Lawn mower

Abstract

The application provides a mower, which comprises a device main body, a walking device and a working device. At least part of a component to be protected is arranged on the surface of the device main body, and the mower moves through the walking device arranged at the bottom of the device main body. The working device is arranged on the device main body and is used for performing a preset task, for example, mowing, snow sweeping or cleaning. The mower further comprises a repelling device, which surrounds at least part of the circumferential side of the component to be protected. The repelling device is used for repelling a subject to be repelled, so as to form a protection area on the circumferential side of the component to be protected. The subject to be repelled is prevented from entering the protection area, so that the subject to be repelled stops moving or changes the moving direction when contacting the repelling device, and the component to be protected is prevented from being blocked by the subject to be repelled or being affected by the mucus secreted by the subject to be repelled.

Description

Technical Field

[0001] This application relates to the field of robotics, specifically to a lawnmower. Background Technology

[0002] With the widespread use of self-propelled work devices such as self-propelled lawnmowers, self-propelled snowplows, and self-propelled cleaning robots, these devices are susceptible to attack by small creatures such as snails and slugs. These creatures can climb onto the device's surface, obstructing the sensor modules and causing decreased sensitivity or false triggering of obstacle avoidance functions. Furthermore, the mucus secreted by these creatures can corrode the charging electrodes. Currently, self-propelled work devices lack effective solutions to prevent snail climbing, leaving the sensor modules vulnerable to obstruction and the charging electrodes susceptible to corrosion. This affects the device's positioning and obstacle avoidance capabilities, and can damage the charging electrodes, potentially leading to decreased efficiency and accuracy. Therefore, improving the obstacle avoidance capabilities of self-propelled work devices has become a crucial technical challenge. Summary of the Invention

[0003] The main objective of this application is to propose a lawnmower that addresses the technical problem of how to improve the obstacle avoidance function of a lawnmower.

[0004] To achieve the above objectives, embodiments of this application provide a lawnmower, comprising:

[0005] The main body of the device includes a housing, and at least one component to be protected is provided on the surface of the housing. The component to be protected includes a sensor module and / or a charging component.

[0006] A walking device, located at the bottom of the main body of the equipment, is used to drive the lawnmower to move;

[0007] A cutting device, mounted on the machine housing, is used to perform a preset task; and

[0008] A repelling device surrounds at least a portion of the periphery of a component to be protected, forming a protective area around at least one component, such that the subject to be repelled stops moving or changes direction of movement upon contact with the repelling device, the subject including snails that secrete corrosive mucus while crawling.

[0009] The lawnmower provided in this application includes a main body, a walking device, and an operating device. The main body includes a casing, and at least a portion of the component to be protected is disposed on the surface of the casing. The component to be protected includes a sensor module and / or a charging component. The lawnmower moves via the walking device located at the bottom of the main body. The cutting device is disposed on the casing and is used to perform preset tasks, such as mowing, snow sweeping, or cleaning. The lawnmower also includes a repelling device that surrounds at least a portion of the periphery of the component to be protected. The repelling device is used to repel the target body, which includes snails that secrete corrosive mucus when crawling, to form a protective zone around the component to be protected. This repelles the target body from entering the protective zone, causing it to stop moving or change direction when it comes into contact with the repelling device, thus preventing it from entering the protective zone. This prevents the component to be protected from being blocked by the target body or affected by the mucus secreted by it, giving the lawnmower better repelling and self-protection functions and improving its reliability.

[0010] In one alternative embodiment, the avoidance device is disposed around the side and / or top of the main body of the device.

[0011] In one optional embodiment, the at least one component to be protected includes a sensor module, and the avoidance device is disposed around the periphery of the sensor module.

[0012] In one alternative implementation, the sensor module is located at the top of the device body and / or the tail of the device body.

[0013] In one optional embodiment, the at least one component to be protected includes a charging assembly, and the avoidance device is disposed around the periphery of the charging assembly.

[0014] In one alternative embodiment, the charging component is located at the rear, front, or side of the main body of the device.

[0015] In one alternative embodiment, the avoidance device is used to generate an avoidance current to avoid the subject to be avoided.

[0016] In one optional embodiment, the avoidance device includes a first electrode and a second electrode. When the subject to be avoided simultaneously contacts the first electrode and the second electrode, a conductive circuit is formed between the first electrode and the second electrode, and an avoidance current is generated.

[0017] In one optional embodiment, the first electrode is electrically connected to the positive terminal of the power supply, and the second electrode is electrically connected to the negative terminal of the power supply.

[0018] In one optional embodiment, the first electrode and the second electrode each include a plurality of electrodes, and the plurality of first electrodes and the plurality of second electrodes are alternately spaced.

[0019] In one optional embodiment, the first electrode and the second electrode are respectively electrically connected to two positive voltage output terminals of the power supply, and there is a potential difference between the two positive voltage output terminals.

[0020] In one optional embodiment, the avoidance device further includes a plurality of third electrodes located between the first electrode and the second electrode, wherein the first electrode is located on the side away from the component to be protected and the second electrode is located on the side closer to the component to be protected.

[0021] In one optional implementation, the potential difference between two adjacent third electrodes increases sequentially from the first electrode toward the second electrode.

[0022] In one optional embodiment, the first electrode is a ring electrode, and the second electrode is a ring electrode; or,

[0023] The first electrode is a planar spiral electrode, and the second electrode is a planar spiral electrode.

[0024] In one optional embodiment, the first electrode and the second electrode each include a plurality of electrodes, the plurality of first electrodes and the plurality of second electrodes are crisscrossed, the plurality of first electrodes are arranged at intervals in sequence, and the plurality of second electrodes are arranged at intervals in sequence.

[0025] In one optional embodiment, the plurality of first electrodes include alternating first positive electrodes and first negative electrodes, and the plurality of second electrodes include alternating second positive electrodes and second negative electrodes, wherein the first positive electrodes and second negative electrodes are electrically isolated at their junction, and the first negative electrodes and second positive electrodes are electrically isolated at their junction.

[0026] In one optional embodiment, the first positive electrode and the second positive electrode are electrically connected at their junction, and the first negative electrode and the second negative electrode are electrically connected at their junction.

[0027] In one 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 junctions of each third positive electrode and each fourth positive electrode are electrically isolated.

[0028] In one alternative embodiment, the second electrode protrudes relative to the first electrode.

[0029] In one optional embodiment, the second electrode is provided with a plurality of spaced conductive portions, which are electrically connected to the second electrode and protrude relative to the first electrode.

[0030] In one optional embodiment, the repulsion device includes a conductive layer, the two ends of which are electrically connected to the positive and negative terminals of a power source, respectively, for applying electrical stimulation to the subject to be repelled when it comes into contact with the conductive layer.

[0031] In one optional embodiment, the avoidance device includes a galvanic cell electrode. When the subject to be avoided comes into contact with the galvanic cell electrode, a current is generated through the galvanic cell effect to apply electrical stimulation to the subject to be avoided.

[0032] In one alternative embodiment, the galvanic cell electrode includes a copper layer.

[0033] In one optional embodiment, the avoidance device further includes a first power source, the positive terminal of which is electrically connected to the first electrode, and the negative terminal of which is electrically connected to the second electrode. The first electrode and the second electrode are connected through the body to be avoided to generate an avoidance current; or,

[0034] The lawnmower includes a second power source, the positive terminal of which is electrically connected to the first electrode, and the negative terminal of which is electrically connected to the second electrode. The first electrode and the second electrode are connected through the body to be avoided to generate a repelling current.

[0035] In one optional embodiment, the avoidance device includes a spike structure that protrudes from the surface of the device body and surrounds the periphery of the component to be protected.

[0036] In one alternative embodiment, the avoidance device is detachably connected to the main body of the device.

[0037] In one optional embodiment, the surface of the device body is provided with a receiving groove, and the avoidance device includes a mounting part, which is embedded in the receiving groove and at least partially protrudes from the surface of the device body.

[0038] In one optional embodiment, the lawnmower further includes a controller, and the component to be protected includes a humidity sensor electrically connected to the controller; the controller is at least configured to control the avoidance 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,

[0039] The controller is used to control the avoidance device to be electrically connected to the power source when the lawnmower is in a charging or working state. Attached Figure Description

[0040] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly described below.

[0041] Figure 1 This is a side view schematic diagram of a self-propelled working device provided in an embodiment of this application;

[0042] Figure 2 This is a perspective view of the rear end of a self-propelled working device provided in an embodiment of this application;

[0043] Figure 3 This is a perspective view of the front end of a self-propelled working device provided in an embodiment of this application;

[0044] Figure 4 This is a schematic diagram showing that the avoidance device of a self-propelled working device provided in this application is located on the side of the main body of the device near the bottom;

[0045] Figure 5 This is a schematic diagram showing that the avoidance device of a self-propelled working device provided in this application is located on the side of the main body of the equipment at a position higher than the front and rear wheels;

[0046] Figure 6 This is a schematic diagram of a self-propelled working device provided in this application, showing the avoidance device located on the side of the main body of the device near the top. Figure 1 ;

[0047] Figure 7 This is a schematic diagram of a self-propelled working device provided in this application, showing the avoidance device located on the side of the main body of the device near the top. Figure 2 ;

[0048] Figure 8 This is a schematic diagram of the structure of the first type of avoidance device provided in the embodiments of this application;

[0049] Figure 9 This is a schematic diagram of the structure of the second type of avoidance device provided in the embodiments of this application;

[0050] Figure 10 This is a schematic diagram of the structure of the third type of avoidance device provided in the embodiments of this application;

[0051] Figure 11 This is a schematic diagram of the structure of the fourth type of avoidance device provided in the embodiments of this application;

[0052] Figure 12 This is a schematic diagram of the structure of the fifth type of avoidance device provided in the embodiments of this application;

[0053] Figure 13This is a schematic diagram of the sixth type of avoidance device provided in the embodiments of this application;

[0054] Figure 14 This is a schematic diagram of the structure of the seventh type of avoidance device provided in the embodiments of this application;

[0055] Figure 15 This is a schematic diagram of the structure of the eighth type of avoidance device provided in the embodiments of this application;

[0056] Figure 16 This is a schematic diagram of the structure of the ninth type of avoidance device provided in the embodiments of this application;

[0057] Figure 17 This is a schematic diagram of the tenth type of avoidance device provided in the embodiments of this application;

[0058] Figure 18 This is a schematic diagram of the eleventh type of avoidance device provided in the embodiments of this application;

[0059] Figure 19 This is a schematic diagram of the twelfth type of avoidance device provided in the embodiments of this application;

[0060] Figure 20 This is a schematic diagram of the thirteenth avoidance device provided in the embodiments of this application;

[0061] Figure 21 This is a structural schematic diagram of one installation method of the avoidance device provided in the embodiments of this application. Detailed Implementation

[0062] The technical solution of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the embodiments described in this application are only a part of the embodiments, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without creative effort are within the protection scope of this application.

[0063] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment to other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0064] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a particular order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, an assembly or device comprising one or more components is not limited to the one or more components listed, but may optionally also include one or more components not listed but inherent to the exemplified product, or one or more components that it should have based on the described function.

[0065] Please see Figure 1 This application proposes an outdoor self-propelled work device 100 for use in home gardens, estates, hotels, etc., which includes, but is not limited to, lawnmowers, snowplows, cleaning robots, etc. In this embodiment, the self-propelled work device 100 is a lawnmower.

[0066] Currently, self-propelled work devices 100 generally lack protective designs against small organisms such as snails and slugs. These organisms can easily climb onto the surface of the device during operation, causing signal blockage. The mucus secreted by these small organisms may also corrode the metal structure of the self-propelled work device 100.

[0067] This application uses a lawnmower as an example. The lawnmower's casing is equipped with sensing modules such as vision sensors and lidar. If a snail climbs onto the lawnmower's casing and blocks these critical sensing modules, the obstruction will reduce the device's positioning accuracy and weaken its environmental awareness. In severe cases, it may cause obstacle avoidance failure, affecting the lawnmower's normal operating performance and safety. If the snail climbs to the charging contacts, the slime it produces will corrode the contacts, hindering the lawnmower's charging process.

[0068] Current lawnmowers lack effective solutions to prevent snails from climbing, which makes the vision module or lidar easily obstructed and the charging plates easily corroded. This affects the lawnmower's positioning and obstacle avoidance functions, and damage to the charging plates may lead to a decrease in its working efficiency and accuracy.

[0069] Please see Figure 1 and Figure 2 Based on the above problems, this application proposes a self-propelled working device 100, which includes a main body 10, a walking device 20, a working device 30, and at least one avoidance device 40.

[0070] Please see Figure 1 and Figure 2 The main body 10 of the device includes a housing 11.

[0071] Please see Figure 1 and Figure 2 The surface of the main body 10 of the device is provided with at least one component 12 to be protected. Optionally, the surface of the housing 11 is also provided with at least one component 12 to be protected. The component 12 to be protected includes, but is not limited to, components such as the sensing module 121 or the charging assembly 122 that are easily affected by small organisms such as snails and slugs.

[0072] Please see Figure 1 , Figure 2 and Figure 3 The walking device 20 is located 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. The front walking wheel assembly 21 includes, but is not limited to, omnidirectional wheels located at the front end of the bottom of the equipment body 10; or, two front walking wheels 211 located on both sides of the equipment body 10 at the front end, the two front walking wheels being connected to the machine housing 11 via a first connecting structure 212. The rear walking wheel assembly 22 includes, but is not limited to, two rear walking wheels 221 located on both sides of the equipment body 10 at the rear end, the two rear walking wheels 221 being connected to the machine housing 11 via a second connecting structure 222.

[0073] The working device 30 is mounted on the main body 10 of the equipment and is used to perform preset tasks. Optionally, the self-propelled working device 100 is a lawnmower and the working device 30 is a cutting device. Alternatively, the self-propelled working device 100 is a snowplow and the working device 30 is a snowplow. Still alternatively, the self-propelled working device 100 is a cleaning robot and the working device 30 is a cleaning roller brush device.

[0074] The avoidance device 40 surrounds at least a portion of the periphery of the component 12 to be protected, thereby forming a protective area 13 on the periphery of the component 12, such that the subject to be avoided stops moving or changes its direction of movement when it comes into contact with the avoidance device 40.

[0075] At least a portion of the periphery of the component to be protected 12 includes at least one of the front, left, rear, and right sides of the component to be protected 12.

[0076] The avoidance device 40 is disposed at least partially on the periphery of the component 12 to be protected, so as to form a protective area 13 on the periphery of the component 12 to be protected, so that the subject to be avoided stops moving or changes its direction of movement when it comes into contact with the avoidance device 40.

[0077] For example, the avoidance device 40 is located on at least one of the front, left, rear, and right sides of the component 12 to be protected. Specifically, the avoidance device 40 may be annular; or, the avoidance device 40 may be an open shape such as a straight line, an arc, a semi-circle, a bent line, a dot matrix, or a linear array.

[0078] For example, the avoidance device 40 may be ring-shaped, and the ring-shaped avoidance device 40 surrounds the periphery of the component 12 to be protected.

[0079] Optionally, the avoidance device 40 can be in an open shape such as a straight line, an arc, a semi-circle, a bent line, a dot matrix, or a linear array.

[0080] For example, a repelling device 40 is semi-circular, and the semi-circular repelling device 40 is disposed around the periphery of the component 12 to be protected, for example, on the path where snails frequently crawl on the component 12 to be protected.

[0081] For another example, the two avoidance devices 40 are in a semi-circular shape, and the two semi-circular avoidance devices 40 are combined to form a ring, which is arranged around the periphery of the component 12 to be protected.

[0082] For another example, multiple avoidance devices 40 are arc-shaped, and the multiple arc-shaped avoidance devices 40 are combined to form a ring, surrounding the periphery of the component 12 to be protected.

[0083] For ease of explanation, this embodiment uses the example of the avoidance device 40 being arranged in a ring around the part to be protected 12. Of course, the implementation of the avoidance device 40 in other open structures can refer to this embodiment.

[0084] The entities to be avoided include, but are not limited to, small crawling creatures such as snails and slugs, in order to prevent these creatures from affecting the operation of the lawnmower's sensing module 121 or corroding the metal parts on the lawnmower.

[0085] The sensing module 121 includes, but is not limited to, at least one of a visual sensor, an ultrasonic sensor, a lidar, a rain detector, and a humidity sensor.

[0086] This application does not specifically limit the repelling device 40. The repelling device can be driven away by electric shock or by physical means, such as a thorny net with a spiked structure.

[0087] The number of components 12 to be protected can be one or more.

[0088] When there is only one component 12 to be protected, there is only one repelling device 40. One repelling device 40 is disposed around the component 12 to form a protective area 13 around the component 12 to repel any subject that is about to enter the protective area 13. For example, the subject to be repelled stops moving or changes its direction of movement when it comes into contact with the repelling device 40, so as to prevent 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 from being affected by the mucus secreted by the subject to be repelled.

[0089] When there is only one component 12 to be protected, there are multiple repelling devices 40. These multiple repelling devices 40 can be arranged in a ring around the periphery of the component 12 to be protected; or each repelling device 40 can be located around the periphery of the component 12 to be protected. The multiple repelling devices 40 are distributed inside and outside the periphery of the component 12 to form a protective area 13 around the periphery of the component 12 to repel any subject that is about to enter the protective area 13. For example, the subject may stop moving or change its direction of movement when it comes into contact with the repelling device 40, thus preventing the subject from entering the protective area 13 and preventing the component 12 from being blocked by the subject or affected by the mucus secreted by the subject.

[0090] Please see Figure 3 When there are multiple components 12 to be protected, there is only one repelling device 40. This repelling device 40 is positioned around the periphery of the multiple components 12 to form a protective area 13. This repellent device avoids any entity about to enter the protective area 13. For example, it causes the entity to stop moving or change direction upon contact with the repelling device 40, preventing it from entering the protective area 13 and thus preventing the components 12 from being blocked or affected by the secretions of the entity. For instance, one repelling device 40 surrounds and forms a protective area 13, within which multiple components 12 are located.

[0091] Please see Figure 2 When there are multiple components 12 to be protected, there are also multiple avoidance devices 40. Optionally, multiple avoidance devices 40 can be arranged to form a protective area 13, and all multiple components 12 to be protected can be located within this protective area 13; or, multiple avoidance devices 40 can be arranged to form multiple protective areas 13, and multiple components 12 to be protected can be located within multiple protective areas 13 respectively, in order to avoid the subject to be avoided from entering the multiple protective areas 13. For example, the subject to be avoided can stop moving or change its direction of movement when it comes into contact with the avoidance device 40, so as to prevent the subject to be avoided from entering the protective area 13, thereby preventing the component to be protected from being blocked by the subject to be avoided or affected by the mucus secreted by the subject to be avoided.

[0092] Generally, a portion of the sensing module 121 protrudes from the housing 11. For example, a vision sensor protrudes from the housing 11 to perform positioning and obstacle detection on the self-propelled work device 100 by acquiring images or light. If a snail climbs onto the vision sensor on the housing 11, it will block the transmission or reception of images or light, resulting in inaccurate signal acquisition by the vision sensor, which in turn leads to inaccurate positioning accuracy or obstacle avoidance malfunction. Similarly, a lidar sensor protrudes from the housing 11 to perform positioning on the self-propelled work device 100 by transmitting and receiving radar signals. If a snail climbs onto the lidar sensor on the housing 11, it will block the transmission or reception of images or light, resulting in inaccurate signal acquisition by the lidar, which in turn leads to inaccurate positioning accuracy. For example, the charging electrode is exposed on the housing 11 and is used to connect with the charging interface on the charging pile to charge the self-propelled working device 100. If a snail crawls onto the charging electrode on the housing 11, the mucus secreted by the snail will corrode the charging electrode because the charging electrode is made of metal, thus affecting the charging efficiency of the self-propelled working device 100.

[0093] The self-propelled working device 100 provided in this application includes a main body 10, a walking device 20, and a working device 30. At least a portion of the component to be protected 12 is disposed on the surface of the main body 10. The self-propelled working device 100 moves via the walking device 20 located at the bottom of the main body 10. The working device 30 is disposed on the main 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 avoidance device 40, which is disposed around at least one component 12 to be protected. The avoidance device 40 is used to avoid the subject to be avoided, so as to form a protective area 13 around the at least one component 12 to avoid the subject that is about to enter the protective area 13. This causes the subject to be avoided to stop moving or change its direction of movement when it comes into contact with the avoidance device 40, thus preventing the subject to be avoided from entering the protective area 13. This also prevents the component 12 to be protected from being blocked by the subject to be avoided or affected by the mucus secreted by the subject to be avoided. This gives the self-propelled working device 100 better avoidance and self-protection functions, and improves the reliability of the self-propelled working device 100.

[0094] The following description, in conjunction with the accompanying drawings, provides a specific example illustrating the position of the avoidance device 40 on the main body 10 of the equipment.

[0095] For ease of explanation, the portion of the self-propelled working device 100 facing the ground is defined as the bottom, and the portion facing away from the ground is defined as the top. The self-propelled working device 100 also has a side portion connecting the top and bottom, which can be referred to as the circumferential side surface of the self-propelled working device 100. In the circumferential side surface of the self-propelled working device 100, one end in the forward direction is defined as the front end, and one end in the backward direction is defined as the rear end. The self-propelled working device 100 also has two side surfaces connecting the top and bottom, which are referred to as the first side surface and the second side surface, respectively.

[0096] When the self-propelled working device 100 is located on the ground, the ways in which the subject to be driven can climb onto the self-propelled working device 100 include: Please refer to Figure 1 Path 1 - The subject to be driven climbs from the front walking wheel assembly 21 (e.g., swivel casters) 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 middle (As indicated by the arrow); please refer to Figure 3 Route 2 - The subject to be driven climbs onto rocks, steps, or walls near the self-propelled working device 100 to a position near the top of the self-propelled working device 100 (see...). Figure 3 middle (As indicated by the arrow); please refer to Figure 3 Path 3 - The subject to be driven climbs to the periphery of the self-propelled working device 100 near the top via the front walking wheel 211 or the rear walking wheel 221 (see...). Figure 3 middle (As indicated by the arrow); please refer to Figure 2 and Figure 3 Path 4 - The subject to be driven climbs to the periphery of the self-propelled working device 100 near the top via the connection structure between the walking wheels and the fuselage 11 (first connection structure 212 or second connection structure 222) (see Figure 2 and Figure 3 middle (As indicated by the arrow).

[0097] Please see Figures 4-9 The avoidance device 40 is disposed around the side of the device body 10. In other words, the path of the avoidance device 40 is at least located on the side of the device body 10.

[0098] The area formed by the avoidance device 40 surrounding the surface of the equipment body 10 is the protective area 13. It should be noted that the side of the equipment body 10 can be the peripheral side of the aforementioned self-propelled operating device 100.

[0099] In the first alternative implementation, please refer to Figure 1and Figure 4 The avoidance device 40 is disposed around the peripheral side of the device body 10 and near the bottom. In other words, the path of the avoidance device 40 is at least located on the peripheral side of the device body 10 and near the bottom. For example Figure 4 The position indicated by S1 in the diagram.

[0100] The area formed by the avoidance device 40 surrounding the surface of the equipment body 10 is the protective 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 operating device 100; the bottom of the equipment body 10 can be the bottom of the aforementioned self-propelled operating device 100.

[0101] In this embodiment, by surrounding the device body 10 with the avoidance device 40 on the peripheral side and near the bottom, the device body 10 can effectively avoid the subject that has climbed along path 1 (from the front walking wheel assembly 21 and the bottom of the self-propelled working device 100 to the peripheral side of the self-propelled working device 100 near the bottom) to the position near the bottom of the peripheral side of the self-propelled working device 100. When the subject to be avoided climbs along path 1 to a position near the bottom of the periphery of the self-propelled work device 100, it will encounter the avoidance device 40. The avoidance device 40 uses electrical stimulation by releasing a small current or other means, or physical stimulation by setting spikes or other means, to block the subject from continuing to move forward. This causes the subject to stop moving or change its direction of movement when it comes into contact with the avoidance device 40, preventing the subject from entering the protected area 13. This also prevents the protected component 12 from being blocked by the subject or affected by the mucus secreted by the subject, giving the self-propelled work device 100 better avoidance and self-protection functions, and improving the reliability of the self-propelled work device 100.

[0102] Optionally, when the subject to be avoided climbs along path 2 (the subject to be avoided climbs to the position near the top of the periphery of the self-propelled working device 100 via rocks, steps or walls near the self-propelled working device 100), along path 3 (the subject to be avoided climbs to the position near the top of the periphery of the self-propelled working device 100 via the rear walking wheel 221), or along path 4 (the subject to be avoided climbs to the position near the top of the periphery of the self-propelled working device 100 via the first connecting structure 212 or the second connecting structure 222), it may directly cross the avoidance device 40 provided in the first optional embodiment. Based on this, this application also provides the following layout position of the avoidance device 40.

[0103] In the second alternative implementation, please refer to Figure 2 , Figure 3 and Figure 5The avoidance device 40 is positioned around the side of the main body 10 of the equipment and above the aforementioned first connecting structure 212 and second connecting structure 222. When the avoidance subject climbs along the first connecting structure 212 or the second connecting structure 222 (path 4) to the periphery of the self-propelled working device 100, it will encounter the avoidance device 40. The avoidance device 40 provides electrical stimulation by releasing a small current or by physical stimulation by setting spikes, etc., to block the subject from continuing to move forward. This causes the subject to stop moving or change its direction of movement when it comes into contact with the avoidance device 40, preventing the subject from entering the protected area 13. This also prevents the protected component 12 from being blocked by the subject or affected by the mucus secreted by the subject, giving the self-propelled working device 100 better avoidance and self-protection functions, and improving the reliability of the self-propelled working device 100.

[0104] Further optional information can be found in [link to relevant documentation]. Figure 5 The avoidance device 40 is located on the side of the main body 10 and is higher than the aforementioned front and rear wheels 211 and 221. When the avoidance body climbs along the rear wheel 221 (path 3) to the periphery of the nearby self-propelled work device 100, it will encounter the avoidance device 40. The avoidance device 40 provides electrical stimulation by releasing a small current or by physical stimulation by setting spikes to block the avoidance body from continuing to move forward. This causes the avoidance body to stop moving or change its direction of movement when it comes into contact with the avoidance device 40, preventing the avoidance body from entering the protected area 13. This also prevents the protected component 12 from being blocked by the avoidance body or affected by the mucus secreted by the avoidance body, giving the self-propelled work device 100 better avoidance and self-protection functions and improving the reliability of the self-propelled work device 100.

[0105] Since the avoidance device 40 in this embodiment is arranged around the periphery of the main body 10 of the device, when the avoidance subject climbs along the path 2 (the subject to be avoided passes through rocks, steps or walls near the self-propelled working device 100) to the periphery of the self-propelled working device 100, it will encounter the avoidance device 40. The avoidance device 40 provides electrical stimulation by releasing a small current or by setting up physical stimulation such as spikes to block the subject from continuing to move forward. This causes the subject to stop moving or change its direction of movement when it comes into contact with the avoidance device 40, preventing the subject to be avoided from entering the protected area 13. This also prevents the protected component 12 from being blocked by the subject to be avoided or affected by the mucus secreted by the subject to be avoided. This gives the self-propelled working device 100 a better avoidance function and self-protection function, improving the reliability of the self-propelled working device 100.

[0106] Further optional information can be found in [link to relevant documentation]. Figure 6 and Figure 9The avoidance device 40 can be positioned around the periphery of the main body 10 and near the top. Thus, the avoidance device 40 is positioned relatively high, and the protective area 13 formed by the avoidance device 40 is close to the top of the main body 10 (i.e., the top of the self-propelled working device 100). When the subject being avoided climbs along path 2 (passing over rocks, steps, or walls near the self-propelled working device 100) to the periphery of the self-propelled working device 100, even if the rocks, steps, or walls are high, the subject will not enter the protective area 13 formed by the avoidance device 40.

[0107] Please see Figure 2 and Figure 3 The avoidance device 40 can also be disposed around the top of the device body 10, and the top of the device body 10 is provided with the component to be protected 12. By disposing of the avoidance device 40 around the top of the device body 10, the component to be protected 12 on the top can be protected.

[0108] Optionally, the avoidance device 40 can also be arranged around the top and sides of the device body 10. This embodiment provides double protection for the top component 12 by providing one avoidance device 40 around the side of the device body 10 and another avoidance device 40 around the top of the device body 10. This effectively protects snails that climb onto the device body 10 via the aforementioned paths 1, 2, 3, and 4.

[0109] The following embodiments of this application provide specific examples illustrating the structure of the component to be protected 12 and the position of the avoidance device 40.

[0110] Optional, please refer to Figure 1 and Figure 2 At least one component 12 to be protected includes a sensor module 123. The avoidance device 40 is disposed around the periphery of 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 lidar, a rain detector, and a humidity sensor.

[0111] This embodiment sets up a repelling device 40 around the sensor module 123, so that the sensor module 123 is located within the protective area 13, preventing the subject to be repelled from entering the protective area 13. This avoids the sensor module 123 from being blocked by the subject to be repelled or affected by the mucus secreted by the subject, thus preventing inaccurate detection and improving the detection accuracy and reliability of the self-propelled operation device 100.

[0112] Optionally, the sensor module 123 is located at the top and / or the rear of the device body 10. Specifically, the following embodiments are included:

[0113] Please see Figure 2 The sensor module 123 is located on the top of the device body 10. The sensor module 123 includes at least one of a vision sensor, an ultrasonic sensor, a lidar, a rain detector, and a humidity detector. The avoidance device 40 is disposed around the top of the device body 10 and surrounds the periphery of at least one of the sensor modules 123, such as the vision sensor, ultrasonic sensor, lidar, rain detector, and humidity detector, to effectively protect at least one of the sensor modules 123 from being blocked by the object to be avoided or affected by the mucus secreted by the object to be avoided.

[0114] Please see Figure 1 The sensor module 123 is located at the tail of the device body 10, and includes an infrared sensor, etc. The avoidance device 40 is disposed around the tail of the device body 10 and surrounds the sensor module 123, such as the infrared sensor, to effectively protect the infrared sensor and prevent at least one of the infrared sensor from being blocked by the subject to be avoided or affected by the mucus secreted by the subject to be avoided.

[0115] Please see Figure 2 The sensor module 123 is located at the top and rear of the device body 10. The sensor module 123 includes at least one of a visual sensor, an ultrasonic sensor, a lidar, a rain detector, a humidity detector, and an infrared sensor. The avoidance device 40 is disposed around the top and rear of the device body 10 and surrounds the sensor module 123, including the visual sensor, ultrasonic sensor, lidar, rain detector, humidity detector, and infrared sensor, to effectively protect the visual sensor, ultrasonic sensor, lidar, rain detector, humidity detector, and infrared sensor from being blocked by the subject to be avoided or affected by the mucus secreted by the subject to be avoided.

[0116] Optional, please refer to Figure 2 The at least one component to be protected 12 includes a charging assembly 122. The avoidance device 40 is disposed around the periphery of the charging assembly 122. The charging assembly 122 includes, but is not limited to, a charging interface, charging electrodes, or charging terminals.

[0117] This embodiment sets up a repelling device 40 around the charging components 122, such as the charging interface, charging electrodes, or charging terminals, so that the charging components 122 are located within the protective area 13. This prevents the subject to be repelled from entering the protective area 13, thereby preventing the charging components 122 from being blocked by the subject to be repelled or affected by the mucus secreted by the subject, which could lead to problems such as low charging efficiency, inability to charge, or short circuits. This improves the charging protection capability of the self-propelled working device 100.

[0118] Optionally, the charging component 122 is located at the rear, front, or side of the device body 10. Specifically, the following embodiments are included:

[0119] Charging components 122, such as charging interfaces, charging electrodes, or charging terminals, are located at the rear of the main body 10 of the device. A repelling device 40 is disposed around the rear of the main body 10 and surrounds the charging components 122, such as charging interfaces, charging electrodes, or charging terminals, to effectively protect them from being blocked by the object to be repelled or corroded by the mucus secreted by the object, thereby improving the charging protection capability of the self-propelled working device 100.

[0120] Charging components 122, such as charging interfaces, charging electrodes, or charging terminals, are located at the front end of the device body 10. A repelling device 40 is disposed around the front end of the device body 10 and surrounds the charging components 122, such as charging interfaces, charging electrodes, or charging terminals, to effectively protect them from being blocked by the object to be repelled or corroded by the mucus secreted by the object, thereby improving the charging protection capability of the self-propelled working device 100.

[0121] Charging components 122, such as charging interfaces, charging electrodes, or charging terminals, are located on the sides of the device body 10 (including the first side and / or the second side). A repelling device 40 is disposed around the sides of the device body 10 and surrounds the charging components 122, such as charging interfaces, charging electrodes, or charging terminals, to effectively protect them from being blocked by the object to be repelled or corroded by the mucus secreted by the object, thereby improving the charging protection capability of the self-propelled working device 100.

[0122] Optionally, the avoidance device 40 is used to generate an avoidance current to avoid the subject to be avoided.

[0123] In this embodiment, the repelling device 40 is an electrical stimulation device. When the subject to be repelled, such as a snail, crawls to contact the electrical stimulation device, the microcurrent generated by the device is conducted to the snail's body, causing the snail to experience a slight electric shock and discomfort. This causes the snail to change its crawling direction and move away from the area where the repelling device 40 is located (i.e., the protective area 13), thereby repelling the snail and preventing the protected component 12 in the protective area 13 from being blocked by the snail or affected by the mucus secreted by the snail.

[0124] Optionally, the repelling current generated by the repelling device 40 is a microcurrent. The intensity of the repelling current generated by the repelling device 40 is less than the first preset current intensity. The first preset current intensity is 2mA. This application does not specifically limit the intensity of the repelling current generated by the repelling device 40. Optionally, the current range of the repelling current is in the milliampere or microampere range. This microcurrent will not pose a threat to the human body, nor will it cause fatal harm to the snail; it 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 or any two of the following: 10μA, 50μA, 100μA, 200μA, 300μA, 400μA, 500μA, 600μA, 700μA, 800μA, 900μA, 1mA.

[0125] The following embodiments illustrate the specific structure of the avoidance device 40. Of course, the avoidance device 40 provided in this application includes, but is not limited to, the following embodiments.

[0126] In the first optional avoidance device 40 embodiment, please refer to Figure 8 The avoidance device 40 includes a first electrode 41 and a second electrode 42.

[0127] 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 first electrode 41 and the second electrode 42 are arranged in parallel as an example. This embodiment does not specifically limit the extending direction of the first electrode 41 and the second electrode 42.

[0128] When the object to be repelled simultaneously contacts the first electrode 41 and the second electrode 42, a conductive circuit is formed between the first electrode 41, the object to be repelled, and the second electrode 42, generating a repelling current. This repelling current is a microcurrent, which is conducted to the snail's body, causing the snail to experience a slight electric shock and discomfort, thereby changing its crawling direction and moving away from the area where the repelling device 40 is located (i.e., the protected area 13), thus repelling the snail and preventing the protected component 12 in the protected area 13 from being blocked by the snail or affected by the mucus secreted by the snail.

[0129] Optionally, the first electrode 41 is electrically connected to the positive terminal of the power supply, and the second electrode 42 is electrically connected to the negative terminal of the power supply.

[0130] The power source includes, but is not limited to, the power supply for the self-propelled working device 100, or the micro-power supply formed by providing voltage to the power supply of the self-propelled working device 100, or the avoidance power supply built into the avoidance device 40. Specific examples of power sources will be provided later.

[0131] In this embodiment, the first electrode 41 is a positive electrode, and the second electrode 42 is a negative electrode. Initially, the first electrode 41 and the second electrode 42 are in an open-circuit state. When the object to be avoided simultaneously contacts both the first electrode 41 and the second electrode 42, electrical conduction occurs between them. A preset potential difference is formed between the first electrode 41 and the second electrode 42. When the object to be avoided simultaneously contacts both the first electrode 41 and the second electrode 42, a conductive circuit is formed between the first electrode 41, the object to be avoided, and the second electrode 42, generating a repelling current. This causes the object to experience a slight electric shock, resulting in discomfort and causing it to change its crawling direction, moving away from the area where the repelling device 40 is located (i.e., the protected area 13).

[0132] 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.

[0133] For example, the first preset spacing is 0.1cm, and the second preset spacing is 1cm. 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, which will result in the first electrode 41 and the second electrode 42 not forming a conductive circuit. Some small snails will not generate a repelling current when passing through the repelling device 40, which will prevent the repelling device 40 from blocking the protected component 12 or causing the secreted mucus to affect the protected component 12.

[0134] If the distance between the first electrode 41 and the second electrode 42 is too small, it may cause the first electrode 41 and the second electrode 42 to easily conduct directly, thus causing a short circuit.

[0135] For example, the first preset spacing is 0.1cm, and the second preset spacing is 0.5cm. Generally, the width of a snail is about 0.6cm. By setting the spacing between the first electrode 41 and the second electrode 42 to be greater than or equal to 0.1cm and less than or equal to 0.5cm, the snail will still come into contact with both electrodes even if it crawls along the gap between them. This prevents the snail from crawling along the gap and allows it to be driven away from the avoidance device 40 as early as possible, further reducing the chance of the snail entering the protected area 13 and improving the snail avoidance rate.

[0136] The following embodiments of this application illustrate the shapes of the first electrode 41 and the second electrode 42.

[0137] For an embodiment of the first alternative electrode shape, please refer to... Figure 8 The first electrode 41 is a ring electrode. The second electrode 42 is a ring electrode.

[0138] Taking the example of the first electrode 41 being annular and the second electrode 42 being annular. The first electrode 41 is arranged around the periphery of the component 12 to be protected (the specific design can be combined with the position of the aforementioned avoidance device 40).

[0139] Please see Figure 8 The avoidance device 40 also 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 terminal of the power supply. For example, the positive terminal of the power supply is located inside 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 location of the positive terminal of the power supply.

[0140] The first electrode 41 includes, but is not limited to, a metal trace, and the first extended electrode 43 includes, but is not limited to, a wire with a protective sheath.

[0141] The second electrode 42 is also disposed around the periphery of the component 12 to be protected (specifically, it can be designed in conjunction with the position of the aforementioned avoidance device 40). In one embodiment, the second electrode 42 is located between the first electrode 41 and the component 12 to be protected. In other embodiments, the first electrode 41 is located between the second electrode 42 and the component 12 to be protected.

[0142] Please see Figure 8The avoidance device 40 also 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 terminal of the power supply. For example, the negative terminal of the power supply is located inside 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 location of the negative terminal of the power supply.

[0143] The second electrode 42 includes, but is not limited to, a metal trace, and the second extended electrode 44 includes, but is not limited to, a wire with a protective sheath.

[0144] For an implementation of the second alternative electrode shape, please refer to... Figure 9 The first electrode 41 is a planar spiral electrode. One end of the first planar spiral electrode is electrically connected to the positive terminal of the power supply. The first planar spiral electrode is arranged in a planar spiral shape around the periphery of the component 12 to be protected. The other end of the first planar spiral electrode is a circuit breaker.

[0145] The second electrode 42 is a planar spiral electrode. One end of the second planar spiral electrode is electrically connected to the negative terminal of the power supply. The second planar spiral electrode is arranged in a planar spiral shape around the periphery of the component 12 to be protected. The other end of the second planar spiral electrode is a circuit breaker.

[0146] This application does not specify the number of turns of the first planar spiral electrode or the second planar spiral electrode. Optionally, the first planar spiral electrode is wound once, and the second planar spiral electrode is wound once, with the first and second planar spiral electrodes spaced apart. A potential difference and a first layer of electrical stimulation protection are formed between the first and second planar spiral electrodes. Alternatively, the first planar spiral electrode is wound twice, and the second planar spiral electrode is wound once, with the first turn of the first planar spiral electrode, the second planar spiral electrode, and the second turn of the first planar spiral electrode spaced apart sequentially. A potential difference and a first layer 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 layer of electrical stimulation protection are formed between the second turn of the second planar spiral electrode and the first planar spiral electrode.

[0147] In this embodiment, compared to the first optional electrode shape, there is no need to additionally set the first extension electrode 43 and the second extension electrode 44. Multiple turns of positive electrodes and multiple turns of negative electrodes can be alternately set in sequence to form multiple electrical stimulation protection.

[0148] This application does not specify the number of the first electrode 41 and the number of the second electrode 42.

[0149] Optionally, there is one first electrode 41 and one second electrode 42.

[0150] Taking an example where the first electrode 41 is ring-shaped and the second electrode 42 is ring-shaped, the first electrode 41 is arranged around the periphery of the component 12 to be protected (the specific arrangement can be designed in conjunction with the position of the aforementioned avoidance device 40). The second electrode 42 is also arranged around the periphery of the component 12 to be protected (the specific arrangement can be designed in conjunction with the position of the aforementioned avoidance device 40).

[0151] In one embodiment, the second electrode 42 is located between the first electrode 41 and the component 12 to be protected. In other embodiments, the first electrode 41 is located between the second electrode 42 and the component 12 to be protected. There is a potential difference between the first electrode 41 and the second electrode 42, forming a first layer of electrical stimulation protection.

[0152] Alternatively, please refer to Figure 10 The first electrode 41 and the second electrode 42 each include multiple ones. There are multiple first electrodes 41 and multiple second electrodes 42. Multiple first electrodes 41 and multiple second electrodes 42 are arranged alternately. For example, first electrode 41, second electrode 42, first electrode 41, second electrode 42, first electrode 41, second electrode 42... are arranged alternately in sequence.

[0153] Taking an example where the first electrode 41 is ring-shaped and the second electrode 42 is ring-shaped, the multiple first electrodes 41 are multiple ring electrodes with different radial dimensions. The multiple second electrodes 42 are multiple ring electrodes with different radial dimensions. 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 pair of adjacent electrodes to form an electrical stimulation protection outside the protection area 13. This embodiment can form multiple electrical stimulation protections outside the protection area 13 to prevent the subject to be avoided from directly entering the protection area 13 after passing through the first electrical stimulation protection. Even if the subject to be avoided passes through the first electrical stimulation protection, if it continues to move towards the protection area 13, it will encounter the next electrical stimulation protection, thereby causing the subject to be avoided to move away from the protection area 13, thus improving the avoidance rate of the subject to be avoided.

[0154] In other embodiments, the plurality of first electrodes 41 and the plurality of second electrodes 42 may be arranged in a sequence of first electrode 41, second electrode 42, second electrode 42, first electrode 41, first electrode 41... In some cases, the object to be avoided may not make contact with the first electrode 41 or the second electrode 42 due to gaps between them, resulting in a lack of conductivity between the first electrode 41 and the second electrode 42 and the inability to generate an avoidance current. This embodiment addresses this by alternately arranging two (or more) first electrodes 41 and two (or more) second electrodes 42, increasing the probability of contact between the object to be avoided and the first electrode 41 or the second electrode 42 even when there are gaps between them. This increases the probability of generating an avoidance current when encountering the object to be avoided and increases the interception rate of the object to be avoided.

[0155] Optionally, the voltage of the multiple first electrodes 41 is the same, and the voltage of the multiple second electrodes 42 is the same. That is, the multiple first electrodes 41 are all electrically connected to the positive terminal of the power supply, and the multiple second electrodes 42 are all electrically connected to the negative terminal of the power supply.

[0156] Further optional information can be found in [link to relevant documentation]. Figure 10 The avoidance device 40 also includes a first extension electrode 43, which intersects with and is electrically connected to a plurality of first electrodes 41, and intersects with and is electrically insulated from a plurality of second electrodes 42. A portion of the first extension electrode 43 is electrically connected to the plurality of first electrodes 41, and another portion of the first extension electrode 43 is electrically connected to the positive terminal of the power supply. For example, the positive terminal of the power supply is located inside the device body 10, the first electrodes 41 are disposed on the outer surface of the device body 10, a portion of the first extension electrode 43 contacts the outer surface of the device body 10, and the first electrodes 41 include, but are not limited to, metal traces, and a portion of the first extension electrode 43 is a metal trace. Another portion of the first extension electrode 43 enters the device body 10 and extends to the location of the positive terminal of the power supply. The other portion of the first extension electrode 43 includes, but is not limited to, a wire with a protective sheath.

[0157] This embodiment can realize that multiple first electrodes 41 are electrically connected to the positive terminal of the power supply through the same first extended electrode 43. Compared with each first electrode 41 being electrically connected to the positive terminal of the power supply through an electrical connection trace, the number of electrical connection traces can be reduced and the layout of the electrical connection traces can be optimized.

[0158] Further optional information can be found in [link to relevant documentation]. Figure 10The avoidance device 40 also includes a second extension electrode 44, which intersects with and is electrically connected to a plurality of second electrodes 42, and is also electrically insulated from the plurality of second electrodes 42. A portion of the second extension electrode 44 is electrically connected to the plurality of second electrodes 42, and another portion of the second extension electrode 44 is electrically connected to the negative terminal of the power supply. For example, the negative terminal of the power supply is located inside the device body 10, the second electrodes 42 are disposed on the outer surface of the device body 10, a portion of the second extension electrode 44 contacts the outer surface of the device body 10, and the second electrodes 42 include, but are not limited to, metal traces, and a portion of the second extension electrode 44 is a metal trace. Another portion of the second extension electrode 44 enters the device body 10 and extends to the location of the negative terminal of the power supply. The other portion of the second extension electrode 44 includes, but is not limited to, a wire with a protective sheath.

[0159] This embodiment can realize that multiple second electrodes 42 are electrically connected to the negative terminal of the power supply through the same second extension electrode 44. Compared with each second electrode 42 being electrically connected to the negative terminal of the power supply through an electrical connection trace, the number of electrical connection traces can be reduced and the layout of the electrical connection traces can be optimized.

[0160] In other embodiments, the voltages of the multiple first electrodes 41 may be different, and the multiple first electrodes 41 are electrically connected to different positive output ports of the power supply to apply different positive voltages. The multiple second electrodes 42 are all electrically connected to the negative terminal of the power supply. The first electrodes 41, second electrodes 42, and so on 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. The second voltage may be greater than the first voltage. In this way, even if some large objects to be avoided pass through the first electrical stimulation protection with the first voltage, if they continue to move towards the protection area 13, they will be subjected to the second electrical stimulation protection with a larger voltage (the second voltage), and so on, until some large objects to be avoided change direction under electrical stimulation and move away from the protection area 13. The design of the avoidance device 40 in this embodiment can not only avoid small objects but also large objects, increasing the interception rate of the objects to be avoided and improving the protection rate of the objects to be protected.

[0161] In the second optional embodiment of the avoidance device 40, this embodiment is largely the same as the first optional embodiment. The main difference between this embodiment and the first optional embodiment is that, please refer to... Figure 11 The first electrode 41 and the second electrode 42 are respectively electrically connected to the two positive voltage output terminals of the power supply. There is a potential difference between the two positive voltage output terminals.

[0162] For example, the two positive voltage output terminals of the power supply include a first voltage output terminal and a second voltage output terminal. 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 apply the first voltage. The second electrode 42 is electrically connected to the second voltage output terminal to apply the second voltage. The first voltage and the second voltage are different, 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 avoided simultaneously contacts the first electrode 41 and the second electrode 42, the first electrode 41 and the second electrode 42 become electrically connected. Due to the voltage difference between the first electrode 41 and the second electrode 42, a conductive circuit is formed between the first electrode 41, the subject to be avoided, and the second electrode 42, generating a repelling current. This causes the subject to be avoided to experience a slight electric shock, resulting in discomfort and causing it to change its crawling direction and move away from the area where the repelling device 40 is located (i.e., the protected area 13).

[0163] Since the intensity of the avoidance current is small in this embodiment, for example, the avoidance current is about several hundred microamps, the voltage difference between the first electrode 41 and the second electrode 42 is also small. This embodiment forms two first electrodes 41 and second electrodes 42 with small voltage differences to form a small voltage difference, thereby forming a small avoidance current.

[0164] The shape of the first electrode 41 and the electrical connection between the first electrode 41 and the first voltage output terminal of the power supply can be referred to the shape of the first electrode 41 and the electrical connection between the first electrode 41 and the positive terminal of the power supply in the first embodiment.

[0165] The shape of the second electrode 42 and the electrical connection between the second electrode 42 and the second voltage output terminal of the power supply can be referenced from the shape of the second electrode 42 and the electrical connection between the second electrode 42 and the positive terminal of the power supply in the first embodiment.

[0166] The number of first electrodes 41 can be one or more, and the number of second electrodes 42 can be one or more. When there are multiple first electrodes 41 and second electrodes 42, the first electrodes 41 and second electrodes 42 can be arranged alternately in sequence.

[0167] In the third optional avoidance device 40 embodiment, this embodiment is largely the same as the second optional embodiment. The difference from the second optional embodiment is that in this embodiment, please refer to... Figure 12 The avoidance 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.

[0168] Furthermore, 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 and the second potential difference are different.

[0169] Specifically, the power supply has three positive voltage output terminals, namely a first voltage output terminal, a second voltage output terminal, and a third voltage output terminal. The first voltage output terminal outputs the first voltage, the second voltage output terminal outputs the second voltage, and the third voltage output terminal outputs the third voltage.

[0170] The first electrode 41 is electrically connected to the first voltage output terminal to apply the first voltage. The second electrode 42 is electrically connected to the second voltage output terminal to apply the second voltage. The third electrode 45 is electrically connected to the third voltage output terminal to apply the third voltage.

[0171] 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.

[0172] 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.

[0173] Initially, the first electrode 41 and the third electrode 45 are in an open circuit state. When the subject to be avoided simultaneously contacts the first electrode 41 and the third electrode 45, electrical conduction occurs between them. Due to the first potential difference between the first electrode 41 and the third electrode 45, a conductive circuit is formed between the first electrode 41, the subject to be avoided, and the third electrode 45, generating a first avoidance current. This causes the subject to be avoided to experience a slight electric shock, resulting in discomfort and causing it to change its crawling direction, moving away from the area where the avoidance device 40 is located (i.e., the protected area 13).

[0174] Furthermore, the second potential difference can be greater than the first potential difference. In this way, the repulsion current generated by the third electrode 45 and the second electrode 42 under conduction is greater than the repulsion current generated by the first electrode 41 and the third electrode 45 under conduction, thereby further stimulating the subject to be repelled, causing the subject to be repelled to move away from the protective area 13; or further stimulating a larger subject to be repelled, causing the larger subject to be repelled to move away from the protective area 13.

[0175] The first electrode 41 is located on the side away from the protected component 12. The second electrode 42 is located on the side closer to the protected component 12. If the subject to be avoided crosses the first electrical stimulation protection between the first electrode 41 and the third electrode 45, initially, the third electrode 45 and the second electrode 42 are in an open circuit state. When the subject to be avoided simultaneously contacts the third electrode 45 and the second electrode 42, electrical conduction occurs between the third electrode 45 and the second electrode 42. Due to the second potential difference between the third electrode 45 and the second electrode 42, a conductive circuit is formed between the third electrode 45, the subject to be avoided, and the second electrode 42, generating a second avoidance current. The second avoidance current is greater than the first avoidance current, causing the subject to be avoided to experience further electrical stimulation and discomfort, thereby changing its crawling direction and moving away from the area where the avoidance device 40 is located (i.e., the protected area 13).

[0176] Optionally, the potential difference between two adjacent third electrodes 45 increases sequentially from the first electrode 41 toward the second electrode 42. Thus, the intensity of the repulsion current for electrical stimulation protection formed between two adjacent third electrodes 45 gradually increases from the first electrode 41 toward the second electrode 42.

[0177] On the one hand, as the subject to be driven crawls towards the protective area 13, the electrical stimulation required gradually increases, so as to drive away some larger subjects to crawl away from the protective area 13; on the other hand, some larger subjects to be driven can simultaneously contact the first electrode 41 and multiple third electrodes 45, that is, simultaneously receive the driving current brought by multiple electrical stimulation protections, which can further stimulate the larger subjects to crawl away from the protective area 13.

[0178] In the fourth optional implementation of the avoidance device 40, please refer to Figure 13 The system comprises multiple first electrodes 41 and multiple second electrodes 42. The number of first electrodes 41 and the number of second electrodes 42 are both multiple. The multiple first electrodes 41 are arranged at intervals. The multiple second electrodes 42 are arranged at intervals. The extension direction of the first electrodes 41 is a first direction; adjacent first electrodes 41 may be arranged parallel to each other or non-parallel and not intersecting. The extension direction of the second electrodes 42 is a second direction; adjacent second electrodes 42 may be arranged parallel to each other or non-parallel and not intersecting. The first direction and the second direction intersect.

[0179] Multiple first electrodes 41 and multiple second electrodes 42 are crisscrossed to form a grid-like repelling device 40. The grid-like repelling device 40 can increase the probability that the subject to be repelled from different crawling directions can simultaneously contact two electrodes with a pressure difference, thereby generating a repelling current and repelling the subject to be repelled from different crawling directions.

[0180] Optional, please refer to Figure 13 The plurality of first electrodes 41 include alternating first positive electrodes 411 and first negative electrodes 412. Optionally, the first positive electrode 411 extends along a first direction, and the first negative electrode 412 extends along a first direction. The plurality of first positive electrodes 411 and the plurality of first negative electrodes 412 are alternately arranged in sequence.

[0181] Please see Figure 13 The plurality of second electrodes 42 include alternately arranged second positive electrodes 421 and second negative electrodes 422. Optionally, the second positive electrode 421 extends along a second direction, and the second negative electrode 422 extends along a second direction. The plurality of second positive electrodes 421 and the plurality of second negative electrodes 422 are arranged alternately in sequence.

[0182] Furthermore, the first positive electrode 411 and the second negative electrode 422 are electrically isolated at their junction. That is, the first positive electrode 411 and the second negative electrode 422 are electrically insulated at their junction. Furthermore, the first positive electrode 411 and the second negative electrode 422 are insulatedly connected at their junction through a first insulating part.

[0183] The first negative electrode 412 and the second positive electrode 421 are electrically isolated at their junction. That is, the first negative electrode 412 and the second positive electrode 421 are electrically insulated at their junction. Furthermore, the first negative electrode 412 and the second positive electrode 421 are insulatedly connected at their junction by a second insulating part.

[0184] For example, the first positive electrode 411 is annular and surrounds the periphery of the component 12 to be protected, and the first negative electrode 412 is also annular and surrounds the periphery of the component 12 to be protected. The first positive electrode 411, the first negative electrode 412, the second positive electrode 411, and the second negative electrode 412 are distributed sequentially from the outside to the inside.

[0185] 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 avoided simultaneously contacts the first positive electrode 411 and the first negative electrode 412, the first positive electrode 411 and the first negative electrode 412 become electrically connected. Due to the voltage difference between the first positive electrode 411 and the first negative electrode 412, a conductive circuit is formed between the first positive electrode 411, the subject to be avoided, and the first negative electrode 412, generating a repelling current. This causes the subject to be avoided to experience a slight electric shock, resulting in discomfort and causing it to change its crawling direction and move away from the area where the repelling device 40 is located (i.e., the protected area 13).

[0186] The first positive electrode 411 in this embodiment can refer to the first electrode 41 in the first embodiment, and the first negative electrode 412 in this embodiment can refer to the second electrode 42 in the first embodiment.

[0187] In a further optional embodiment, the second positive electrode 421 extends in a radial direction along the ring, and the second negative electrode 422 extends in a radial direction along the ring. In other embodiments, the second positive electrode 421 may also extend in other directions intersecting with the first negative electrode 412.

[0188] Each second positive electrode 421 intersects with multiple first positive electrodes 411 and multiple first negative electrodes 412. Furthermore, each first positive electrode 411 and each second positive electrode 421 is electrically connected at their intersection. Thus, the first positive electrodes 411 and the second positive electrodes 421 are loaded with the same positive voltage, and the multiple first positive electrodes 411 and the multiple second positive electrodes 421 can be electrically connected to the positive terminal of the power supply through the same electrical connection trace. The second positive electrode 421 and the first negative electrode 412 are electrically insulated at their intersection to prevent short circuits.

[0189] Each second negative electrode 422 intersects with multiple first negative electrodes 412 and multiple first positive electrodes 411. Furthermore, the second negative electrode 422 and the first negative electrode 412 are electrically connected at their intersection. Thus, the multiple first negative electrodes 412 and the multiple second negative electrodes 422 can be electrically connected to the negative terminal of the power supply through the same electrical connection trace. The second negative electrode 422 and the first positive electrode 411 are electrically insulated at their intersection to prevent short circuits.

[0190] When the subject to be avoided crawls toward the protective area 13 along the radial direction of the ring or in a direction intersecting with the radial direction of the ring, the subject to be avoided will simultaneously come into contact with the positive and negative electrodes, thereby generating a repelling current. Under the electrical stimulation of the repelling current, the subject to be avoided changes its crawling direction until it crawls to an area outside the repelling device 40, thereby effectively preventing subjects to be avoided from different directions from entering the protective area 13.

[0191] In the fifth optional embodiment of the avoidance device 40, this embodiment is similar to the fourth optional embodiment, except that, in this embodiment, please refer to... Figure 14 The plurality of first electrodes 41 include a plurality of third positive electrodes 413. The plurality of second electrodes 42 include a plurality of fourth positive electrodes 423. The junctions of each third positive electrode 413 and each fourth positive electrode 423 are electrically isolated.

[0192] In one optional embodiment, the multiple third positive electrodes 413 are subjected to the same voltage. The multiple fourth positive electrodes 423 are subjected to the same voltage, but the voltages applied to the third positive electrodes 413 and the fourth positive electrodes 423 are different. In this way, two intersecting mesh-like electrode protection networks with a potential difference are formed.

[0193] In another alternative implementation, the voltages applied to the plurality of third positive electrodes 413 are different.

[0194] For example, the potential difference between two adjacent third positive electrodes 413 gradually increases from the direction of approaching the component 12 to be protected. As a further example, the third positive electrode 413 is annular. A plurality of third positive electrodes 413 are sequentially arranged around the periphery of the component 12 to be protected.

[0195] In this embodiment, the intensity of the repelling current formed between two adjacent third positive electrodes 413 gradually increases from the direction of gradually approaching the component to be protected 12.

[0196] On the one hand, as the subject to be driven crawls towards the protective area 13, the electrical stimulation required gradually increases, so as to drive away some larger subjects to crawl away from the protective area 13; on the other hand, some larger subjects to be driven can simultaneously contact multiple third positive electrodes 413, that is, simultaneously receive the driving current brought by multiple electrical stimulation protections, which can further stimulate the larger subjects to crawl away from the protective area 13.

[0197] Since the intensity of the avoidance current is small in this embodiment, for example, the avoidance current is about several hundred microamps, the potential difference between the two adjacent third positive electrodes 413 is also small. In this embodiment, two voltages with a small difference are applied to the two third positive electrodes 413 respectively to form a small potential difference, making it easier to form a small avoidance current.

[0198] Further optional information can be found in [link to relevant documentation]. Figure 15 The voltages applied to the multiple fourth positive electrodes 423 are different.

[0199] For example, the radial direction of the annular third positive electrode 413 extends from the direction of the plurality of fourth positive electrodes 423. Each fourth positive electrode 423 intersects with the plurality of third positive electrodes 413 and is electrically connected at the intersection via a third insulating portion.

[0200] In this embodiment, for a group of fourth positive electrodes 423, the intensity of the repelling current formed between two adjacent fourth positive electrodes 423 gradually increases. Multiple groups of fourth positive electrodes 423 are arranged sequentially. For example, around the circumference of the component to be protected 12, the current distribution of the 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. Wherein, V1, V2, V3, V4, and V5 constitute a group of fourth positive electrodes 423.

[0201] On the one hand, as the subject to be driven crawls towards the protective area 13, the electrical stimulation required gradually increases, so as to drive away some larger subjects to crawl away from the protective area 13; on the other hand, some larger subjects to be driven can simultaneously contact multiple fourth positive electrodes 423, that is, simultaneously receive the driving current brought by multiple electrical stimulation protections, which can further stimulate the larger subjects to crawl away from the protective area 13.

[0202] Since the intensity of the avoidance current is small in this embodiment, for example, the avoidance current is about several hundred microamps, the potential difference between the two adjacent fourth positive electrodes 423 is also small. In this embodiment, two voltages with a small difference are applied to the two fourth positive electrodes 423 respectively to form a small potential difference, making it easier to form a small avoidance current.

[0203] The mesh-like repelling device 40 formed above can form electrode lines with potential differences in all directions, thereby effectively preventing the target from entering the protected area 13 from different directions.

[0204] 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 junction. For example, the voltages of the five third positive electrodes 413 are V1, V2, V3, V4, and V5 respectively; the voltages of a group of fourth positive electrodes 423 are V1, V2, V3, V4, and V5 respectively. In this way, multiple 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 trace.

[0205] Please see Figure 16The surface of the first electrode 41 is flush with or protrudes from the surface of the device body 10, so that the first electrode 41 can make full contact with the body to be driven away.

[0206] The surface of the second electrode 42 is flush with or protrudes from the surface of the device body 10, so that the second electrode 42 can make full contact with the body to be driven away.

[0207] Optionally, the second electrode 42 protrudes relative to the first electrode 41. Since snails are molluscs, when a snail passes by the first electrode 41 and the second electrode 42, it simultaneously contacts both electrodes, thus forming a conductive circuit and generating a repellent current. Furthermore, the first electrode 41 and the second electrode 42 are offset at different heights, preventing the user's finger from simultaneously contacting both electrodes and thus preventing accidental contact.

[0208] Furthermore, there are multiple first electrodes 41 and multiple second electrodes 42, and the distance between any 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 fingertip, so that the user's fingertip will not simultaneously contact the first electrode 41 and the second electrode 42. For example, the first preset distance is 4 mm.

[0209] Optional, please refer to Figure 17 The second electrode 42 is provided with a plurality of spaced conductive portions 425. The plurality of conductive portions 425 are electrically connected to the second electrode 42 and protrude relative to the first electrode 41.

[0210] Because snails are molluscs, when a snail passes by the first electrode 41 and the second electrode 42, it simultaneously contacts both electrodes 41 and 42, thus forming a conductive circuit and generating a repellent current. Furthermore, the first electrode 41 and the second electrode 42 are offset at different heights, preventing the user's finger from simultaneously contacting both electrodes and thus preventing accidental contact.

[0211] 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 protrudes from several conductive parts 425. This effectively prevents the user from accidentally touching the first electrode 41 and the second electrode 42 simultaneously, and also allows water between two second electrodes 42 to flow out through the gap, avoiding water accumulation between adjacent second electrodes 42 that could cause a short circuit between the first electrode 41 and the second electrode 42. The width of the gap between two adjacent conductive parts 425 is smaller than the width of the little fingertip to prevent the finger from simultaneously contacting the first electrode 41 and the second electrode 42 (or the conductive part 425).

[0212] 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 aligned with the gap of the outer second electrode 42, and the conductive portion 425 of the outer second electrode 42 is aligned with the gap of the inner second electrode 42. This not only effectively prevents the user from accidentally touching the first electrode 41 and the second electrode 42 at the same time, but also facilitates the flow of water between the two second electrodes 42 through the gaps on both sides, further avoiding water accumulation between the two adjacent second electrodes 42, which could lead to short circuits between the first electrode 41 and the second electrode 42.

[0213] For a sixth optional implementation of the avoidance device 40, please refer to [link / reference]. Figure 18 The repulsion device 40 includes a galvanic cell electrode 46. When the subject to be repelled comes into contact with the galvanic cell electrode 46, a repulsion current is generated through the galvanic cell effect to apply electrical stimulation to the subject to be repelled.

[0214] The galvanic cell electrode 46 is an electrochemically active metal layer that can react electrochemically with the mucus secreted by the snail to form a galvanic cell reaction. During the galvanic cell reaction, an electric current is generated, which can be conducted to the snail's body to produce a slight electrical stimulation, making the snail feel uncomfortable and stop moving or change its direction of movement.

[0215] The material of the primary cell electrode 46 includes, but is not limited to, reactive metals such as copper, zinc, magnesium, and aluminum.

[0216] For example, the galvanic electrode 46 is a copper layer, copper sheet, or copper foil. The galvanic electrode 46 is disposed around the component 12 to be protected. Optionally, the galvanic electrode 46 is in the form of a closed ring or multiple arcs. Generally, the gap between adjacent arcs is less than or equal to 5 mm to prevent snails from crawling into the protected area 13 through the gaps between adjacent arcs. Of course, the galvanic electrode 46 can also be in a dot matrix pattern. The gap between the dot matrix patterns is less than or equal to 5 mm to prevent snails from crawling into the protected area 13 through the gaps between the dot matrix patterns.

[0217] It should be noted that the mucus secreted by snails contains water and a certain concentration of electrolytes (such as salts, calcium ions, and other minerals), making it conductive. When a snail crawls onto a copper surface, the mucus acts as a conductive medium, allowing the copper to form a simple electrochemical battery with its surroundings.

[0218] When snail mucus comes into contact with a copper surface, the metal atoms in the copper release electrons and are oxidized into copper ions. This process reacts with the mucus inside the snail's body, creating a weak electric current. The specific anode reaction of the galvanic cell (copper is oxidized) is as follows:

[0219] Cu→Cu 2+ +2e

[0220] The specific cathode reaction formula of the galvanic cell is as follows:

[0221] O 2- +4H + +4e →2H2O

[0222] These reactions, aided by mucus, form closed circuits, resulting in the generation of tiny electric currents. These currents stimulate the snail's body, potentially interfering with its nervous system or metabolic processes. Furthermore, the generated copper ions (… This causes the snail to avoid the copper surface.

[0223] The avoidance device 40 provided in this embodiment does not require a power supply, making it a passive avoidance device 40 that saves energy; moreover, it does not require electrical control and will not pose a risk to the user.

[0224] For a seventh optional implementation of the avoidance device 40, please refer to [link / reference]. Figure 19 The repelling device 40 includes a conductive layer 47. The two ends of the conductive layer 47 are electrically connected to the positive and negative terminals of a power source, respectively, for applying electrical stimulation to the subject to be repelled when it comes into contact with the conductive layer 47.

[0225] Optionally, the conductive layer 47 is electrically connected to the conductive circuit, so that the conductive layer 47 has a weak repellent current. The conductive layer 47 is generally in a ring shape surrounding the periphery of the component 12 to be protected.

[0226] Specifically, the power supply, load, and conductive layer 47 form a conductive circuit. The conductive layer 47 is disposed on the surface of the main body 10 of the device and is nearly annular, located around the periphery of the component 12 to be protected. The load has a relatively large resistance, resulting in a small avoidance current in the conductive circuit. This causes the component to stop moving or change direction when it comes into contact with the conductive layer 47, preventing it from entering the protected area 13. This, in turn, prevents the component 12 from being blocked by the component or affected by its secretions, thus giving the self-propelled working device 100 better avoidance and self-protection functions, and improving its reliability.

[0227] The following embodiments illustrate the power supply of the avoidance device 40.

[0228] In a first embodiment, the avoidance device 40 further includes a first power source. The positive terminal of the first power source is electrically connected to the first electrode 41. The negative terminal 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 body to be avoided to generate an avoidance current.

[0229] Alternatively, the first electrode 41 and the second electrode 42 may be spaced apart or electrically insulated from each other to form a plurality of annular electrodes, spiral electrodes, or grid electrodes.

[0230] In this embodiment, the avoidance device 40 is equipped with a first power source independently, without sharing the power source of the self-propelled working device 100, and therefore there is no need to convert the power source of the self-propelled working device 100 into a corresponding small voltage to form a small avoidance current.

[0231] Further optionally, the first power source may include, but is not limited to, a solar cell. On the one hand, the solar cell can be charged using solar energy, eliminating the need for a power source for the self-propelled working device 100. On the other hand, since the generated avoidance current is very small, the required battery capacity is also small, and solar charging is sufficient to supply the generated avoidance current.

[0232] The aforementioned positive and negative terminals of the power supply can be the electrodes and negative terminals of the first power supply in this embodiment.

[0233] In a second embodiment, the self-propelled working device 100 includes a second power source. The positive terminal of the second power source is electrically connected to the first electrode 41. The negative terminal of the second power source is electrically connected to the second electrode 42, and the first electrode 41 and the second electrode 42 are connected through the body to be avoided to generate an avoidance current. Optionally, the second power source may be a rechargeable battery of the self-propelled working device 100, etc.

[0234] In this embodiment, the avoidance device 40 reuses the rechargeable battery of the self-propelled working device 100, eliminating the need for an additional power supply, thus saving costs and reducing the space required for an additional power supply.

[0235] The aforementioned positive and negative terminals of the power supply can be the electrodes and negative terminals of the second power supply in this embodiment.

[0236] For an embodiment of the eighth optional avoidance device 40, please refer to Figure 20 The avoidance device 40 includes a spike structure 50. The spike structure 50 protrudes from the surface of the device body 10 and surrounds the periphery of the component 12 to be protected.

[0237] Optionally, the spike structure 50 can be made of an insulating material. The spike structure 50 can be arranged in a ring or a dot matrix pattern around the periphery of the component 12 to be protected. The spike structure 50 can use physical defense to repel snails and prevent the component 12 to be protected within the protected area 13 from being blocked by snails or affected by the mucus secreted by the snails.

[0238] Optionally, the spike structure 50 can be made of a conductive material. When the spike structure 50 is made of a conductive material, it can be the same structure as the galvanic cell electrode 46 in the sixth optional embodiment, that is, a plurality of spike structures 50 are provided on the galvanic cell electrode 46. This embodiment uses the electrical stimulation method of the galvanic cell effect and the physical defense method to repel snails, avoiding the protected component 12 in the protected area 13 from being blocked by the snail or affected by the mucus secreted by the snail.

[0239] This application does not specify the manner in which the avoidance device 40 is disposed on the main body 10 of the equipment.

[0240] Optionally, the avoidance device 40 may be coated or printed on the main body 10 of the device.

[0241] Optionally, the avoidance device 40 can be attached to the main body 10 of the device by means of an adhesive layer.

[0242] Optionally, the avoidance device 40 is detachably connected to the device body 10. More specifically, the avoidance device 40 can be detachably connected to the device body 10 by means of magnetic attraction or the like.

[0243] Further optional information can be found in [link to relevant documentation]. Figure 21 The surface of the device body 10 is provided with a receiving groove 102. The receiving groove 102 is generally annular. The avoidance device 40 includes a mounting part 104. The mounting part 104 is embedded in the receiving groove 102 and at least partially protrudes from the surface of the device body 10.

[0244] The mounting section 104 includes, but is not limited to, an insulating plate. The avoidance device 40 is made of a conductive material, such as the first electrode 41 and the second electrode 42; or a conductive trace 48; or a galvanic cell electrode 46. The avoidance device 40 is mounted on the insulating plate and is installed in the receiving groove 102 via the insulating plate.

[0245] This embodiment provides a receiving slot 102 to facilitate the installation of the avoidance device 40.

[0246] In other embodiments, the receiving groove 102 may not be provided on the surface of the device body 10.

[0247] Optionally, the self-propelled working device 100 may also include a controller.

[0248] In one 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 configured to control the avoidance device 40 to generate an avoidance current when the humidity sensor detects that the humidity is greater than or equal to a humidity threshold.

[0249] Specifically, since snails are usually found on rainy days, a humidity sensor is installed on the lawnmower to detect the humidity of the environment or the surface of the lawnmower. Based on the humidity detection results, the avoidance device 40 is controlled to generate an avoidance current to repel snails.

[0250] Optionally, the humidity threshold is not specifically limited. The humidity threshold includes, but is not limited to, 70%, 75%, or 80%.

[0251] In this embodiment, based on the humidity detected by the humidity sensor, when the humidity exceeds a certain threshold, the controller controls the power supply to power the repelling device 40, causing the repelling device 40 to generate a repelling current and start the repelling mode. Compared to the repelling mode where the repelling device 40 is always on, this saves power and utilizes the biological characteristics of snails for targeted snail repelling, thus improving the working efficiency of the repelling device 40.

[0252] In another optional embodiment, the controller is used to control the avoidance device 40 to generate an avoidance current when the self-propelled working device 100 is in a charging state or a working state.

[0253] Generally, when the self-propelled working device 100 is in a charging state, it is stationary. At this time, the snail waiting to be avoided can easily climb onto the self-propelled working device 100. Based on this, when the self-propelled working device 100 is in a charging state, the controller controls the avoidance device 40 to generate an avoidance current, thus initiating the avoidance mode. Compared to the avoidance mode where the avoidance device 40 is always on, this saves power and improves the working efficiency of the avoidance device 40.

[0254] Generally, when the self-propelled working device 100 is in working state, the sensing module 121 is also in working state. If the snail waits for the avoidance device 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 avoidance device 40 to generate an avoidance current and start the avoidance mode. Compared with the avoidance mode where the avoidance device 40 is always on, this saves power, improves the working efficiency of the avoidance device 40, and also ensures the detection accuracy of the sensing module 121.

[0255] This application proposes a self-propelled working device 100, taking a lawnmower as an example. A repelling device 40 is provided on the surface of the self-propelled working device 100 to form a snail repelling zone (i.e., a protective zone 13) on the surface of the self-propelled working device 100. For example, an electrically stimulating repelling device 40 can be placed around the vision, lidar, and charging interface of the self-propelled working device 100. When a snail crawls into the repelling zone and comes into contact with the repelling device 40, the microcurrent generated by the repelling device 40 is conducted to the snail's body, causing the snail to experience a slight electric shock and discomfort, thereby changing its crawling direction and moving away from the area where the repelling device 40 is located, achieving the purpose of repelling.

[0256] Furthermore, the avoidance device 40 can be positioned on, for example, the surface of the housing of the self-propelled work device 100 and surrounding the periphery of the vision, lidar, charging interface, charging electrode plates, etc. The avoidance device 40 can be installed, for example, embedded within the housing surface of the self-propelled work device 100.

[0257] Furthermore, the repelling device 40 can repel snails by using electric shock, or by using physical defenses such as a thorny net structure or spikes.

[0258] 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. When the snail crawls to and comes into contact with the positive and negative electrodes, it conducts the two electrodes to generate current. The second current generation method is that the repelling device 40 includes a conductive layer 47 (the aforementioned conductive trace 48). The conductive layer 47 is charged by itself. 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 copper sheet. When the snail comes into contact with the copper sheet, it can form a galvanic cell effect with the copper sheet 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.

[0259] Furthermore, the electrode structure of the avoidance device 40 includes, but is not limited to, the following embodiments: The first electrode structure is an annular strip electrode, including a first annular strip electrode (as described above, the first electrode 41) and a second annular strip electrode (as described above, the second electrode 42), with the first and second annular strip electrodes respectively connected to the positive and negative terminals of the power supply. The second electrode structure is a mesh electrode, with insulation at the intersections of the mesh electrodes, which increases the probability of contact between the snail and the electrode.

[0260] Furthermore, the first annular strip electrode (as described above, the first electrode 41) and the second annular strip electrode (as described above, the second electrode 42) are staggered in height to prevent users from accidentally touching the positive and negative electrodes.

[0261] Furthermore, the avoidance device 40 also includes several spaced-apart annular strip-shaped positive electrodes (such as the aforementioned third and fourth positive electrodes). Each annular strip-shaped positive electrode has a different voltage to generate a current of different intensities between the two positive electrode lines. For example, the avoidance device 40 includes a first annular strip-shaped positive electrode, a second annular strip-shaped positive electrode, and a third annular strip-shaped positive electrode. The first annular strip-shaped positive electrode is connected to a 1V power supply, the second annular strip-shaped positive electrode is connected to a 3V power supply, and the third annular strip-shaped positive electrode is connected to a 7V power supply. When the snail... When the first and second annular positive electrodes are connected, the potential difference between them is 2V. As the snail continues to crawl, the second and third annular positive electrodes will be connected, and the potential difference between them will be 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, when it crawls to the surface of the machine, the first and third annular positive electrodes will be connected directly, generating a larger repelling current to drive away larger snails.

[0262] Furthermore, the power supply for the avoidance device 40 can be set separately. For example, the power supply for the avoidance device 40 is a solar cell, and it is charged using solar energy. Since the avoidance current generated is very small, the required solar cell capacity is also very small, and solar charging is sufficient to supply power.

[0263] Furthermore, since snails are usually found on rainy days, a humidity sensor is installed on the self-propelled working device 100 to detect the humidity of the environment or the surface of the self-propelled working device 100, and the electric shock avoidance device 40 is activated based on the humidity detection results.

[0264] Furthermore, conductive protrusions (as described above) are respectively provided on the first annular strip electrode (as described above first electrode 41) and the second annular strip electrode (as described above second electrode 42). The first annular strip electrode and the second annular strip electrode are embedded in the housing of the self-propelled working device 100. The conductive protrusions are spaced apart and staggered in height. The conductive protrusions form a dot matrix electrode, which can prevent water from accumulating between the first annular strip electrode and the second annular strip electrode.

[0265] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application, and such improvements and refinements are also considered to be within the protection scope of this application.

Claims

1. A lawnmower, characterized in that, include: The main body of the device includes a housing, and at least one component to be protected is provided on the surface of the housing. The component to be protected includes a sensor module and / or a charging component. A walking device, located at the bottom of the main body of the equipment, is used to drive the lawnmower to move; A cutting device, which is mounted on the machine body housing, is used to perform a preset task; and A repelling device surrounds at least a portion of the periphery of the part to be protected to form a protective area around the periphery of the part to be protected, such that the subject to be repelled stops moving or changes direction of movement when it comes into contact with the repelling device, the subject to be repelled including a snail that secretes corrosive mucus while crawling.

2. The lawnmower as described in claim 1, characterized in that, The avoidance device is disposed around the top and / or side of the main body of the device.

3. The lawnmower as described in claim 1, characterized in that, The sensor module is located at the top of the device body and / or the tail of the device body.

4. The lawnmower as described in claim 1, characterized in that, The charging component is located at the rear, front, or side of the main body of the device.

5. The lawnmower as described in claim 1, characterized in that, The avoidance device is used to generate an avoidance current to avoid the subject to be avoided.

6. The lawnmower according to claim 5, characterized in that, The avoidance device includes a first electrode and a second electrode. When the subject to be avoided comes into contact with the first electrode and the second electrode at the same time, a conductive circuit is formed between the first electrode and the second electrode and an avoidance current is generated.

7. The lawnmower according to claim 6, characterized in that, The first electrode is electrically connected to the positive terminal of the power supply, and the second electrode is electrically connected to the negative terminal of the power supply.

8. The lawnmower according to claim 7, characterized in that, The first electrode and the second electrode each include multiple ones, and the multiple first electrodes and the multiple second electrodes are arranged alternately at intervals.

9. The lawnmower according to claim 6, characterized in that, The first electrode and the second electrode are respectively electrically connected to the two positive voltage output terminals of the power supply, and there is a potential difference between the two positive voltage output terminals.

10. The lawnmower according to claim 9, characterized in that, The avoidance device further includes a plurality of third electrodes located between the first electrode and the second electrode, wherein the first electrode is located on the side away from the component to be protected and the second electrode is located on the side closer to the component to be protected.

11. The lawnmower according to claim 10, characterized in that, From the first electrode toward the second electrode, the potential difference between two adjacent third electrodes increases sequentially.

12. The lawnmower according to claim 6, 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.

13. The lawnmower according to claim 6, characterized in that, The first electrode and the second electrode each include multiple ones, and the multiple first electrodes and multiple second electrodes are crisscrossed, with the multiple first electrodes arranged at intervals in sequence, and the multiple second electrodes arranged at intervals in sequence.

14. The lawnmower according to claim 13, characterized in that, The plurality of first electrodes include alternating first positive electrodes and first negative electrodes, and the plurality of second electrodes include alternating second positive electrodes and second negative electrodes. The first positive electrodes and second negative electrodes are electrically isolated at their junctions, and the first negative electrodes and second positive electrodes are electrically isolated at their junctions.

15. The lawnmower according to claim 14, characterized in that, The first positive electrode and the second positive electrode are electrically connected at their junction, and the first negative electrode and the second negative electrode are electrically connected at their junction.

16. The lawnmower according to claim 13, characterized in that, The plurality of first electrodes include a plurality of third positive electrodes, and the plurality of second electrodes include a plurality of fourth positive electrodes, wherein the junctions of each third positive electrode and each fourth positive electrode are electrically isolated.

17. The lawnmower according to claim 6, characterized in that, The second electrode protrudes relative to the first electrode.

18. The lawnmower according to claim 6, characterized in that, The second electrode is provided with a plurality of spaced conductive parts, which are electrically connected to the second electrode and protrude relative to the first electrode.

19. The lawnmower according to claim 6, characterized in that, The repulsion device includes a conductive layer, the two ends of which are electrically connected to the positive and negative terminals of a power source, respectively, for applying electrical stimulation to the subject to be repelled when it comes into contact with the conductive layer.

20. The lawnmower according to claim 6, characterized in that, The avoidance device includes a galvanic cell electrode. When the subject to be avoided comes into contact with the galvanic cell electrode, a current is generated through the galvanic cell effect to apply electrical stimulation to the subject to be avoided.

21. The lawnmower according to claim 20, characterized in that, The electrode of the galvanic cell includes a copper layer.

22. The lawnmower according to claim 6, characterized in that, The avoidance device further includes a first power source, the positive terminal of which is electrically connected to the first electrode, and the negative terminal of which is electrically connected to the second electrode. The first electrode and the second electrode are connected through the body to be avoided to generate an avoidance current; or... The lawnmower includes a second power source, the positive terminal of which is electrically connected to the first electrode, and the negative terminal of which is electrically connected to the second electrode. The first electrode and the second electrode are connected through the body to be avoided to generate a repelling current.

23. The lawnmower according to claim 1, characterized in that, The avoidance device includes a spike structure that protrudes from the surface of the main body of the device and surrounds the periphery of the component to be protected.

24. The lawnmower according to claim 1, characterized in that, The avoidance device is detachably connected to the main body of the equipment.

25. The lawnmower as described in claim 24, characterized in that, The surface of the main body of the device is provided with a receiving groove, and the avoidance device includes a mounting part, which is embedded in the receiving groove and at least partially protrudes from the surface of the main body of the device.

26. The lawnmower as described in claim 5, characterized in that, The lawnmower also includes a controller, and the component to be protected includes a humidity sensor electrically connected to the controller; the controller is at least configured to control the avoidance device to be electrically connected to a power source when the humidity sensor detects a humidity level greater than or equal to a humidity threshold; or... The controller is used to control the avoidance device to be electrically connected to the power source when the lawnmower is in a charging or working state.

Images