Self-moving work device

Abstract

The application provides a self-moving working device, which comprises a device main body, a walking device, a working device, and at least part of a component to be protected arranged on the surface of the device main body; the working device is arranged on the device main body, and the self-moving working device further comprises an electric shock device, which is arranged around at least part of the circumferential side of the component to be protected; the electric shock device comprises positive and negative components which are spaced apart; the electric shock device has a first state and a second state; in the first state, the positive and negative components are electrically isolated from each other; in the second state, the positive and negative components form a closed loop by contacting the object to be driven away, and electric stimulation is applied to the object to be driven away, so that the object to be driven away changes the moving direction or stops moving, and the object to be driven away avoids entering the protection area, and the self-moving working device has good driving and self-protection functions.

Description

Technical Field

[0001] This application relates to the field of robotics, specifically to a self-moving working device. Background Technology

[0002] With the widespread use of self-propelled lawnmowers, self-propelled snowplows, self-propelled cleaning robots, and other self-propelled work devices, 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 damage to the charging electrodes can lead 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 self-moving working device to solve the technical problem of how to improve the avoidance function of a self-moving working device.

[0004] To achieve the above objectives, embodiments of this application provide a self-moving working device, comprising:

[0005] The equipment body has at least one component to be protected on its surface.

[0006] A walking device is located at the bottom of the main body of the equipment and is used to drive the self-moving working equipment to move.

[0007] A working device, which is mounted on the main body of the equipment, is used to perform a preset task;

[0008] An electric shock device is disposed around at least a portion of the periphery of the component to be protected, the electric shock device comprising a positive electrode assembly and a negative electrode assembly spaced apart.

[0009] The electric shock device has a first state and a second state. In the first state, the positive electrode component and the negative electrode component are electrically isolated from each other. In the second state, the positive electrode component and the negative electrode component form a closed circuit by contacting the subject to be avoided and apply electrical stimulation to the subject to be avoided.

[0010] The self-moving work device provided in this application includes a main body, a walking device, and a working device. At least a portion of the component to be protected is disposed on the surface of the main body. The self-moving work device moves via the walking device located at the bottom of the main body. The working device is disposed on the main body and is used to perform preset tasks, such as mowing, snow sweeping, or cleaning. The self-moving working device also includes an electric shock device, which is disposed around at least a portion of the periphery of the component to be protected. The electric shock device includes a positive electrode component and a negative electrode component spaced apart. The electric shock device has a first state and a second state. In the first state, the positive electrode component and the negative electrode component are electrically isolated from each other. In the second state, the positive electrode component and the negative electrode component form a closed circuit by contacting the body to be avoided, and apply electrical stimulation to the body to be avoided. This causes the body to change its direction of movement or stop moving when it comes into contact with the electric shock device, preventing the body to be avoided from entering the protected area. This prevents the component to be protected from being blocked by the body to be avoided or affected by the mucus secreted by the body to be avoided, thus giving the self-moving working device better avoidance and self-protection functions and improving the reliability of the self-moving working device.

[0011] In one alternative embodiment, the electric shock device is disposed around the side and / or top of the device body.

[0012] In one optional embodiment, the at least one component to be protected includes a sensor module, and the electric shock device is disposed around the periphery of the sensor module.

[0013] In one alternative implementation, the sensor module is located at the top of the device body and / or the tail of the device body.

[0014] In one alternative embodiment, the at least one component to be protected includes a charging assembly, and the electric shock device is disposed around the periphery of the charging assembly.

[0015] In one alternative embodiment, the charging component is located at the rear, front, or side of the main body of the device.

[0016] In one optional embodiment, the positive electrode component and the negative electrode component each include a plurality of components, and the plurality of positive electrode components and the plurality of negative electrode components are alternately arranged at intervals.

[0017] In one optional embodiment, the positive electrode assembly is a ring electrode, and the negative electrode assembly is a ring electrode; or,

[0018] The positive electrode assembly is a planar spiral electrode, and the negative electrode assembly is a planar spiral electrode.

[0019] In one optional embodiment, the positive electrode assembly includes a first positive electrode and a second positive electrode arranged intersectingly;

[0020] The negative electrode assembly includes a first negative electrode and a second negative electrode arranged intersectingly, with the first negative electrode and the first positive electrode spaced apart; the first positive electrode and the second negative electrode are electrically isolated at their junction; the first negative electrode and the second positive electrode are electrically isolated at their junction.

[0021] 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.

[0022] In one optional embodiment, the first positive electrode is a ring electrode, the second negative electrode is a ring electrode, and a plurality of first positive electrodes and a plurality of first negative electrodes are arranged alternately and at intervals in sequence.

[0023] The electric shock device further includes a first extended electrode, one end of which is electrically connected to the first positive electrode, and the other end of which is electrically connected to the positive terminal of the power supply.

[0024] The electric shock device further includes a second extended electrode, one end of which is electrically connected to the first negative electrode, and the other end of which is electrically connected to the negative terminal of the power supply.

[0025] In one optional embodiment, the positive electrode assembly includes a sawtooth positive electrode line, the negative electrode assembly includes a sawtooth negative electrode line, and the sawtooth positive electrode line and the sawtooth negative electrode line are electrically isolated at their intersection.

[0026] In one alternative embodiment, the negative electrode component protrudes relative to the positive electrode component.

[0027] In one optional embodiment, the negative electrode assembly is provided with a plurality of spaced conductive portions, which are electrically connected to the negative electrode assembly and protrude relative to the positive electrode assembly.

[0028] In one optional embodiment, the electric shock device further includes a first power source, the positive terminal of which is electrically connected to the positive component, and the negative terminal of which is electrically connected to the negative component, such that the positive and negative components are connected through the body to be avoided to generate a repelling current; or,

[0029] The self-moving working device includes a second power source, the positive terminal of the first power source is electrically connected to the positive terminal component, and the negative terminal of the first power source is electrically connected to the negative terminal component, so that the positive terminal component and the negative terminal component are connected through the body to be driven to generate a driving current.

[0030] In one alternative embodiment, the electric shock device is detachably connected to the main body of the device.

[0031] In one optional embodiment, the surface of the device body is provided with a receiving groove, and the electric shock device includes a mounting part that is embedded in the receiving groove and at least partially protrudes from the surface of the device body.

[0032] In one optional embodiment, the self-moving working device 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 electric shock device to be electrically connected to a power source when the humidity sensor detects a humidity greater than or equal to a humidity threshold; or,

[0033] The controller is used to control the electric shock device to be electrically connected to the power source when the self-moving working device is in a charging state or a working state. Attached Figure Description

[0034] 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.

[0035] Figure 1 This is a side view schematic diagram of a self-moving working device provided in an embodiment of this application;

[0036] Figure 2 This is a perspective view of the rear end of a self-moving working device provided in an embodiment of this application;

[0037] Figure 3 This is a perspective view of the front end of a self-moving working device provided in an embodiment of this application;

[0038] Figure 4 This is a schematic diagram of the structure of the first type of electric shock device provided in the embodiments of this application;

[0039] Figure 5 This is a schematic diagram showing an electric shock device for a self-moving working device provided in an embodiment of this application, located on the side of the device body near the bottom.

[0040] Figure 6 This is a schematic diagram showing that the electric shock device of a self-moving working device provided in this application is located on the side of the main body of the device, higher than the front and rear wheels;

[0041] Figure 7 This is a schematic diagram of an electric shock device for a self-moving working device provided in this application embodiment, located on the side of the device body near the top. Figure 1 ;

[0042] Figure 8 This is a schematic diagram of an electric shock device for a self-moving working device provided in this application embodiment, located on the side of the device body near the top. Figure 2 ;

[0043] Figure 9 This is a schematic diagram of the structure of the second type of electric shock device provided in the embodiments of this application;

[0044] Figure 10 This is a schematic diagram of the structure of the third type of electric shock device provided in the embodiments of this application;

[0045] Figure 11 This is a schematic diagram of the structure of the fourth type of electric shock device provided in the embodiments of this application;

[0046] Figure 12 This is a schematic diagram of the structure of the fifth type of electric shock device provided in the embodiments of this application;

[0047] Figure 13 This is a schematic diagram of the sixth type of electric shock device provided in the embodiments of this application;

[0048] Figure 14 This is a schematic diagram of the structure of the seventh type of electric shock device provided in the embodiments of this application;

[0049] Figure 15 This is a schematic diagram of the structure of the eighth type of electric shock device provided in the embodiments of this application;

[0050] Figure 16 This is a schematic diagram of the structure of the ninth type of electric shock device provided in the embodiments of this application;

[0051] Figure 17 This is a schematic diagram of the tenth type of electric shock device provided in the embodiments of this application;

[0052] Figure 18 This is a structural schematic diagram of one installation method of the electric shock device provided in the embodiments of this application. Detailed Implementation

[0053] 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.

[0054] 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.

[0055] 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.

[0056] Please see Figures 1-3 This application proposes an outdoor self-moving work device 100 that works in home gardens, estates, hotels, etc. The self-moving work device 100 includes, but is not limited to, lawnmowers, snowplows, cleaning robots, etc.

[0057] Currently, self-propelled mobile 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 mobile work device 100.

[0058] This application uses a lawnmower as an example. The lawnmower's casing 11 is equipped with sensing modules 121, such as vision sensors and lidar. If a snail climbs onto the lawnmower's casing 11 and blocks the vision sensors or lidar, this obstruction will lead to decreased positioning accuracy and weakened 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 charging contacts, hindering the lawnmower's charging process.

[0059] 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.

[0060] Based on the above issues, please refer to Figures 1-3This application proposes a self-moving working device 100, which includes a main body 10, a walking device 20, a working device 30, and at least one electric shock device 40.

[0061] Please see Figures 1-3 The main body 10 of the device includes a housing 11.

[0062] Please see Figures 1-3 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 module that are easily affected by small organisms such as snails and slugs.

[0063] Please see Figures 1-3 The walking device 20 is located at the bottom of the equipment body 10 and is used to drive the self-moving 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 211 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.

[0064] The working device 30 is mounted on the main body 10 of the equipment and is used to perform preset tasks. Optionally, the self-moving working device 100 is a lawnmower and the working device 30 is a cutting device. Further optionally, the self-moving working device 100 is a snowplow and the working device 30 is a snowplow. Still optionally, the self-moving working device 100 is a cleaning robot and the working device 30 is a cleaning roller brush device.

[0065] The electric shock device 40 is disposed around at least a portion of the periphery of the component 12 to be protected; or, the electric shock device 40 is disposed around at least a portion of the periphery of the component 12 to be protected. The at least a portion of the periphery of the component 12 to be protected includes at least one of the front, left, rear, and right sides of the component 12 to be protected.

[0066] The electric shock 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 electric shock device 40.

[0067] For example, the electric shock device 40 is located on at least one of the front, left, rear, and right sides of the component to be protected 12. Specifically, the electric shock device 40 may be ring-shaped; or, the electric shock device 40 may be an open shape such as a straight line, an arc, a semi-ring, a bent line, a dot matrix, or a linear array.

[0068] For example, the electric shock device 40 may be ring-shaped, with the ring-shaped electric shock device 40 surrounding the periphery of the component 12 to be protected.

[0069] Optionally, the electric shock device 40 may 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.

[0070] For example, an electric shock device 40 is semi-circular, and the semi-circular electric shock device 40 is disposed around the periphery of the component to be protected 12, for example, on a path where snails frequently crawl on the component to be protected 12.

[0071] For another example, the two electric shock devices 40 are in a semi-circular shape, and the two semi-circular electric shock devices 40 are combined to form a ring, which is arranged around the periphery of the component 12 to be protected.

[0072] For another example, multiple electric shock devices 40 are arc-shaped, and the multiple arc-shaped electric shock devices 40 are combined to form a ring, surrounding the periphery of the component 12 to be protected.

[0073] For ease of explanation, this embodiment is described below as having the electric shock device 40 arranged in a ring around the part to be protected 12. Of course, this embodiment can be used as a reference when the electric shock device 40 has other open structures.

[0074] Please see Figure 4 The electric shock device 40 includes a positive electrode assembly 41 and a negative electrode assembly 42 spaced apart. The spaced arrangement includes, but is not limited to, the positive and negative electrode assemblies 42 not intersecting (i.e., spaced apart in a plane); or the positive and negative electrode assemblies 42 intersecting but with insulating parts spaced apart at the intersection (i.e., spaced apart in a direction perpendicular to the plane).

[0075] Please see Figure 4 The positive electrode assembly 41 and the negative electrode assembly 42 are disposed on the periphery of at least one of the components 12 to be protected. Optionally, the positive electrode assembly 41 is disposed on at least a portion of the periphery of at least one component 12 to be protected. Further, the negative electrode assembly 42 is also disposed on at least a portion of the periphery of the component 12 to be protected.

[0076] The positive electrode assembly 41 and the negative electrode assembly 42 are located on the same side of the component 12 to be protected.

[0077] For example, the positive electrode assembly 41 is located on the front side of the component 12 to be protected, and the negative electrode assembly 42 is also located on the front side of the component 12 to be protected. The positive electrode assembly 41 is located on the left side and front side of the component 12 to be protected, and the negative electrode assembly 42 is also located on the left side and front side of the component 12 to be protected. The positive electrode assembly 41 is located on the rear side of the component 12 to be protected, and the negative electrode assembly 42 is also located on the rear side of the component 12 to be protected. The positive electrode assembly 41 is located on the right side and rear side of the component 12 to be protected, and the negative electrode assembly 42 is also located on the right side and rear side of the component 12 to be protected.

[0078] 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.

[0079] 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.

[0080] This application does not specify the number of electric shock devices 40. The number of components 12 to be protected may be one or more.

[0081] Please see Figure 4 When there is one component 12 to be protected, there is one electric shock device 40. One electric shock device 40 is disposed around the component 12 to form a protective area 13 around the component 12 to repel the subject that is about to enter the protective area 13. For example, the subject changes its direction of movement or stops moving when it comes into contact with the electric shock device 40, so as to prevent the subject from entering the protective area 13, thereby preventing the component 12 to be protected from being blocked by the subject or affected by the mucus secreted by the subject.

[0082] When there is only one component 12 to be protected, there are multiple electric shock devices 40. These multiple electric shock devices 40 can be arranged in a ring around the periphery of the component 12 to be protected; or each electric shock device 40 can be located around the periphery of the component 12 to be protected, with multiple electric shock devices 40 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 change its direction of movement or stop moving when it comes into contact with the electric shock 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.

[0083] When there are multiple components 12 to be protected, there is only one electric shock device 40. This device 40 is positioned around the periphery of the multiple components 12 to form a protective area 13. This area deters any object from entering the protective area 13. For example, it causes the object to change direction or stop moving upon contact with the electric shock 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 object. For instance, one electric shock device 40 surrounds and forms a protective area 13, within which multiple components 12 are located.

[0084] Please see Figure 2 and Figure 3 When there are multiple components 12 to be protected, there are also multiple electric shock devices 40. Optionally, multiple electric shock devices 40 can be arranged to form a protective area 13, and all components 12 to be protected can be located within this protective area 13; or, multiple electric shock 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 repel any subject that is about to enter the multiple protective areas 13. For example, the subject to be protected can change its direction of movement or stop moving when it comes into contact with the electric shock device 40, so as to prevent the subject to be protected from entering the protective area 13, thereby preventing the components 12 to be protected from being blocked by the subject to be protected or affected by the mucus secreted by the subject to be protected.

[0085] 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 tasks such as positioning and obstacle detection of the self-moving 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 tasks such as positioning the self-moving 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-moving 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-moving working device 100.

[0086] The electric shock device 40 has a first state and a second state.

[0087] In the first state, the positive electrode component 41 and the negative electrode component 42 are electrically isolated from each other. That is, the positive electrode component 41 and the negative electrode component 42 are in an open circuit state.

[0088] In the second state, the positive electrode component 41 and the negative electrode component 42 form a closed circuit by contacting the subject to be repelled, and apply electrical stimulation to the subject. Specifically, when the subject to be repelled simultaneously contacts the positive electrode component 41 and the negative electrode component 42, the positive electrode component 41, the subject to be repelled, and the negative electrode component 42 form a closed circuit. Since there is a potential difference between the positive electrode component 41 and the negative electrode component 42, the subject to be repelled experiences a slight electric shock under the potential difference, causing discomfort. This causes the subject to change its crawling direction or stop crawling, moving away from the area where the electric shock device 40 is located (i.e., the protective area 13) or preventing the subject to be repelled from entering 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.

[0089] In this embodiment, the electric shock device 40 is an electric stimulation device. When the subject to be repelled, such as a snail, crawls to contact the electric stimulation device, the microcurrent generated by the electric stimulation device will be conducted to the snail's body, causing the snail to experience a slight electric shock and discomfort, thereby changing its crawling direction or stopping crawling, moving away from the area where the electric shock device 40 is located (i.e., the protective area 13) or preventing the subject to be repelled from entering 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.

[0090] Optionally, the repulsion current generated by the electric shock device 40 is a microcurrent. The intensity of the repulsion current generated by the electric shock 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 repulsion current generated by the electric shock device 40. Optionally, the current range of the repulsion 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 repulsion 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.

[0091] The self-moving work 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-moving work 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-moving working device 100 also includes an electric shock device 40, which is disposed around at least a portion of the periphery of the component 12 to be protected. The electric shock device 40 includes a positive electrode component 41 and a negative electrode component 42 spaced apart. The electric shock device 40 has a first state and a second state. In the first state, the positive electrode component 41 and the negative electrode component 42 are electrically isolated from each other. In the second state, the positive electrode component 41 and the negative electrode component 42 form a closed circuit by contacting the subject to be avoided and apply electrical stimulation to the subject to be avoided to repel the subject that is about to enter the protection area 13. This causes the subject to be avoided to change its direction of movement or stop moving when it comes into contact with the electric shock device 40, thus preventing the subject to be avoided from entering the protection area 13. This 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, giving the self-moving working device 100 a better repellency function and self-protection function, and improving the reliability of the self-moving working device 100.

[0092] The following description, in conjunction with the accompanying drawings, provides a specific example illustrating the position of the electric shock device 40 on the main body 10 of the device.

[0093] For ease of explanation, the portion of the self-moving 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-moving working device 100 also has a side portion connecting the top and bottom, which can be considered a peripheral side surface. In the peripheral side surface of the self-moving working device 100, one end in the forward direction is the front end, and the other end in the backward direction is the rear end. The self-moving 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.

[0094] When the self-moving work equipment 100 is located on the ground, the ways in which the subject to be driven can climb onto the self-moving work equipment 100 include: Please refer to Figure 1 Path 1 - The subject to be driven climbs from the front wheel assembly 21 (e.g., casters) to the bottom of the self-moving working device 100, to a position near the bottom of the peripheral side of the self-moving working device 100 (see...) Figure 1 (As indicated by the arrow in ①); Please refer to Figure 3Route 2 - The subject to be driven climbs onto rocks, steps, or walls near the self-moving working equipment 100 to a position near the top of the surrounding side of the self-moving working equipment 100 (see...). Figure 3 (As indicated by arrow ② in the middle); please refer to Figure 3 Path 3 - The subject to be driven climbs to the periphery of the self-moving working equipment 100 near the top via its wheels (see...) Figure 3 (As indicated by arrow ③ in the middle); please refer to Figure 2 and Figure 3 Path 4 - The subject to be driven climbs to the peripheral side of the self-moving working device 100 near the top via the connection structure between the walking wheels and the body shell 11 (first connection structure 212 or second connection structure 222) (see Figure 2 and Figure 3 (As indicated by arrow ④ in the middle).

[0095] Please see Figures 5-8 The electric shock device 40 is disposed around the side of the device body 10. In other words, the installation path of the electric shock device 40 is at least located on the side of the device body 10.

[0096] The area formed by the electric shock device 40 surrounding the surface of the main body 10 is the protective area 13. It should be noted that the side of the main body 10 can be the peripheral side of the aforementioned self-moving working device 100.

[0097] In the first alternative implementation, please refer to Figure 5 The electric shock device 40 is disposed around the peripheral side of the device body 10 and near the bottom. In other words, the electric shock device 40 is located at least along the peripheral side of the device body 10 and near the bottom.

[0098] The area formed by the electric shock device 40 surrounding the surface of the device body 10 is the protective area 13. It should be noted that the peripheral side of the device body 10 can be the peripheral side of the aforementioned self-moving working device 100; the bottom of the device body 10 can be the bottom of the aforementioned self-moving working device 100. For example... Figure 5 The position indicated by S1 in the diagram.

[0099] This embodiment effectively avoids a subject that has crawled along path 1 (from the front wheel assembly 21, through the bottom of the self-moving working device 100, to the bottom of the peripheral side of the self-moving working device 100) to the bottom of the peripheral side of the self-moving working device 100. When the subject crawls along path 1 to the bottom of the peripheral side of the self-moving working device, it will encounter the electric shock device 40. The electric shock device 40 provides electrical stimulation by releasing a small current or by using physical stimulation such as setting spikes to block the subject from continuing to move forward. This causes the subject to change its direction of movement or stop moving when it comes into contact with the electric shock 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-moving working device 100 better avoidance and self-protection functions and improving the reliability of the self-moving working device 100.

[0100] Optionally, when the subject to be avoided climbs along path 2 (the subject to be avoided climbs over rocks, steps or walls near the mobile working device 100 to a position near the top of the peripheral side of the mobile working device 100), along path 3 (the subject to be avoided climbs over the rear wheel 221 or front wheel 211 to a position near the top of the peripheral side of the mobile working device 100), or along path 4 (the subject to be avoided climbs over the first connecting structure 212 or second connecting structure 222 to a position near the top of the peripheral side of the mobile working device 100), it may directly cross the electric shock device 40 provided in the first optional embodiment. Based on this, this application also provides the following layout position of the electric shock device 40.

[0101] In the second alternative implementation, please refer to Figure 6 The electric shock device 40 is disposed around the side of the device body 10 and above the aforementioned first connecting structure 212 and second connecting structure 222. In other words, the installation path of the electric shock device 40 is at least located on the peripheral side of the device body 10 and at the position of the first connecting structure 212 or the second connecting structure 222.

[0102] The area formed by the electric shock device 40 surrounding the surface of the main body 10 is the protective area 13. It should be noted that the peripheral side of the main body 10 can be the peripheral side of the aforementioned self-moving working device 100.

[0103] Further optional information can be found in [link to relevant documentation]. Figure 6The electric shock device 40 is positioned around the side of the main body 10 of the device and above the aforementioned first connecting structure 212 and second connecting structure 222. Optionally, when the object to be avoided climbs along the first connecting structure 212 or the second connecting structure 222 (path 4) to the periphery of the mobile working device, it will encounter the electric shock device 40. This device 40 provides electrical stimulation by releasing a small current or by using physical stimulation such as setting spikes to block the object to be avoided from continuing forward. This causes the object to be avoided to change its direction of movement or stop moving when it comes into contact with the electric shock device 40, preventing it from entering the protected area 13. This prevents the protected component 12 from being blocked by the object to be avoided or affected by the mucus secreted by the object, thus giving the self-moving working device 100 better avoidance and self-protection functions and improving the reliability of the self-moving working device 100.

[0104] Further optional information can be found in [link to relevant documentation]. Figure 6 The electric shock device 40 is positioned around the side of the main body 10 of the equipment and above the aforementioned front and rear wheels 211 and 221. When the object to be avoided climbs along the front or rear wheels 211 (path 3) to the periphery of the nearby mobile working equipment, it will encounter the electric shock device 40. The electric shock device 40 provides electrical stimulation by releasing a small current or by using physical stimulation such as setting spikes to block the object to be avoided from continuing to move forward. This causes the object to be avoided to change its direction of movement or stop moving when it comes into contact with the electric shock device 40, preventing the object to be avoided from entering the protected area 13. This also prevents the protected component 12 from being blocked by the object to be avoided or affected by the mucus secreted by the object to be avoided, thus giving the self-moving working equipment 100 better avoidance and self-protection functions and improving the reliability of the self-moving working equipment 100.

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

[0106] Further optional information can be found in [link to relevant documentation]. Figure 7 and Figure 8The electric shock device 40 can be positioned around the periphery of the main body 10 and near the top. Thus, the electric shock device 40 is positioned relatively high, and the protective area 13 formed by the electric shock 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 object to be avoided climbs along path 2 (by passing rocks, steps, or walls near the self-propelled working device 100) to the periphery of the mobile working device, even if the rocks, steps, or walls are high, the object will not enter the protective area 13 formed by the electric shock device 40.

[0107] Please see Figure 2 and Figure 3 The electric shock 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 a component 12 to be protected. By disposing of the electric shock device 40 around the top of the device body 10, the component 12 to be protected on the top can be protected.

[0108] Optionally, the electric shock 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 electric shock device 40 around the side of the device body 10 and another electric shock 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 location of the electric shock device 40.

[0110] Optional, please refer to Figure 2 and Figure 3 At least one component 12 to be protected includes a sensor module 123. The electric shock device 40 surrounds at least a portion of 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 improves the detection accuracy and reliability of the self-moving working device 100 by setting an electric shock device 40 around at least part of the periphery of the sensor module 123, so that the sensor module 123 is located within the protective area 13, preventing the subject to be driven from entering the protective area 13, thereby preventing the sensor module 123 from being blocked by the subject to be driven or affected by the mucus secreted by the subject to be driven, which would lead to inaccurate detection.

[0112] Further optional information can be found in [link to relevant documentation]. Figure 2 and Figure 3 The sensor module 123 is located at the top and / or the rear of the device body 10. Specifically, it includes the following embodiments:

[0113] 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 electric shock 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 vision sensor, ultrasonic sensor, lidar, rain detector, and humidity detector from being blocked by the subject to be avoided or affected by the mucus secreted by the subject to be avoided.

[0114] The sensor module 123 is located at the tail of the device body 10, and includes an infrared sensor, etc. The electric shock 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] Sensor module 123 is located at the top and bottom of the device body 10. Sensor module 123 includes at least one of a vision sensor, an ultrasonic sensor, a lidar, a rain detector, a humidity detector, and an infrared sensor. Electric shock device 40 is disposed around the top and bottom of the device body 10 and surrounds the sensor module 123, including at least one of the vision sensor, ultrasonic sensor, lidar, rain detector, humidity detector, and infrared sensor, to effectively protect the at least one of the vision 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 and Figure 3 The at least one component to be protected 12 includes a charging assembly 122. The electric shock device 40 is disposed around at least a portion of 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 improves the charging protection capability of the self-propelled working device 100 by setting an electric shock device 40 around at least part of the charging component 122, such as the charging interface, charging electrode, or charging terminal, so that the charging component 122 is located within the protection area 13. This prevents the subject to be driven from entering the protection area 13, thereby preventing the charging component 122 from being blocked by the subject to be driven or affected by the mucus secreted by the subject, which could lead to problems such as low charging efficiency, inability to charge, or charging short circuit.

[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 device body 10. An electric shock device 40 is disposed around the rear 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 target body or corroded by the secretions of the target body, 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. An electric shock 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 target body or corroded by the secretions of the target body, 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). An electric shock 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 target body or corroded by the secretions of the target body, thereby improving the charging protection capability of the self-propelled working device 100.

[0122] The following embodiments illustrate the specific structure of the electric shock device 40. Of course, the electric shock device 40 provided in this application includes, but is not limited to, the following embodiments.

[0123] In the first optional electric shock device 40 embodiment, please refer to Figure 4 and Figure 7 The arrangement of the positive electrode component 41 and the negative electrode component 42 includes, but is not limited to, parallel arrangement, non-parallel and non-intersecting arrangement, and intersecting but electrically isolated arrangement. In this embodiment, the parallel arrangement of the positive electrode component 41 and the negative electrode component 42 is taken as an example. This embodiment does not specifically limit the extension direction of the positive electrode component 41 and the negative electrode component 42.

[0124] When the object to be repelled simultaneously contacts both the positive electrode component 41 and the negative electrode component 42, a closed circuit is formed between the positive electrode component 41, the object to be repelled, and the negative electrode component 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 electric shock device 40 is located (i.e., the protected area 13), thus repelling the snail and preventing the protected component 12 within the protected area 13 from being blocked by the snail or affected by the mucus secreted by the snail.

[0125] Further optional information can be found in [link to relevant documentation]. Figure 4 and Figure 9 The positive electrode assembly 41 is electrically connected to the positive terminal of the power supply. The negative electrode assembly 42 is electrically connected to the negative terminal of the power supply.

[0126] The power source includes, but is not limited to, the power source of the self-moving working device 100, or a micro-power source formed by providing voltage to the power source of the self-moving working device 100, or a self-avoidance power source integrated into the electric shock device 40. Specific examples of power sources will be provided later.

[0127] In this embodiment, the positive electrode component 41 is the positive electrode, and the negative electrode component 42 is the negative electrode. Initially, the positive electrode component 41 and the negative electrode component 42 are in an open-circuit state. When the object to be avoided simultaneously contacts both the positive electrode component 41 and the negative electrode component 42, electrical conduction occurs between them. A preset potential difference is formed between the positive electrode component 41 and the negative electrode component 42. When the object to be avoided simultaneously contacts both components, a closed circuit is formed between the positive electrode component 41, the object to be avoided, and the negative electrode component 42, generating a repelling current. This causes the object 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 electric shock device 40 is located (i.e., the protected area 13).

[0128] Optionally, the spacing between the positive electrode component 41 and the negative electrode component 42 is greater than or equal to a first preset spacing and less than or equal to a second preset spacing.

[0129] For example, the first preset spacing is 0.1cm, and the second preset spacing is 1cm. If the spacing between the positive electrode component 41 and the negative electrode component 42 is too large, some small snails may not be able to contact the positive electrode component 41 and the negative electrode component 42 at the same time, which will result in the positive electrode component 41 and the negative electrode component 42 not forming a closed circuit. Some small snails will not generate a repellent current when passing through the electric shock device 40, which will prevent the electric shock device 40 from blocking the protected component 12 or causing the secreted mucus to affect the protected component 12.

[0130] If the spacing between the positive electrode component 41 and the negative electrode component 42 is too small, it may cause the positive electrode component 41 and the negative electrode component 42 to conduct directly, thereby causing a short circuit.

[0131] 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 positive electrode component 41 and the negative electrode component 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 the positive electrode component 41 and the negative electrode component 42 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 electric shock device 40 as early as possible, further reducing the chance of the snail entering the protective area 13 and improving the snail avoidance rate.

[0132] The following embodiments of this application illustrate the shapes of the positive electrode component 41 and the negative electrode component 42.

[0133] For an embodiment of the first alternative electrode shape, please refer to... Figure 4 The positive electrode assembly 41 is a ring electrode. The negative electrode assembly 42 is a ring electrode.

[0134] Taking the example of a ring-shaped positive electrode assembly 41 and a ring-shaped negative electrode assembly 42, the positive electrode assembly 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 electric shock device 40).

[0135] The electric shock device 40 also includes a first extended electrode 43, one end of which is electrically connected to the positive electrode assembly 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 positive electrode assembly 41 is disposed on the outer surface of the device body 10, one end of the first extended 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.

[0136] The positive electrode assembly 41 includes, but is not limited to, metal traces, and the first extended electrode 43 includes, but is not limited to, wires with protective sheaths.

[0137] The negative electrode assembly 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 electric shock device 40). In one embodiment, the negative electrode assembly 42 is located between the positive electrode assembly 41 and the component 12 to be protected. In other embodiments, the positive electrode assembly 41 is located between the negative electrode assembly 42 and the component 12 to be protected.

[0138] The electric shock device 40 also includes a second extended electrode 44, one end of which is electrically connected to the negative electrode assembly 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 negative electrode assembly 42 is disposed on the outer surface of the device body 10, one end of the second extended 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.

[0139] The negative electrode assembly 42 includes, but is not limited to, metal traces, and the second extension electrode 44 includes, but is not limited to, wires with protective sheaths.

[0140] For an implementation of the second alternative electrode shape, please refer to... Figure 9 The positive electrode assembly 41 is a planar spiral electrode. The positive electrode assembly 41 is a first 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.

[0141] Please see Figure 9 The negative electrode assembly 42 is a planar spiral electrode. The negative electrode assembly 42 is a second 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 to be protected 12. The other end of the second planar spiral electrode is a circuit breaker.

[0142] 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.

[0143] 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.

[0144] This application does not specify the number of positive electrode components 41 and negative electrode components 42.

[0145] Optional, please refer to Figure 4 There is one positive electrode component 41 and one negative electrode component 42.

[0146] Taking an example where the positive electrode assembly 41 is ring-shaped and the negative electrode assembly 42 is ring-shaped, the positive electrode assembly 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 electric shock device 40). The negative electrode assembly 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 electric shock device 40).

[0147] In one embodiment, the negative electrode assembly 42 is located between the positive electrode assembly 41 and the component 12 to be protected. In other embodiments, the positive electrode assembly 41 is located between the negative electrode assembly 42 and the component 12 to be protected. There is a potential difference between the positive electrode assembly 41 and the negative electrode assembly 42, forming a first layer of electrical stimulation protection.

[0148] Alternatively, the positive electrode component 41 and the negative electrode component 42 may each include multiple components. There may be multiple positive electrode components 41 and multiple negative electrode components 42. The multiple positive electrode components 41 and the multiple negative electrode components 42 may be arranged alternately. For example, positive electrode component 41, negative electrode component 42, positive electrode component 41, negative electrode component 42, positive electrode component 41, negative electrode component 42… may alternate sequentially.

[0149] Please see Figure 10Taking a ring-shaped positive electrode assembly 41 and a ring-shaped negative electrode assembly 42 as an example, multiple positive electrode assemblies 41 are multiple ring electrodes with different radial dimensions. Multiple negative electrode assemblies 42 are multiple ring electrodes with different radial dimensions. The positive electrode assembly 41, negative electrode assembly 42, positive electrode assembly 41, and negative electrode assembly 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, improving the avoidance rate of the subject to be avoided.

[0150] In other embodiments, the plurality of positive electrode components 41 and the plurality of negative electrode components 42 may also be arranged in a pattern of positive electrode component 41, negative electrode component 42, negative electrode component 42, positive electrode component 41, positive electrode component 41... In some cases, the object to be avoided may not make contact with the positive electrode component 41 or the negative electrode component 42 due to gaps between them, resulting in a lack of conductivity between the positive electrode component 41 and the negative electrode component 42 and the inability to generate an avoidance current. This embodiment addresses this by alternately arranging two (or more) positive electrode components 41 and two (or more) negative electrode components 42, thereby increasing the probability of contact between the object to be avoided and the positive electrode component 41 or the negative electrode component 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 also increases the interception rate of the object to be avoided.

[0151] Optionally, the voltages of the multiple positive electrode components 41 are the same, and the voltages of the multiple negative electrode components 42 are the same. That is, the multiple positive electrode components 41 are all electrically connected to the positive terminal of the power supply, and the multiple negative electrode components 42 are all electrically connected to the negative terminal of the power supply.

[0152] Further optional information can be found in [link to relevant documentation]. Figure 10The electric shock device 40 also includes a first extended electrode 43, which intersects with and is electrically connected to multiple positive electrode components 41, and intersects with and is electrically insulated from multiple negative electrode components 42. A portion of the first extended electrode 43 is electrically connected to the multiple positive electrode components 41, and another portion of the first extended 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 positive electrode components 41 are disposed on the outer surface of the device body 10, a portion of the first extended electrode 43 contacts the outer surface of the device body 10, and the positive electrode components 41 include, but are not limited to, metal traces, and a portion of the first extended electrode 43 is a metal trace. Another portion of the first extended electrode 43 enters the device body 10 and extends to the location of the positive terminal of the power supply. The other portion of the first extended electrode 43 includes, but is not limited to, a wire with a protective sheath.

[0153] This embodiment enables multiple positive electrode components 41 to be electrically connected to the positive terminal of the power supply via the same first extended electrode 43. Compared to each positive electrode component 41 being electrically connected to the positive terminal of the power supply via an electrical connection trace, this reduces the number of electrical connection traces and optimizes the layout of the electrical connection traces.

[0154] Further optional information can be found in [link to relevant documentation]. Figure 10 The electric shock device 40 also includes a second extension electrode 44, which intersects with and is electrically connected to multiple negative electrode components 42, and is also electrically insulated from them. A portion of the second extension electrode 44 is electrically connected to the multiple negative electrode components 42, and another portion 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 negative electrode components 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 negative electrode components 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.

[0155] This embodiment enables multiple negative electrode components 42 to be electrically connected to the negative power supply via the same second extended electrode 44. Compared to each negative electrode component 42 being electrically connected to the negative power supply via a single electrical connection trace, this reduces the number of electrical connection traces and optimizes the layout of the electrical connection traces.

[0156] In other embodiments, the voltages of the multiple positive electrode components 41 may be different, and the multiple positive electrode components 41 are electrically connected to different positive power output ports to apply different positive voltages. The multiple negative electrode components 42 are all electrically connected to the negative power supply. The positive electrode components 41, negative electrode components 42, and positive electrode components 41 and negative electrode components 42 are alternately arranged to form electrical stimulation protection with different potential differences. For example, the voltage difference formed between the first positive electrode component 41 and the first negative electrode component 42 is the first voltage, and the potential difference formed between the first negative electrode component 42 and the second negative electrode component 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 electric shock device 40 in this embodiment is designed to not only repel small objects but also large objects, increasing the interception rate of objects to be repelled and improving the protection rate of objects to be protected.

[0157] In the second optional embodiment of the electric shock device 40, this embodiment is largely the same as the first optional embodiment. The difference from the second optional embodiment is that in this embodiment, please refer to... Figure 11 The electric shock device 40 further includes a plurality of third electrodes 45. The plurality of third electrodes 45 are located between the positive electrode assembly 41 and the negative electrode assembly 42.

[0158] Furthermore, a first potential difference is formed between the third electrode 45 and the positive electrode assembly 41. A second potential difference is formed between the third electrode 45 and the negative electrode assembly 42. The first potential difference and the second potential difference are different.

[0159] 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.

[0160] The positive electrode assembly 41 is electrically connected to the first voltage output terminal to apply the first voltage. The negative electrode assembly 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.

[0161] The first voltage is different from the third voltage, that is, there is a first potential difference between the positive electrode component 41 and the third electrode 45.

[0162] The third voltage is different from the second voltage, that is, there is a second potential difference between the third electrode 45 and the negative electrode assembly 42.

[0163] Initially, the positive electrode assembly 41 and the third electrode 45 are in an open circuit state. When the subject to be avoided simultaneously contacts the positive electrode assembly 41 and the third electrode 45, electrical conduction occurs between them. Due to the first potential difference between the positive electrode assembly 41 and the third electrode 45, a closed circuit is formed between the positive electrode assembly 41, the subject to be avoided, and the third electrode 45, generating a first avoidance current. This causes the subject to receive a slight electric shock, resulting in discomfort and causing it to change its crawling direction, moving away from the area where the electric shock device 40 is located (i.e., the protected area 13).

[0164] 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 negative electrode assembly 42 under conduction is greater than the repulsion current generated by the positive electrode assembly 41 and the third electrode 45 under conduction. This further provides electrical stimulation to the subject to be repelled, causing the subject to be repelled to move away from the protective area 13; or it provides further electrical stimulation to a larger subject to be repelled, causing the larger subject to be repelled to move away from the protective area 13.

[0165] The positive electrode assembly 41 is located on the side away from the protected component 12. The negative electrode assembly 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 positive electrode assembly 41 and the third electrode 45, initially, the third electrode 45 and the negative electrode assembly 42 are in an open circuit state. When the subject to be avoided simultaneously contacts the third electrode 45 and the negative electrode assembly 42, electrical conduction occurs between the third electrode 45 and the negative electrode assembly 42. Due to the second potential difference between the third electrode 45 and the negative electrode assembly 42, a closed loop is formed between the third electrode 45, the subject to be avoided, and the negative electrode assembly 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 electric shock device 40 is located (i.e., the protected area 13).

[0166] Optionally, the potential difference between two adjacent third electrodes 45 increases sequentially from the positive electrode assembly 41 toward the negative electrode assembly 42. Thus, the intensity of the repelling current for electrical stimulation protection formed between two adjacent third electrodes 45 gradually increases from the positive electrode assembly 41 toward the negative electrode assembly 42.

[0167] On the one hand, as the subject to be driven crawls towards the protection area 13, the electrical stimulation required gradually increases, so as to drive away some larger subjects to crawl away from the protection area 13; on the other hand, some larger subjects to be driven can simultaneously contact the positive electrode component 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 protection area 13.

[0168] For an embodiment of the third optional electric shock device 40, please refer to Figure 11 The positive electrode assembly 41 includes a first positive electrode 411 and a second positive electrode 421 that are arranged intersectingly.

[0169] The negative electrode assembly 42 includes a first negative electrode 412 and a second negative electrode 422 that are arranged intersectingly. Figure 11 In the electric shock device 40, the solid line represents the positive line and the dashed line represents the negative line.

[0170] Please see Figure 11 The first negative electrode 412 and the first positive electrode 411 are disposed at a distance. Optionally, the first negative electrode 412 and the first positive electrode 411 are disposed parallel to each other.

[0171] For example, please see Figure 11 The first positive electrode 411 is in the shape of a ring and surrounds the periphery of the component 12 to be protected, and the first negative electrode 412 is also in the shape of a ring 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 from the outside to the inside.

[0172] There is a potential difference between the first positive electrode 411 and the first negative electrode 412. In the first state, the first positive electrode 411 and the first negative electrode 412 are in an open circuit state. When the subject to be driven 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 conductive. Due to the voltage difference between the first positive electrode 411 and the first negative electrode 412, a closed circuit is formed between the first positive electrode 411, the subject to be driven, and the first negative electrode 412, generating a driving current. This causes the subject to be driven 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 electric shock device 40 is located (i.e., the protected area 13).

[0173] The first positive electrode 411 in this embodiment can refer to the positive electrode component 41 in the first embodiment, and the first negative electrode 412 in this embodiment can refer to the negative electrode component 42 in the first embodiment.

[0174] Further optional information can be found in [link to relevant documentation]. Figure 11The first negative electrode 412 is a ring electrode, and the first positive electrode 411 is a ring electrode.

[0175] Further optional information can be found in [link to relevant documentation]. Figure 11 There are multiple first negative electrodes 412. There are multiple first positive electrodes 411. Multiple first negative electrodes 412 are arranged at intervals. Multiple first positive electrodes 411 are arranged at intervals. First positive electrode 411, first negative electrode 412, first positive electrode 411, first negative electrode 412, ... are arranged in sequence; or, first positive electrode 411, first positive electrode 411, first negative electrode 412, first negative electrode 412, first positive electrode 411, first positive electrode 411, first negative electrode 412, first negative electrode 412, ... are arranged in sequence.

[0176] For further alternative implementations, please refer to Figure 11 The second positive electrode 421 extends in the radial direction of the ring, and the second negative electrode 422 extends in the radial direction of the ring. In other embodiments, the second positive electrode 421 may also extend in other directions intersecting the first negative electrode 412.

[0177] Please see Figure 11 There are multiple second negative electrodes 422. There are multiple second positive electrodes 421. Multiple second negative electrodes 422 and multiple second positive electrodes 421 are arranged alternately. For example, the second positive electrode 421, the second negative electrode 422, the second positive electrode 421, the second negative electrode 422, ... are arranged in sequence; or, the second positive electrode 421, the second positive electrode 421, the second negative electrode 422, the second negative electrode 422, the second positive electrode 421, the second positive electrode 421, the second negative electrode 422, the second negative electrode 422, ... are arranged in sequence.

[0178] The first positive electrode 411 and the second negative electrode 422 are electrically isolated at their junction. Further optionally, each second negative electrode 422 intersects with one or more first positive electrodes 411 in the thickness direction, and the second negative electrode 422 and the first positive electrode 411 may be insulated at the junction to prevent short circuits.

[0179] The first negative electrode 412 and the second positive electrode 421 are electrically isolated at their junction. Further optionally, each second positive electrode 421 intersects with one or more first negative electrodes 412 in the thickness direction, and the second positive electrode 421 and the first negative electrode 412 may be insulated at the junction to prevent short circuits.

[0180] The first positive electrode 411 and the second positive electrode 421 are electrically connected at their junction. Thus, the first positive electrode 411 and the second positive electrode 421 are subjected to the same positive voltage, and multiple first positive electrodes 411 and multiple second positive electrodes 421 can be electrically connected to the positive terminal of the power supply through the same electrical connection trace.

[0181] The first negative electrode 412 and the second negative electrode 422 are electrically connected at their junction. Thus, the first negative electrode 412 and the second negative electrode 422 are subjected to the same positive voltage, and multiple first negative electrodes 412 and multiple second negative electrodes 422 can be electrically connected to the negative terminal of the power supply through the same electrical connection trace.

[0182] In this embodiment, the first positive electrode 411 is a ring electrode. The second negative electrode 422 is a ring electrode. Multiple first positive electrodes 411 and multiple first negative electrodes 412 are arranged alternately and sequentially.

[0183] Please see Figure 11 The electric shock device 40 further includes a first extended electrode 43. One end of the first extended electrode 43 is electrically connected to the first positive electrode 411 and / or the second positive electrode 421. The other end of the first extended electrode 43 is electrically connected to the positive terminal of a power supply. For example, the positive terminal of the power supply is located inside the device body 10, the positive electrode assembly 41 is disposed on the outer surface of the device body 10, one end of the first extended 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.

[0184] The positive electrode assembly 41 includes, but is not limited to, metal traces, and the first extended electrode 43 includes, but is not limited to, wires with protective sheaths.

[0185] This embodiment enables multiple positive electrode components 41 to be electrically connected to the positive terminal of the power supply via the same first extended electrode 43. Compared to each positive electrode component 41 being electrically connected to the positive terminal of the power supply via an electrical connection trace, this reduces the number of electrical connection traces and optimizes the layout of the electrical connection traces.

[0186] Please see Figure 11 The electric shock device 40 further includes a second extended electrode 44. One end of the second extended electrode 44 is electrically connected to the first negative electrode 412. The other end of the second extended 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 negative electrode assembly 42 is disposed on the outer surface of the device body 10, one end of the second extended 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.

[0187] The negative electrode assembly 42 includes, but is not limited to, metal traces, and the second extension electrode 44 includes, but is not limited to, wires with protective sheaths.

[0188] This embodiment enables multiple negative electrode components 42 to be electrically connected to the negative power supply via the same second extended electrode 44. Compared to each negative electrode component 42 being electrically connected to the negative power supply via a single electrical connection trace, this reduces the number of electrical connection traces and optimizes the layout of the electrical connection traces.

[0189] In this embodiment, multiple positive electrode components 41 and multiple negative electrode components 42 are crisscrossed to form a grid-like electric shock device 40. The grid-like electric shock device 40 can increase the probability of the subject to be avoided from different crawling directions simultaneously contacting two electrodes with a voltage difference, thereby generating a repelling current and thus repelling the subject to be avoided from different crawling directions.

[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 electric shock device 40, thereby effectively preventing subjects to be avoided from different directions from entering the protective area 13.

[0191] In the fourth optional embodiment of the electric shock device 40, please refer to Figures 12 to 15 The positive electrode assembly 41 includes a sawtooth positive electrode line, and the negative electrode assembly 42 includes a sawtooth negative electrode line. The sawtooth positive electrode line and the sawtooth negative electrode line are electrically isolated at their intersection.

[0192] Optionally, the positive electrode assembly 41 includes at least one positive electrode serrated ring formed by a serrated positive electrode wire (e.g., Figures 12 to 15 The solid serrated lines in the diagram, each solid serrated line being part of a positive electrode serrated ring. The negative electrode assembly 42 includes at least one negative electrode serrated ring formed by serrated negative electrode lines (e.g., Figures 12 to 15 The dotted sawtooth lines in the diagram, each dotted sawtooth line being part of the negative electrode sawtooth ring.

[0193] Please see Figure 12 and Figure 14 Each positive electrode sawtooth ring and each negative electrode sawtooth ring have multiple intersections. Insulating parts can be provided at the intersections of the positive electrode sawtooth ring and the negative electrode sawtooth ring for insulated connection, so that the positive electrode assembly 41 and the negative electrode assembly 42 are in an open circuit state, avoiding the formation of a short circuit.

[0194] Optional, please refer to Figure 13 The first positive sawtooth ring, the first negative sawtooth ring, the second positive sawtooth ring, the second negative sawtooth ring, and so on are arranged alternately from the outside to the inside. Each sawtooth inflection point of the positive sawtooth ring is insulated from one sawtooth inflection point of the negative sawtooth ring, forming an open circuit, so as to form a grid-like electric shock device 40.

[0195] Alternatively, please refer to Figure 15 The first positive sawtooth ring, the first negative sawtooth ring, the second positive sawtooth ring, the second negative sawtooth ring, and so on are arranged alternately from the outside to the inside, and each sawtooth edge of the positive sawtooth ring is insulated from one sawtooth edge of the negative sawtooth ring, forming an open circuit, so as to form a grid-like electric shock device 40.

[0196] In this embodiment, by providing a positive electrode assembly 41 including a sawtooth positive electrode line and a negative electrode assembly 42 including a sawtooth negative electrode line, a grid-like electric shock device 40 can be formed. Compared with the third optional embodiment of the electric shock device 40, there is no need to provide a second positive electrode 421 and a second negative electrode 422.

[0197] The surface of the positive electrode component 41 is flush with or protrudes from the surface of the device body 10, so that the positive electrode component 41 can make full contact with the body to be driven away.

[0198] The surface of the negative electrode component 42 is flush with or protrudes from the surface of the device body 10, so that the negative electrode component 42 can make full contact with the body to be driven away.

[0199] Further optional information can be found in [link to relevant documentation]. Figure 16 The negative electrode component 42 protrudes relative to the positive electrode component 41. Since snails are molluscs, when a snail passes by both the positive and negative electrode components 41 and 42, it simultaneously contacts both, thus forming a closed circuit and generating an avoidance current. Furthermore, the positive and negative electrode components 41 and 42 are staggered in height, preventing the user's finger from simultaneously contacting both components and thus preventing accidental contact.

[0200] Furthermore, there are multiple positive electrode components 41 and multiple negative electrode components 42, and the distance between two adjacent negative electrode components 42 is less than or equal to a first preset distance. The first preset distance is less than the width of a user's fingertip, so that the user's little fingertip can simultaneously contact both the positive electrode component 41 and the negative electrode component 42. For example, the first preset distance is 4mm.

[0201] Optional, please refer to Figure 17 The negative electrode assembly 42 is provided with a plurality of spaced conductive portions 425. The plurality of conductive portions 425 are electrically connected to the negative electrode assembly 42 and protrude relative to the positive electrode assembly 41.

[0202] Because snails are molluscs, when a snail passes by the positive electrode component 41 and the negative electrode component 42, it simultaneously comes into contact with both components, thus forming a closed circuit and generating a repellent current. Furthermore, the positive electrode component 41 and the negative electrode component 42 are offset at different heights, preventing the user's finger from simultaneously contacting both components and thus preventing accidental contact.

[0203] There is a gap between two adjacent conductive parts 425. When the negative electrode component 42 is annular and there are multiple negative electrode components 42, the negative electrode component 42 protrudes from several conductive parts 425. This can effectively prevent the user from accidentally touching the positive electrode component 41 and the negative electrode component 42 at the same time. It can also facilitate the flow of water between two negative electrode components 42 through the gap, avoiding water accumulation between two adjacent negative electrode components 42, which could lead to short circuits between the positive electrode component 41 and the negative electrode component 42.

[0204] The gap between two adjacent conductive parts 425 is smaller than the width of the little fingertip, so as to avoid the finger from simultaneously contacting the positive electrode assembly 41 and the negative electrode assembly 42 (or the conductive part 425).

[0205] Further optional information can be found in [link to relevant documentation]. Figure 17 The conductive parts 425 of two adjacent negative electrode components 42 are staggered. For example, the conductive part 425 of the inner negative electrode component 42 is directly opposite the gap of the outer negative electrode component 42, and the conductive part 425 of the outer negative electrode component 42 is directly opposite the gap of the inner negative electrode component 42. This not only effectively prevents the user from accidentally touching the positive electrode component 41 and the negative electrode component 42 at the same time, but also facilitates the flow of water between the two negative electrode components 42 through the gaps on both sides, further avoiding water accumulation between the two adjacent negative electrode components 42, which could lead to short circuits between the positive electrode component 41 and the negative electrode component 42.

[0206] The following embodiments illustrate the power supply of the electric shock device 40.

[0207] In a first embodiment, the electric shock device 40 further includes a first power source. The positive terminal of the first power source is electrically connected to the positive terminal component 41. The negative terminal of the first power source is electrically connected to the negative terminal component 42, so that the positive terminal component 41 and the negative terminal component 42 are connected through the body to be avoided to generate a repelling current.

[0208] Alternatively, the positive electrode assembly 41 and the negative electrode assembly 42 may be spaced apart or electrically insulated to form a plurality of annular electrodes, spiral electrodes, or grid electrodes.

[0209] In this embodiment, the electric shock device 40 is equipped with a first power source independently, without sharing the power source of the self-moving working device 100, and therefore there is no need to convert the power source of the self-moving working device 100 into a corresponding small voltage to form a small repellent current.

[0210] Further optionally, the first power source is, 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 the power source of the self-moving 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.

[0211] In a second embodiment, the self-moving working device 100 includes a second power source. The positive terminal of the first power source is electrically connected to the positive terminal component 41. The negative terminal of the first power source is electrically connected to the negative terminal component 42, so that the positive terminal component 41 and the negative terminal component 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-moving working device 100, etc.

[0212] In this embodiment, the electric shock device 40 reuses the rechargeable battery of the self-moving work device 100, eliminating the need for an additional power supply, thus saving costs and reducing the space required for an additional power supply.

[0213] This application does not specify the manner in which the electric shock device 40 is disposed on the main body 10 of the device.

[0214] Optionally, the electric shock device 40 may be coated or printed on the device body 10.

[0215] Optionally, the electric shock device 40 can be attached to the main body 10 of the device by means of an adhesive layer.

[0216] Optionally, the electric shock device 40 is detachably connected to the device body 10. This detachable connection allows users or maintenance personnel to easily remove the device for cleaning, inspection, or replacement, preventing damage to the protective device from affecting the overall use of the equipment and improving its maintainability and lifespan. More specifically, the electric shock device 40 can be detachably connected to the device body 10 via magnetic attraction or other means.

[0217] Further optional information can be found in [link to relevant documentation]. Figure 18The surface of the device body 10 is provided with a receiving groove 102. The receiving groove 102 is generally annular. The receiving groove 102 provides a precise installation position for the electric shock device 40, making it less prone to displacement or loosening after fitting, ensuring a more stable connection between the electric shock device 40 and the device body 10, and reducing the risk of displacement due to vibration or external force. The electric shock device 40 is partially or completely embedded in the receiving groove 102, making it flush with the surface of the device body 10 or forming a smooth transition, improving the integrity and aesthetics of the device's appearance, and avoiding abrupt protrusions or gaps. The sidewalls of the receiving groove 102 can limit and protect the electric shock device 40, reducing the direct impact of external impacts or foreign objects on the edges of the electric shock device 40, reducing the possibility of deformation or damage, thereby improving the durability of the protective device. By partially embedding the electric shock device 40 in the receiving groove 102, the overall thickness or volume of the device can be reduced, achieving a more compact structural design.

[0218] The electric shock device 40 includes a mounting portion 104. The mounting portion 104 is embedded in the receiving groove 102 and at least partially protrudes from the surface of the device body 10.

[0219] The mounting section 104 includes, but is not limited to, an insulating plate. The electric shock device 40 is made of conductive material, such as a positive electrode assembly 41 and a negative electrode assembly 42; or a conductive trace 48; or a galvanic cell electrode 46. The electric shock device 40 is mounted on the insulating plate and is installed in the receiving groove 102 via the insulating plate.

[0220] This embodiment provides a receiving slot 102 to facilitate the installation of the electric shock device 40.

[0221] In other embodiments, the receiving groove 102 may not be provided on the surface of the device body 10.

[0222] Optionally, the self-moving work device 100 may also include a controller.

[0223] 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 electric shock device 40 to be electrically connected to a power source when the humidity sensor detects a humidity level greater than or equal to a humidity threshold.

[0224] 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 electric shock device 40 is controlled to generate a repellent current to repel snails.

[0225] Optionally, the humidity threshold is not specifically limited. The humidity threshold includes, but is not limited to, 70%, 75%, or 80%.

[0226] 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 electric shock device 40, causing the electric shock device 40 to generate a repelling current and start the repelling mode. Compared to the repelling mode of the electric shock device 40 being constantly on, this saves power and utilizes the biological characteristics of snails for targeted snail repelling, thus improving the working efficiency of the electric shock device 40.

[0227] In another alternative embodiment, the controller is used to control the electric shock device 40 to be electrically connected to a power source when the self-moving working device 100 is in a charging state or a working state.

[0228] Generally, when the self-moving 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-moving working device 100. Based on this, when the self-moving working device 100 is in a charging state, the controller controls the electric shock device 40 to connect to the power supply and start the avoidance mode. Compared to the avoidance mode where the electric shock device 40 is always on, this saves power and improves the working efficiency of the electric shock device 40.

[0229] Generally, when the self-moving working device 100 is in working state, the sensing module 121 is also in working state. If the snail waits for the avoidance object to climb onto the sensing module 121, it will affect the detection accuracy of the sensing module 121. Therefore, when the self-moving working device 100 is in working state, the controller controls the electric shock device 40 to be electrically connected to the power supply and starts the avoidance mode. Compared with the avoidance mode where the electric shock device 40 is always on, it can save power, improve the working efficiency of the electric shock device 40, and also ensure the detection accuracy of the sensing module 121.

[0230] This application proposes a self-moving working device 100, taking a lawnmower as an example. An electric shock device 40 is installed on the surface of the self-moving working device 100. The electric shock device 40 includes a positive electrode component 41 and a negative electrode component 42, which are spaced apart to form a snail avoidance zone. The positive electrode component 41 and the negative electrode component 42 are electrically connected to the positive and negative terminals of a power source, respectively. Initially, the positive and negative electrode components are in an open state. When a snail crawls into the avoidance zone and simultaneously contacts the positive and negative electrode components, the electrodes become conductive and generate a microampere-level current to stimulate the snail, causing it discomfort and prompting it to change its direction of movement or stop moving, thereby achieving the purpose of repelling the snail.

[0231] Furthermore, the electric shock device 40 can be located, for example, on the surface of the housing of the self-moving work device 100 and surrounding the periphery of the vision, lidar, charging interface, charging electrode plates, etc. The electric shock device 40 can be installed, for example, embedded within the housing surface of the self-moving work device 100.

[0232] Furthermore, the positive electrode assembly 41 includes an annular positive electrode line, and the negative electrode assembly 42 includes an annular negative electrode line, with the positive and negative electrode lines spaced apart on the surface of the lawnmower.

[0233] Furthermore, the positive electrode assembly 41 includes multiple positive electrode lines, and the negative electrode assembly 42 includes multiple negative electrode lines. The multiple positive electrode lines and multiple negative electrode lines are interwoven to form a grid-like electrode. The intersection points of the electrode lines are insulated to prevent short circuits. The grid-like electrode distribution design can increase the probability of the snail trigger electrode being turned on.

[0234] Furthermore, the annular positive electrode component 41 and the annular negative electrode component 42 are staggered in height to prevent users from accidentally touching the positive and negative electrodes.

[0235] Furthermore, the power supply for the electric shock device 40 can be set separately. For example, the power supply for the electric shock device 40 is a solar cell, and it is charged using solar energy. Since the generated avoidance current is very small, the required solar cell capacity is also very small, and solar charging is sufficient to supply power.

[0236] Furthermore, since snails are usually found on rainy days, a humidity sensor is installed on the self-moving work device 100 to detect the humidity of the environment or the surface of the self-moving work device 100, and the electric shock device 40 is activated based on the humidity detection result.

[0237] Furthermore, conductive protrusions (the aforementioned conductive portions) are respectively provided on the annular positive electrode assembly 41 and the annular negative electrode assembly 42. The annular positive electrode assembly 41 and the annular negative electrode assembly 42 are embedded in the housing of the self-moving 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 accumulation between the annular positive electrode assembly 41 and the annular negative electrode assembly 42.

[0238] 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 self-moving working device, characterized in that, include: The equipment body has at least one component to be protected on its surface. A walking device is located at the bottom of the main body of the equipment and is used to drive the self-moving working equipment to move. A working device, which is mounted on the main body of the equipment, is used to perform a preset task; and An electric shock device is disposed on the main body of the device and surrounds at least a portion of the periphery of the component to be protected, thereby forming a protective area around the component to be protected, such that when the subject to be repelled comes into contact with the repelling device, it stops moving or changes its direction of movement. The electric shock device includes a positive electrode component and a negative electrode component spaced apart. The electric shock device has a first state and a second state. In the first state, the positive electrode component and the negative electrode component are electrically isolated from each other. In the second state, the positive electrode component and the negative electrode component form a closed circuit by contacting the subject to be repelled and apply electrical stimulation to the subject to be repelled. The subject to be repelled includes organisms that secrete corrosive mucus when crawling.

2. The self-moving working device as described in claim 1, characterized in that, The electric shock device is located around the side and / or top of the main body of the device.

3. The self-moving working device as described in claim 1, characterized in that, The at least one component to be protected includes a sensor module, and the electric shock device is disposed around at least a portion of the periphery of the sensor module.

4. The self-moving working device as described in claim 3, characterized in that, The sensor module is located at the top of the device body and / or the tail of the device body.

5. The self-moving working device as described in claim 1, characterized in that, The at least one component to be protected includes a charging assembly, and the electric shock device is disposed around at least a portion of the periphery of the charging assembly.

6. The self-moving working device as described in claim 5, characterized in that, The charging component is located at the rear, front, or side of the main body of the device.

7. The self-moving working device according to claim 1, characterized in that, The positive electrode component and the negative electrode component each include multiple components, and the multiple positive electrode components and the multiple negative electrode components are arranged alternately at intervals.

8. The self-moving working device according to claim 1, characterized in that, The positive electrode assembly is a ring electrode, and the negative electrode assembly is a ring electrode; or... The positive electrode assembly is a planar spiral electrode, and the negative electrode assembly is a planar spiral electrode.

9. The self-moving working device according to claim 1, characterized in that, The positive electrode assembly includes a first positive electrode and a second positive electrode arranged intersecting each other; The negative electrode assembly includes a first negative electrode and a second negative electrode arranged intersectingly, with the first negative electrode and the first positive electrode spaced apart; the first positive electrode and the second negative electrode are electrically isolated at their junction; the first negative electrode and the second positive electrode are electrically isolated at their junction.

10. The self-moving working device according to claim 9, 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.

11. The self-moving working device according to claim 10, characterized in that, The first positive electrode is a ring electrode, the second negative electrode is a ring electrode, and a plurality of the first positive electrodes and a plurality of the first negative electrodes are arranged alternately and at intervals in sequence; The electric shock device further includes a first extended electrode, one end of which is electrically connected to the first positive electrode, and the other end of which is electrically connected to the positive terminal of the power supply. The electric shock device further includes a second extended electrode, one end of which is electrically connected to the first negative electrode, and the other end of which is electrically connected to the negative terminal of the power supply.

12. The self-moving working device according to claim 1, characterized in that, The positive electrode assembly includes a sawtooth positive electrode line, and the negative electrode assembly includes a sawtooth negative electrode line. The sawtooth positive electrode line and the sawtooth negative electrode line are electrically isolated at their intersection.

13. The self-moving working device according to claim 1, characterized in that, The negative electrode component protrudes relative to the positive electrode component.

14. The self-moving working device according to claim 1, characterized in that, The negative electrode assembly is provided with a plurality of spaced conductive parts, which are electrically connected to the negative electrode assembly and protrude relative to the positive electrode assembly.

15. The self-moving working device according to claim 1, characterized in that, The electric shock device further includes a first power source, the positive terminal of which is electrically connected to the positive component, and the negative terminal of which is electrically connected to the negative component, so that the positive component and the negative component are connected through the body to be avoided to generate a repelling current; or... The self-moving working device includes a second power source, the positive terminal of the first power source is electrically connected to the positive terminal component, and the negative terminal of the first power source is electrically connected to the negative terminal component, so that the positive terminal component and the negative terminal component are connected through the body to be driven to generate a driving current.

16. The self-moving working device according to claim 1, characterized in that, The electric shock device is detachably connected to the main body of the device.

17. The self-moving working device according to claim 1, characterized in that, The surface of the main body of the device is provided with a receiving groove, and the electric shock 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.

18. The self-moving working device according to claim 1, characterized in that, The self-moving working device further includes a controller, and the component to be protected includes a humidity sensor, which is electrically connected to the controller; the controller is at least configured to control the electric shock device to be electrically connected to a power source when the humidity sensor detects a humidity greater than or equal to a humidity threshold; or... The controller is used to control the electric shock device to be electrically connected to the power source when the self-moving working device is in a charging state or a working state.

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