device body 10 and extends to the location of the positive electrode of the power supply. Another portion of the first extended electrode 43 includes but is not limited to being a wire with a protective cover, etc.

[0128] This embodiment can realize that multiple first electrodes 41 are electrically connected to the positive power supply via the same first extension electrode 43. Compared with each first electrode 41 being electrically connected to the positive power supply via one electrical connection line, the number of electrical connection lines can be reduced and the layout of the electrical connection lines can be optimized.

[0129] For further optional information, see Fig.10, the repelling device 40 also includes a second extended electrode 44, the second extended electrode 44 intersects with the plurality of second electrodes 42 and is electrically conductive, and the second extended electrode 44 intersects with the plurality of second electrodes 42 and is electrically insulated. A portion of the second extended electrode 44 is electrically connected to the plurality of second electrodes 42, and another portion of the second extended electrode 44 is electrically connected to the negative electrode of the power supply. For example, the negative electrode of the power supply is located in the device body 10, the second electrode 42 is disposed on the outer surface of the device body 10, a portion of the second extended electrode 44 contacts the outer surface of the device body 10, the second electrode 42 includes but is not limited to being a metal trace, and a portion of the second extended electrode 44 is a metal trace. Another portion of the second extended electrode 44 enters the device body 10 and extends to the location of the negative electrode of the power supply. Another portion of the second extended electrode 44 includes but is not limited to being a wire with a protective cover, etc.

[0130] This embodiment can realize that multiple second electrodes 42 are electrically connected to the negative power supply via the same second extension electrode 44. Compared with each second electrode 42 being electrically connected to the negative power supply via one electrical connection line, the number of electrical connection lines can be reduced and the layout of the electrical connection lines can be optimized.

[0131] In other embodiments, the voltages of the plurality of first electrodes 41 may be different, and the plurality of first electrodes 41 are electrically connected to different positive power output ports to load different positive voltages. The plurality of second electrodes 42 are all electrically connected to the negative power supply. The first electrode 41, the second electrode 42, the first electrode 41, and the second electrode 42 are alternately arranged to form electrical stimulation protection with different potential differences. For example, the voltage difference formed between the first first electrode 41 and the first second electrode 42 is the first voltage, and the potential difference formed between the first second electrode 42 and the second second electrode 42 is the second voltage, wherein the second voltage may be greater than the first voltage. In this way, even if some large subjects to be repelled pass through the first electrical stimulation protection with the first voltage, if they continue to move toward the protection area 13, they will be subject to the second electrical stimulation protection with a larger voltage (the second voltage), and so on, until some large subjects to be repelled change direction under electrical stimulation and move away from the protection area 13. The design of the repelling device 40 in this embodiment can not only repel small objects to be repelled, but also repel large objects to be repelled, thereby increasing the interception rate of the objects to be repelled and improving the protection rate of the objects to be protected.

[0132] In the second optional embodiment of the repelling device 40, this embodiment is substantially the same as the first optional embodiment, and the main difference between this embodiment and the first optional embodiment is that, please refer to Fig.11 The first electrode 41 and the second electrode 42 are electrically connected to two positive voltage output terminals of a power source, respectively. There is a potential difference between the two positive voltage output terminals.

[0133] For example, the two positive voltage output terminals of the power supply include a first voltage output terminal and a second voltage output terminal, respectively. The first voltage output terminal outputs a first voltage, and the second voltage output terminal outputs a second voltage. The first electrode 41 is electrically connected to the first voltage output terminal to load the first voltage. The second electrode 42 is electrically connected to the second voltage output terminal to load the second voltage. The first voltage is different from the second voltage, that is, there is a voltage difference between the first electrode 41 and the second electrode 42. In the initial state, the first electrode 41 and the second electrode 42 are in an open circuit state. When the subject to be repelled contacts the first electrode 41 and the second electrode 42 at the same time, the first electrode 41 and the second electrode 42 are electrically conductive. Due to the voltage difference between the first electrode 41 and the second electrode 42, a conductive loop is formed between the first electrode 41, the subject to be repelled and the second electrode 42, and a repelling current is generated, so that the subject to be repelled is slightly shocked and feels uncomfortable, thereby changing the crawling direction and moving away from the area where the repelling device 40 is located (i.e., the protection area 13).

[0134] In this embodiment, the intensity of the repelling current is relatively small, for example, the repelling current is about several hundred microamperes. Based on this, the voltage difference between the first electrode 41 and the second electrode 42 is also relatively small. In this embodiment, a first electrode 41 and a second electrode 42 are formed with two voltages having a small difference to form a small voltage difference, thereby forming a tiny repelling current.

[0135] The shape of the first electrode 41 and the electrical connection method between the first electrode 41 and the first voltage output terminal of the power supply can refer to the shape of the first electrode 41 and the electrical connection method between the first electrode 41 and the positive electrode of the power supply in the first embodiment.

[0136] The shape of the second electrode 42 and the electrical connection method between the second electrode 42 and the second voltage output terminal of the power supply can refer to the shape of the second electrode 42 and the electrical connection method between the second electrode 42 and the positive electrode of the power supply in the first embodiment.

[0137] The number of the first electrode 41 may be one or more, and the number of the second electrode 42 may be one or more. When there are multiple first electrodes 41 and multiple second electrodes 42, the first electrodes 41 and the second electrodes 42 may be alternately arranged in sequence.

[0138] In the third optional embodiment of the repelling device 40, this embodiment is substantially the same as the second optional embodiment, and is different from the second optional embodiment in that in this embodiment, please refer to Fig.12 The repelling device 40 further includes a plurality of third electrodes 45. The plurality of third electrodes 45 are located between the first electrode 41 and the second electrode 42.

[0139] Further, a first potential difference is formed between the third electrode 45 and the first electrode 41. A second potential difference is formed between the third electrode 45 and the second electrode 42. The first potential difference is different from the second potential difference.

[0140] Specifically, the three positive voltage output terminals of the power supply include a first voltage output terminal, a second voltage output terminal and a third voltage output terminal. The first voltage output terminal outputs a first voltage, the second voltage output terminal outputs a second voltage, and the third voltage output terminal outputs a third voltage.

[0141] The first electrode 41 is electrically connected to the first voltage output terminal to load the first voltage. The second electrode 42 is electrically connected to the second voltage output terminal to load the second voltage. The third electrode 45 is electrically connected to the third voltage output terminal to load the third voltage.

[0142] The first voltage is different from the third voltage, that is, there is a first potential difference between the first electrode 41 and the third electrode 45 .

[0143] The third voltage is different from the second voltage, that is, there is a second potential difference between the third electrode 45 and the second electrode 42 .

[0144] In the initial state, the first electrode 41 and the third electrode 45 are in an open circuit state. When the subject to be repelled contacts the first electrode 41 and the third electrode 45 at the same time, the first electrode 41 and the third electrode 45 are electrically connected. Since there is a first potential difference between the first electrode 41 and the third electrode 45, a conductive loop is formed between the first electrode 41, the subject to be repelled and the third electrode 45, and a first repelling current is generated, so that the subject to be repelled receives a slight electric shock and feels uncomfortable, thereby changing the crawling direction and moving away from the area where the repelling device 40 is located (i.e., the protection area 13).

[0145] Furthermore, the second potential difference may be greater than the first potential difference, so that the repellent current generated by the third electrode 45 and the second electrode 42 when they are turned on is greater than the repellent current generated by the first electrode 41 and the third electrode 45 when they are turned on, thereby further electrically stimulating the subject to be repelled so that the subject to be repelled is kept away from the protection area 13; or further electrically stimulating a larger subject to be repelled so that the larger subject to be repelled is kept away from the protection area 13.

[0146] The first electrode 41 is located on a side away from the component to be protected 12. The second electrode 42 is located on a side close to the component to be protected 12. If the subject to be repelled crosses the first electrical stimulation protection between the first electrode 41 and the third electrode 45, in the initial state, the third electrode 45 and the second electrode 42 are in an open circuit state. When the subject to be repelled contacts the third electrode 45 and the second electrode 42 at the same time, the third electrode 45 and the second electrode 42 are electrically conductive. Since there is a second potential difference between the third electrode 45 and the second electrode 42, a conductive loop is formed between the third electrode 45, the subject to be repelled and the second electrode 42, and a second repelling current is generated. The second repelling current is greater than the first repelling current, so that the subject to be repelled is further electrically stimulated to produce discomfort, thereby changing the crawling direction and moving away from the area where the repelling device 40 is located (i.e., the protection area 13).

[0147] Further optionally, the potential difference between two adjacent third electrodes 45 increases in sequence from the first electrode 41 toward the second electrode 42. Thus, the repelling current intensity of the electrical stimulation protection formed between two adjacent third electrodes 45 gradually increases from the first electrode 41 toward the second electrode 42.

[0148] On the one hand, as the subject to be repelled crawls toward the protection area 13, the required electrical stimulation gradually increases, so as to drive away some larger subjects to be repelled from crawling in the direction away from the protection area 13; on the other hand, some larger subjects to be repelled may contact the first electrode 41 and multiple third electrodes 45 at the same time, that is, they may be simultaneously subjected to the repelling current brought by multiple electrical stimulation protections, which may further stimulate the larger subjects to be repelled to crawl in the direction away from the protection area 13.

[0149] In a fourth optional embodiment of the repelling device 40, please refer to Fig.13 , the first electrode 41 and the second electrode 42 include a plurality of each. The number of the first electrode 41 is a plurality, and the number of the second electrode 42 is a plurality. The plurality of first electrodes 41 are arranged in sequence and spaced apart. The plurality of second electrodes 42 are arranged in sequence and spaced apart. The extending direction of the first electrode 41 is the first direction, and two adjacent first electrodes 41 can be arranged in parallel, or non-parallel and non-intersecting. The extending direction of the second electrode 42 is the second direction, and two adjacent second electrodes 42 can be arranged in parallel, or non-parallel and non-intersecting. The first direction intersects with the second direction.

[0150] The plurality of first electrodes 41 and the plurality of second electrodes 42 are crisscrossed to form a grid-shaped repelling device 40. The grid-shaped repelling device 40 can increase the probability that the subject to be repelled from different crawling directions will contact two electrodes with a voltage difference at the same time, thereby generating a repelling current, and then repelling the subject to be repelled from different crawling directions.

[0151] Optional, see Fig.13 The first electrodes 41 include first positive electrodes 411 and first negative electrodes 412 that are alternately arranged. Optionally, the first positive electrodes 411 extend along the first direction, and the first negative electrodes 412 extend along the first direction. The first positive electrodes 411 and the first negative electrodes 412 are alternately arranged in sequence.

[0152] See also Fig.13 The plurality of second electrodes 42 include second positive electrodes 421 and second negative electrodes 422 that are alternately arranged. Optionally, the second positive electrodes 421 extend along the second direction, and the second negative electrodes 422 extend along the second direction. The plurality of second positive electrodes 421 and the plurality of second negative electrodes 422 are alternately arranged in sequence.

[0153] Further, the first positive electrode 411 and the second negative electrode 422 are electrically isolated at the intersection of the two. That is, the first positive electrode 411 and the second negative electrode 422 are electrically insulated at the intersection of the two. Further, the first positive electrode 411 and the second negative electrode 422 are insulated and connected at the intersection by the first insulating portion.

[0154] The first negative electrode 412 and the second positive electrode 421 are electrically isolated at their intersection. That is, the first negative electrode 412 and the second positive electrode 421 are electrically insulated at their intersection. Further, the first negative electrode 412 and the second positive electrode 421 are insulated and connected at their intersection through a second insulating portion.

[0155] For example, the first positive electrode 411 is annular and is disposed around the periphery of the component to be protected 12, and the first negative electrode 412 is also annular and is disposed around the periphery of the component to be protected 12. The first first positive electrode 411, the first first negative electrode 412, the second first positive electrode 411, and the second first negative electrode 412 are distributed in sequence from the outside to the inside.

[0156] There is a potential difference between the first positive electrode 411 and the first negative electrode 412. In the initial state, the first positive electrode 411 and the first negative electrode 412 are in an open circuit state. When the subject to be repelled contacts the first positive electrode 411 and the first negative electrode 412 at the same time, the first positive electrode 411 and the first negative electrode 412 are electrically connected. Due to the pressure difference between the first positive electrode 411 and the first negative electrode 412, a conductive loop is formed between the first positive electrode 411, the subject to be repelled and the first negative electrode 412, and a repelling current is generated, so that the subject to be repelled receives a slight electric shock and feels uncomfortable, thereby changing the crawling direction and moving away from the area where the repelling device 40 is located (i.e., the protection area 13).

[0157] The first positive electrode 411 in this embodiment may refer to the first electrode 41 in the first embodiment, and the first negative electrode 412 in this embodiment may refer to the second electrode 42 in the first embodiment.

[0158] In a further optional embodiment, the second positive electrode 421 extends in the radial direction of the ring, and the second negative electrode 422 extends in the radial direction of the ring. In other embodiments, the second positive electrode 421 may also extend in other directions intersecting with the first negative electrode 412 .

[0159] Each second positive electrode 421 intersects with a plurality of first positive electrodes 411 and a plurality of first negative electrodes 412, and further, each first positive electrode 411 is electrically connected to the second positive electrode 421 at the intersection of the two. In this way, the first positive electrode 411 and the second positive electrode 421 are loaded with the same positive voltage, and in this way, the plurality of first positive electrodes 411 and the plurality of second positive electrodes 421 can be electrically connected to the positive electrode of the power supply through the same electrical connection line. The second positive electrode 421 and the first negative electrode 412 are electrically insulated at the intersection of the two to avoid forming a short circuit.

[0160] Each second negative electrode 422 intersects with a plurality of first negative electrodes 412 and a plurality of first positive electrodes 411. Further, the second negative electrode 422 is electrically connected to the first negative electrode 412 at the intersection of the two, so that the plurality of first negative electrodes 412 and the plurality of second negative electrodes 422 can be electrically connected to the negative pole of the power supply through the same electrical connection line. The second negative electrode 422 is electrically insulated from the first positive electrode 411 at the intersection of the two to avoid forming a short circuit.

[0161] When the subject to be repelled crawls toward the protection area 13 along the circular radial direction or the direction intersecting the circular radial direction, the subject to be repelled will contact the positive and negative electrodes at the same time, thereby generating a repelling current, so that the subject to be repelled changes its crawling direction under the electrical stimulation of the repelling current until it crawls to the area outside the repelling device 40, thereby effectively preventing the subject to be repelled from different directions from entering the protection area 13.

[0162] In the fifth optional embodiment of the repelling device 40, this embodiment is similar to the fourth optional embodiment, except that in this embodiment, please refer to Fig.14 The first electrodes 41 include a plurality of third positive electrodes 413. The second electrodes 42 include a plurality of fourth positive electrodes 423. The intersections of the third positive electrodes 413 and the fourth positive electrodes 423 are electrically isolated.

[0163] In an optional embodiment, the voltages loaded on the plurality of third positive electrodes 413 are the same. The voltages loaded on the plurality of fourth positive electrodes 423 are the same, and the voltages loaded on the third positive electrode 413 and the fourth positive electrode 423 are different. In this way, two intersecting grid-shaped electrode protection nets with a potential difference are formed.

[0164] In another optional implementation, the voltages applied to the plurality of third positive electrodes 413 are different.

[0165] For example, the potential difference between two adjacent third positive electrodes 413 gradually increases as they approach the component to be protected 12. For example, the third positive electrode 413 is annular. A plurality of third positive electrodes 413 are sequentially arranged around the component to be protected 12.

[0166] In this embodiment, the repelling current intensity of the electrical stimulation protection formed between two adjacent third positive electrodes 413 gradually increases in a direction gradually approaching the component 12 to be protected.

[0167] On the one hand, as the subject to be repelled crawls toward the protection area 13, the required electrical stimulation gradually increases, so as to drive away some larger subjects to be repelled from crawling in the direction away from the protection area 13; on the other hand, some larger subjects to be repelled can contact multiple third positive electrodes 413 at the same time, that is, they are simultaneously subjected to the repelling current brought by multiple electrical stimulation protections, which can further stimulate the larger subjects to be repelled to crawl in the direction away from the protection area 13.

[0168] In this embodiment, the intensity of the repelling current is relatively small, for example, the repelling current is about several hundred microamperes. Based on this, the potential difference between two adjacent third positive electrodes 413 is also relatively small. In this embodiment, two voltages with a small difference are loaded on the two third positive electrodes 413 respectively to form a smaller potential difference, which makes it easier to form a tiny repelling current.

[0169] For further optional information, see Fig.15 , the voltages loaded on the multiple fourth positive electrodes 423 are different.

[0170] For example, the extension direction of the plurality of fourth positive electrodes 423 is the radial direction of the annular third positive electrode 413. Each fourth positive electrode 423 intersects with the plurality of third positive electrodes 413 and is electrically connected at the intersection through the third insulating portion.

[0171] In this embodiment, for a group of fourth positive electrodes 423, the repellent current intensity of the electrical stimulation protection formed between two adjacent fourth positive electrodes 423 gradually increases. Multiple groups of fourth positive electrodes 423 are arranged in sequence. For example, around the circumference of the component to be protected 12, the current distribution of multiple groups of fourth positive electrodes 423 is: V1, V2, V3, V4, V5, V1, V2, V3, V4, V5, V1, V2, V3, V4, V5, V1, V2, V3, V4, V5, ... V1, V2, V3, V4, V5. Among them, V1, V2, V3, V4, V5 is a group of fourth positive electrodes 423.

[0172] On the one hand, as the subject to be repelled crawls toward the protection area 13, the required electrical stimulation gradually increases, so as to drive away some larger subjects to be repelled from crawling in the direction away from the protection area 13; on the other hand, some larger subjects to be repelled can contact multiple fourth positive electrodes 423 at the same time, that is, they are simultaneously subjected to the repelling current brought by multiple electrical stimulation protections, which can further stimulate the larger subjects to be repelled to crawl in the direction away from the protection area 13.

[0173] In this embodiment, the intensity of the repelling current is relatively small, for example, the repelling current is about several hundred microamperes. Based on this, the potential difference between two adjacent fourth positive electrodes 423 is also relatively small. In this embodiment, two voltages with a small difference are loaded on the two fourth positive electrodes 423 respectively to form a smaller potential difference, which makes it easier to form a tiny repelling current.

[0174] The grid-shaped protection net of the repelling device 40 formed above can form electrode lines with potential differences in all directions, thereby effectively preventing the subject to be repelled from different directions from entering the protection area 13 .

[0175] Further optionally, each fourth positive electrode 423 has the same voltage as a third positive electrode 413, and is electrically connected to the third positive electrode 413 at the intersection. For example, the voltages of the five third positive electrodes 413 are: V1, V2, V3, V4, V5; the voltages of a group of fourth positive electrodes 423 are: V1, V2, V3, V4, V5. In this way, a plurality of fourth positive electrodes 423 with the same voltage can be electrically connected through a third positive electrode 413 to form electrodes with the same voltage, and are electrically connected to a positive output port of the power supply through an electrical connection line.

[0176] See also Fig.16The surface of the first electrode 41 is flush with the surface of the device body 10 or protrudes from the surface of the device body 10 so that the first electrode 41 can fully contact with the subject to be repelled.

[0177] The surface of the second electrode 42 is flush with the surface of the device body 10 or is convexly disposed on the surface of the device body 10 , so that the second electrode 42 is in full contact with the subject to be repelled.

[0178] Further optionally, the second electrode 42 is arranged to protrude relative to the first electrode 41. Among them, because the snail is a soft-bodied creature, the snail contacts the first electrode 41 and the second electrode 42 at the same time when passing through the first electrode 41 and the second electrode 42, thereby forming a conductive loop and generating a repelling current. The first electrode 41 and the second electrode 42 are arranged in a high-low staggered manner, and the user's finger will not contact the first electrode 41 and the second electrode 42 at the same time, so as to prevent the user from accidentally touching the first electrode 41 and the second electrode 42.

[0179] Furthermore, there are multiple first electrodes 41, multiple second electrodes 42, and the distance between two adjacent second electrodes 42 is less than or equal to a first preset distance. The first preset distance is less than the width of the user's little finger, so that the user's finger does not contact the first electrode 41 and the second electrode 42 at the same time. For example, the first preset distance is 4 mm.

[0180] Optional, see Fig.17 , a plurality of conductive portions 425 are disposed on the second electrode 42 and are spaced apart from each other. The plurality of conductive portions 425 are electrically connected to the second electrode 42 and are disposed protruding relative to the first electrode 41 .

[0181] Among them, because the snail is a soft-bodied creature, the snail contacts the first electrode 41 and the second electrode 42 simultaneously when passing through the first electrode 41 and the second electrode 42, thereby forming a conductive loop and generating a repelling current. The first electrode 41 and the second electrode 42 are arranged in a high-low staggered manner, and the user's finger will not contact the first electrode 41 and the second electrode 42 at the same time, so as to prevent the user from accidentally touching the first electrode 41 and the second electrode 42.

[0182] There is a gap between two adjacent conductive parts 425. When the second electrode 42 is annular and there are multiple second electrodes 42, the second electrode 42 is convexly provided with several conductive parts 425, which can effectively prevent the user from accidentally touching the first electrode 41 and the second electrode 42 at the same time, and can also facilitate the water between the two second electrodes 42 to flow out through the gap, avoiding the accumulation of water between the two adjacent second electrodes 42, resulting in a short circuit between the first electrode 41 and the second electrode 42. Among them, the width of the gap between the two adjacent conductive parts 425 is smaller than the width of the little finger, so as to prevent the finger from touching the first electrode 41 and the second electrode 42 (or the conductive part 425) at the same time.

[0183] Further optionally, the conductive portions 425 of two adjacent second electrodes 42 are staggered, for example, the conductive portion 425 of the inner second electrode 42 is opposite to the gap of the outer second electrode 42, and the conductive portion 425 of the outer second electrode 42 is opposite to the gap of the inner second electrode 42, which further effectively prevents the user from accidentally touching the first electrode 41 and the second electrode 42 at the same time, and can also facilitate the water between the two second electrodes 42 to flow out through the gap on both sides, further avoiding the accumulation of water between the two adjacent second electrodes 42, causing problems such as a short circuit between the first electrode 41 and the second electrode 42.

[0184] In the sixth optional embodiment of the repelling device 40, please refer to Fig.18 The repelling device 40 includes a galvanic electrode 46. When the subject to be repelled contacts the galvanic electrode 46, a repelling current is generated through the galvanic effect to apply electrical stimulation to the subject to be repelled.

[0185] The galvanic cell electrode 46 is a metal layer with electrochemical activity, which can undergo an electrochemical reaction with the mucus secreted by the snail to form a galvanic cell reaction. During the galvanic cell reaction, an electric current will be generated, which can be transmitted to the snail's body to produce a slight electrical stimulation to it, making the snail feel uncomfortable and stop moving or change the direction of movement.

[0186] The material of the primary battery electrode 46 includes, but is not limited to, active metals such as copper, zinc, magnesium, and aluminum.

[0187] For example, the primary battery electrode 46 is a copper layer, a copper sheet, or a copper foil. The primary battery electrode 46 is arranged around the component to be protected 12. Optionally, the primary battery electrode 46 is in a closed ring shape, or in a multi-segment arc shape. Generally, the gap between adjacent arc shapes is less than or equal to 5 mm to prevent snails from crawling into the area to be protected 13 from the gap between adjacent arc shapes. Of course, the primary battery electrode 46 can also be in a lattice shape. The gap between the lattices is less than or equal to 5 mm to prevent snails from crawling into the area to be protected 13 from the gap between the lattices.

[0188] It should be noted that the mucus secreted by snails contains water and a certain concentration of electrolytes (such as salt, calcium ions and other minerals), which is conductive. When the snail crawls onto the copper surface, the mucus acts as a conductive medium, forming a simple electrochemical battery between the copper and the environment.

[0189] When the snail's mucus comes into contact with the copper surface, the metal atoms in the copper release electrons and are oxidized into copper ions ( ). This process can react with the mucus in the snail's body to form a weak current. The specific anode reaction formula of the primary battery (copper is oxidized) is as follows: Cu→Cu 2+ +2e − The specific cathode reaction equation of the primary battery is as follows: O 2- +4H + +4e − →2H 2 O These reactions form a closed circuit with the help of mucus, resulting in the generation of a tiny electric current. This current stimulates the snail's body and may interfere with the snail's nervous system or metabolic process. In addition, the copper ions ( ), prompting snails to avoid copper surfaces.

[0190] The repelling device 40 provided in this embodiment does not need to be equipped with a power supply, and is a passive repelling device 40, which saves energy consumption; it also does not need electrical control and will not cause risks to users.

[0191] In the seventh optional embodiment of the repelling device 40, please refer to Fig.19 The repelling device 40 includes a conductive layer 47. The two ends of the conductive layer 47 are electrically connected to the positive electrode and the negative electrode of the power supply respectively, so as to apply electrical stimulation to the subject to be repelled when the subject contacts the conductive layer 47.

[0192] Optionally, the conductive layer 47 is electrically connected to a conducting loop so that a weak repelling current flows on the conductive layer 47. The conductive layer 47 is generally annular and surrounds the peripheral side of the component 12 to be protected.

[0193] Specifically, the power supply, the load, and the conductive layer 47 form a conducting loop. The conductive layer 47 is disposed on the surface of the device body 10 and is nearly annular and disposed around the part to be protected 12. The load has a relatively large resistance value, so that a relatively small repelling current is formed in the conducting loop, so that the subject to be repelled stops moving or changes the direction of movement when it contacts the conductive layer 47, so as to prevent the subject to be repelled from entering the protection area 13, thereby preventing the part to be protected 12 from being blocked by the subject to be repelled or being affected by the mucus secreted by the subject to be repelled, so that the self-propelled working device 100 has a better repelling function and self-protection function, and improves the reliability of the self-propelled working device 100.

[0194] The following embodiment describes the power supply of the repelling device 40 by way of example.

[0195] In a first embodiment, the repelling device 40 further includes a first power source. The positive electrode of the first power source is electrically connected to the first electrode 41. The negative electrode of the first power source is electrically connected to the second electrode 42, so that the first electrode 41 and the second electrode 42 are connected through the object to be repelled to generate a repelling current.

[0196] Further optionally, the first electrode 41 and the second electrode 42 are spaced apart or electrically insulated from each other to form a plurality of ring electrodes, or spiral electrodes, or grid electrodes.

[0197] In this embodiment, the repelling device 40 independently sets the first power supply, and does not need to share the power supply of the self-propelled working device 100, and further does not need to convert the power supply of the self-propelled working device 100 into a corresponding small voltage to form a small repelling current.

[0198] Further optionally, the first power source includes but is not limited to solar cells. On the one hand, the solar cells can be charged using solar energy without using the power supply of the self-propelled working device 100; on the other hand, since the generated repelling current is very small, the required battery capacity is also very small, and solar charging is sufficient to supply the generated repelling current.

[0199] The aforementioned positive power electrode and negative power electrode may be an electrode and a negative electrode of the first power supply in this embodiment.

[0200] In a second embodiment, the self-propelled working device 100 includes a second power source. The positive electrode of the first power source is electrically connected to the first electrode 41. The negative electrode of the first power source is electrically connected to the second electrode 42, and the first electrode 41 and the second electrode 42 are connected through the subject to be repelled to generate a repelling current. Optionally, the second power source can be a rechargeable battery of the self-propelled working device 100, etc.

[0201] In this embodiment, the repelling device 40 reuses the rechargeable battery of the self-propelled working device 100, and there is no need to set up an additional power supply, which saves costs and reduces the space required for setting up an additional power supply.

[0202] The aforementioned positive power electrode and negative power electrode may be the electrode and negative electrode of the second power supply in this embodiment.

[0203] In the eighth optional embodiment of the repelling device 40, please refer to Fig. 20 The repelling device 40 includes a spike structure 50. The spike structure 50 is protrudingly arranged on the surface of the device body 10 and surrounding the peripheral side of the component to be protected 12.

[0204] Optionally, the material of the spike structure 50 may be an insulating material. The spike structure 50 may be in a ring shape or a dot matrix shape, etc., surrounding the periphery of the component to be protected 12. The spike structure 50 may use a physical defense method to repel snails, so as to prevent the component to be protected 12 in the protection area 13 from being blocked by the snails or being affected by the mucus secreted by the snails.

[0205] Optionally, the material of the spike structure 50 may be a conductive material. When the spike structure 50 is a conductive material, the spike structure 50 may be the same structure as the galvanic battery electrode 46 in the sixth optional embodiment, that is, a plurality of spike structures 50 are arranged on the galvanic battery electrode 46. This embodiment uses the electrical stimulation method of the galvanic battery effect and the physical defense method to repel snails, so as to prevent the protected component 12 in the protection area 13 from being blocked by the snail or affected by the mucus secreted by the snail.

[0206] The present application does not specifically limit the manner in which the repelling device 40 is disposed on the device body 10 .

[0207] Optionally, the repellent device 40 may be coated or printed on the device body 10 .

[0208] Optionally, the repelling device 40 may be adhered to the equipment body 10 via an adhesive layer.

[0209] Optionally, the repelling device 40 is detachably connected to the device body 10. More specifically, the repelling device 40 can be detachably connected to the device body 10 by means of magnetism or the like.

[0210] For further optional information, see Fig.21 The surface of the device body 10 is provided with a receiving groove 102. The receiving groove 102 is generally annular. The repelling device 40 includes a mounting portion 104. The mounting portion 104 is embedded in the receiving groove 102 and at least partially protrudes from the surface of the device body 10.

[0211] The mounting portion 104 includes but is not limited to an insulating plate, and the repelling device 40 is a conductive material, such as a first electrode 41 and a second electrode 42; or a conductive trace 48; or a primary battery electrode 46. The repelling device 40 is disposed on the insulating plate and mounted on the receiving groove 102 through the insulating plate.

[0212] In this embodiment, the receiving groove 102 is provided to facilitate installation of the repelling device 40 .

[0213] In other implementations, the surface of the device body 10 may not be provided with the receiving groove 102 .

[0214] Optionally, the self-propelled working device 100 also includes a controller.

[0215] In an optional embodiment, the component to be protected 12 includes a humidity sensor. The humidity sensor is electrically connected to the controller. The controller is at least used to control the repelling device 40 to generate a repelling current when the humidity sensor detects that the humidity is greater than or equal to a humidity threshold.

[0216] Specifically, since snails usually appear on rainy days, a humidity sensor is provided on the lawn mower to detect the humidity of the environment or the surface of the lawn mower. The repelling device 40 is controlled to generate a repelling current according to the humidity detection result to repel the snails.

[0217] Optionally, the humidity threshold is not specifically limited, and includes but is not limited to 70%, 75% or 80%.

[0218] In this embodiment, when the humidity detected by the humidity sensor is greater than the humidity threshold, the controller controls the power supply to supply power to the repelling device 40, so that the repelling device 40 generates a repelling current and starts the repelling mode. Compared with the repelling mode of the repelling device 40 that is always turned on, it can save power, and use the biological characteristics of snails to carry out targeted snail repelling, thereby improving the working efficiency of the repelling device 40.

[0219] In another optional implementation, the controller is used to control the repelling device 40 to generate a repelling current when the self-propelled working device 100 is in a charging state or a working state.

[0220] Generally, when the self-propelled working device 100 is in a charging state, the self-propelled working device 100 is in a stationary state. At this time, the snail waiting for the repelling body can easily climb onto the self-propelled working device 100. Based on this, the controller controls the repelling device 40 to generate a repelling current when the self-propelled working device 100 is in a charging state, and starts the repelling mode. Compared with the repelling mode in which the repelling device 40 is always turned on, power can be saved and the working efficiency of the repelling device 40 can be improved.

[0221] Generally, when the self-propelled working device 100 is in working state, the sensing module 121 is in working state. If the snail waits for the repelling body to climb onto the sensing module 121, it will affect the detection accuracy of the sensing module 121. Therefore, when the self-propelled working device 100 is in working state, the controller controls the repelling device 40 to generate repelling current and start the repelling mode. Compared with the repelling mode of always turning on the repelling device 40, it can save power, improve the working efficiency of the repelling device 40, and ensure the detection accuracy of the sensing module 121.

[0222] The present application proposes a self-propelled working device 100, and the self-propelled working device 100 takes a lawn mower as an example. A repelling device 40 is arranged on the surface of the self-propelled working device 100 to form a snail repelling area (i.e., protection area 13) on the surface of the self-propelled working device 100. For example, an electric stimulation repelling device 40 is arranged around the vision, laser radar, charging interface, etc. of the self-propelled working device 100. When the snail crawls to the repelling area and contacts the repelling device 40, the microcurrent generated by the repelling device 40 will be transmitted to the snail body, causing the snail to receive a slight electric shock and produce discomfort, thereby changing the crawling direction and moving away from the area where the repelling device 40 is located, thereby achieving the repelling purpose.

[0223] Furthermore, the location of the repelling device 40 can be set, for example, on the shell surface of the self-propelled working device 100 and around the periphery of the vision, laser radar, charging interface, charging electrode sheet, etc. The installation method of the repelling device 40 is, for example, embedded in the shell surface of the self-propelled working device 100.

[0224] Furthermore, the repelling device 40 can use electric shock to repel snails, or use physical defense methods such as a thorny net structure or spikes to repel snails.

[0225] Among them, the three current generation methods for electric shock to repel snails include but are not limited to the following current generation methods. The first current generation method is that the repelling device 40 includes a positive electrode and a negative electrode. After the snail crawls and contacts the positive and negative electrodes, the two are connected to generate current; the second current generation method is that the repelling device 40 includes a conductive layer 47 (the aforementioned conductive trace 48), and the conductive layer 47 itself is charged. When the snail crawls to the surface of the conductive layer 47, the snail and the conductive layer 47 form a parallel circuit, thereby generating current; the third current generation method is that the repelling device 40 includes a copper layer or a copper sheet. After the snail contacts the copper sheet, it can form a primary battery effect with it through the mucus it produces, thereby generating current. In addition, the copper sheet will also produce copper ions that can stimulate the snail to repel.

[0226] Furthermore, the electrode structure of the repellent device 40 includes but is not limited to the following embodiments. The first electrode structure is a ring-shaped strip electrode, including a first ring-shaped strip electrode (such as the first electrode 41 described above) and a second ring-shaped strip electrode (such as the second electrode 42 described above), and the first ring-shaped strip electrode and the second ring-shaped strip electrode are respectively connected to the positive and negative poles of the power supply. The second electrode structure is a grid-shaped electrode, and the intersection points of the grid-shaped electrode are insulated, and the grid-shaped electrode can increase the probability of contact between the snail and the electrode.

[0227] Furthermore, the first annular strip electrode (such as the aforementioned first electrode 41 ) and the second annular strip electrode (such as the aforementioned second electrode 42 ) are arranged in a staggered manner to prevent the user from accidentally touching the positive and negative electrodes.

[0228] Furthermore, the repelling device 40 also includes a plurality of annular strip positive electrodes (such as the aforementioned third positive electrode and fourth positive electrode), each of which has a different voltage to generate currents of different strengths between the two positive lines. For example, the repelling device 40 includes a first annular strip positive electrode, a second annular strip positive electrode and a third annular strip positive electrode. The first annular strip positive electrode is connected to a 1V power supply, the second annular strip positive electrode is connected to a 3V power supply, and the third annular strip positive electrode is connected to a 7V power supply. When the snail When the first annular strip positive electrode and the second annular strip positive electrode are turned on, the potential difference between the two is 2V. When the snail continues to crawl, the second annular strip positive electrode and the third annular strip positive electrode will be turned on, and the potential difference between the two is 4V. That is, the potential difference will increase, so that the current stimulation received by the snail will gradually increase. Alternatively, if the snail is large in size, when it crawls to the surface of the machine, it will directly turn on the first annular strip positive electrode and the third annular strip positive electrode to generate a larger repellent current to repel larger snails.

[0229] Furthermore, the power supply of the repelling device 40 can be set separately. For example, the power supply of the repelling device 40 is a solar cell and is charged by solar energy. Since the repelling current generated is very small, the required solar cell capacity is also very small, and solar charging is sufficient to supply power.

[0230] Furthermore, based on the fact that snails usually appear on rainy days, a humidity sensor is provided on the self-propelled working device 100. The humidity sensor is used to detect the humidity of the environment or the surface of the self-propelled working device 100, and the opening of the electric shock type repellent device 40 is controlled according to the humidity detection result.

[0231] Furthermore, conductive protrusions (such as the aforementioned conductive part) are respectively provided on the first annular strip electrode (such as the aforementioned first electrode 41) and the second annular strip electrode (such as the aforementioned second electrode 42), and the first annular strip electrode and the second annular strip electrode are embedded in the outer shell of the self-propelled working device 100. The conductive protrusions are arranged at intervals and staggered in height. The conductive protrusions form a dot matrix electrode, which can prevent water accumulation between the first annular strip electrode and the second annular strip electrode. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present application, and these improvements and modifications are also regarded as the scope of protection of the present application.

Claims

1. A self-propelled working device, characterized in that: include: A device body, wherein at least one component to be protected is disposed on a surface of the device body; A walking device, which is arranged at the bottom of the equipment body and is used to drive the self-propelled working device to move; An operating device, which is arranged on the equipment body and is used to perform a preset task; and A repelling device surrounds at least a portion of the circumference of the component to be protected to form a protective area on the circumference of the component to be protected, so that the subject to be repelled stops moving or changes the direction of movement when contacting the repelling device.

2. The self-propelled working device according to claim 1, characterized in that: The repelling device is arranged around the top and / or the side of the equipment body.

3. The self-propelled working device according to claim 1, characterized in that: The at least one component to be protected includes a sensor module, and the repelling device is arranged around the sensor module.

4. The self-propelled working device according to claim 3, characterized in that: The sensor module is located at the top of the device body and / or the rear of the device body.

5. The self-propelled working device according to claim 1, characterized in that: The at least one component to be protected includes a charging component, and the repelling device is arranged around the charging component.

6. The self-propelled working device according to claim 5, characterized in that: The charging component is located at the rear, front, or side of the device body.

7. The self-propelled working device according to claim 1, characterized in that: The repelling device is used to generate a repelling current to repel the subject to be repelled.

8. The self-propelled working device according to claim 7, characterized in that: The repelling device comprises a first electrode and a second electrode. When the subject to be repelled contacts the first electrode and the second electrode at the same time, a conducting loop is formed between the first electrode and the second electrode and a repelling current is generated.

9. The self-propelled working device according to claim 8, characterized in that: The first electrode is electrically connected to the positive electrode of the power supply, and the second electrode is electrically connected to the negative electrode of the power supply.

10. The self-propelled working device according to claim 9, characterized in that: The first electrode and the second electrode include a plurality of electrodes respectively, and the plurality of first electrodes and the plurality of second electrodes are alternately arranged at intervals.

11. The self-propelled working device according to claim 8, characterized in that: The first electrode and the second electrode are electrically connected to two positive voltage output terminals of a power source respectively, and there is a potential difference between the two positive voltage output terminals.

12. The self-propelled working device according to claim 11, characterized in that: The repelling device further includes a plurality of third electrodes, wherein the plurality of third electrodes are located between the first electrode and the second electrode, the first electrode is located at a side away from the component to be protected, and the second electrode is located at a side close to the component to be protected.

13. The self-propelled working device according to claim 12, characterized in that: From the first electrode toward the second electrode, the potential difference between two adjacent third electrodes increases sequentially.

14. The self-propelled working device according to claim 8, characterized in that: The first electrode is a ring electrode, and the second electrode is a ring electrode; or, The first electrode is a planar spiral electrode, and the second electrode is a planar spiral electrode.

15. The self-propelled working device according to claim 8, characterized in that: The first electrodes and the second electrodes include a plurality of electrodes respectively, the plurality of the first electrodes and the plurality of the second electrodes are crisscrossed, the plurality of the first electrodes are arranged in sequence at intervals, and the plurality of the second electrodes are arranged in sequence at intervals.

16. The self-propelled working device according to claim 15, characterized in that: The multiple first electrodes include alternately arranged first positive electrodes and first negative electrodes, and the multiple second electrodes include alternately arranged second positive electrodes and second negative electrodes, the first positive electrodes and the second negative electrodes are electrically isolated at the intersection of the two, and the first negative electrodes and the second positive electrodes are electrically isolated at the intersection of the two.

17. The self-propelled working device according to claim 16, characterized in that: The first positive electrode is electrically connected to the second positive electrode at a junction therebetween, and the first negative electrode is electrically connected to the second negative electrode at a junction therebetween.

18. The self-propelled working device according to claim 15, characterized in that: The plurality of first electrodes include a plurality of third positive electrodes, the plurality of second electrodes include a plurality of fourth positive electrodes, and intersections of the third positive electrodes and the fourth positive electrodes are electrically isolated.

19. The self-propelled working device according to claim 8, characterized in that: The second electrode is disposed protruding relative to the first electrode.

20. The self-propelled working device according to claim 8, characterized in that: The second electrode is provided with a plurality of conductive parts which are distributed at intervals. The plurality of conductive parts are electrically connected to the second electrode respectively and are arranged to protrude relative to the first electrode.

21. The self-propelled working device according to claim 8, characterized in that: The repelling device comprises a conductive layer, two ends of which are electrically connected to the positive electrode and the negative electrode of a power source respectively, and are used to apply electrical stimulation to the subject to be repelled when the subject contacts the conductive layer.

22. The self-propelled working device according to claim 8, characterized in that: The repelling device comprises a galvanic battery electrode. When the subject to be repelled contacts the galvanic battery electrode, a current is generated through the galvanic battery effect to apply electrical stimulation to the subject to be repelled.

23. The self-propelled working device according to claim 22, characterized in that: The galvanic cell electrode includes a copper layer.

24. The self-propelled working device according to claim 8, characterized in that: The repelling device further includes a first power source, a positive electrode of the first power source is electrically connected to the first electrode, a negative electrode of the first power source is electrically connected to the second electrode, and the first electrode and the second electrode are connected through the subject to be repelled to generate a repelling current; or, The self-propelled working device includes a second power supply, the positive pole of the first power supply is electrically connected to the first electrode, the negative pole of the first power supply is electrically connected to the second electrode, and the first electrode and the second electrode are connected through the main body to be repelled to generate a repelling current.

25. The self-propelled working device according to claim 1, characterized in that: The repelling device comprises a spike structure, which is protruding from the surface of the equipment body and surrounding the peripheral side of the component to be protected.

26. The self-propelled working device according to claim 1, characterized in that: The repelling device is detachably connected to the equipment body.

27. The self-propelled working device according to claim 26, characterized in that: The surface of the equipment body is provided with a receiving groove, and the repelling device comprises a mounting portion, which is embedded in the receiving groove and at least partially protrudes from the surface of the equipment body.

28. The self-propelled working device according to claim 7, characterized in that: The self-propelled working device further comprises a controller, the component to be protected comprises a humidity sensor, and the humidity sensor is electrically connected to the controller; the controller is at least used to control the repelling device to be electrically connected to a power source when the humidity sensor detects that the humidity is greater than or equal to a humidity threshold; or, The controller is used to control the repelling device to be electrically connected to a power source when the self-propelled working device is in a charging state or a working state.

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