Self-moving work device

Abstract

The application relates to a self-moving working device. The self-moving working device comprises a device main body, a moving device, a working device and a protection device, the surface of the device main body is provided with at least one component to be protected; the moving device is arranged at the bottom of the device main body and is used for driving the self-moving working device to move; the working device surrounds at least part of the circumferential side of the component to be protected and is used for performing a preset task; the protection device is arranged at the circumferential side of the at least one component to be protected, the protection device comprises a plurality of first electrode lines and a plurality of second electrode lines, the plurality of first electrode lines are arranged at intervals along a first direction, the plurality of second electrode lines are arranged at intervals along a second direction, the first direction intersects the second direction, and the first electrode lines and the second electrode lines are configured to form a closed loop with a potential difference when a body to be driven away simultaneously contacts any two adjacent first electrode lines, any two adjacent second electrode lines or one first electrode line and one second electrode line.

Description

Technical Field

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

[0002] Currently, most lawnmower products lack protective designs against small creatures such as snails. These creatures can climb onto the machine's surface during operation, easily obstructing the vision module or lidar, thus affecting the lawnmower's normal operation. If these small creatures climb onto the charging contacts, they may also corrode and damage them, affecting the lawnmower's normal operating performance and safety reliability. Summary of the Invention

[0003] In view of this, this application provides a self-moving working device that can generate an avoidance current and avoid the subject to be avoided, so as to protect the component to be protected.

[0004] This application provides a self-moving working device, comprising: a device body, a moving device, a working device, and a protective device. At least one component to be protected is disposed on the surface of the device body. The moving device is disposed at the bottom of the device body and is used to drive the self-moving working device to move. The working device is disposed on the device body and is used to perform a preset task. The protective device surrounds at least a portion of the periphery of the component to be protected. The protective device includes a plurality of first electrode lines and a plurality of second electrode lines. The plurality of first electrode lines are spaced apart along a first direction, and the plurality of second electrode lines are spaced apart along a second direction, the first direction intersecting the second direction. The first electrode lines and second electrode lines are configured such that when the component to be avoided simultaneously contacts any two adjacent first electrode lines, or any two adjacent second electrode lines, or one first electrode line and one second electrode line, a closed loop with a potential difference is formed.

[0005] In some embodiments, a plurality of first electrode lines include alternating first positive electrodes and first negative electrodes, and a plurality of second electrode lines include alternating second positive electrodes and second negative electrodes, wherein the first positive electrode and the second negative electrode are electrically isolated at their junction, and the first negative electrode and the second positive electrode are electrically isolated at their junction.

[0006] In some embodiments, a first insulating portion is provided at the junction of the first positive electrode and the second negative electrode, and the first positive electrode and the second negative electrode are electrically isolated through the first insulating portion; a second insulating portion is provided at the junction of the first negative electrode and the second positive electrode, and the first negative electrode and the second positive electrode are electrically isolated through the second insulating portion.

[0007] In some embodiments, 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; the self-moving working device further includes a first extension electrode and a second extension electrode, one end of the first extension electrode is used to connect to one of the first positive electrode and the second positive electrode, and the other end of the first extension electrode is used to connect to the positive terminal of the power supply; one end of the second extension electrode is used to connect to one of the first negative electrode and the second negative electrode, and the other end of the first extension electrode is used to connect to the negative terminal of the power supply.

[0008] In some embodiments, a first conductive portion is provided at the junction of the first positive electrode and the second positive electrode, and the first positive electrode and the second positive electrode are electrically connected through the first conductive portion; a second conductive portion is provided at the junction of the first negative electrode and the second negative electrode, and the first negative electrode and the second negative electrode are electrically connected through the second conductive portion.

[0009] In some embodiments, the plurality of first electrode lines include a plurality of third positive electrodes, the plurality of second electrode lines include a plurality of fourth positive electrodes, a first potential difference exists between two adjacent third positive electrodes, and a second potential difference exists between two adjacent fourth positive electrodes.

[0010] In some embodiments, the protective device is disposed around the top and / or sides of the device body.

[0011] In some embodiments, the at least one component to be protected includes a sensor module, and the protective device surrounds the periphery of the sensor module.

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

[0013] In some embodiments, the at least one component to be protected includes a charging assembly, and the protective device surrounds the periphery of the charging assembly.

[0014] In some embodiments, the charging assembly is disposed at the tail and / or side of the device body.

[0015] In some embodiments, the protective device is detachably connected to the main body of the device.

[0016] In some embodiments, the surface of the device body is provided with a receiving groove, and the protective device is at least partially embedded in the receiving groove.

[0017] In some embodiments, the protective device is provided with a first magnetic suction member, and the device body is provided with a second magnetic suction member. The protective device and the device body are fixed together by the first magnetic suction member and the second magnetic suction member.

[0018] Furthermore, an adhesive component is provided on the back of the protective device, and the protective device is attached to the surface of the main body of the equipment through the adhesive component.

[0019] The mobile device provided in this application is used to drive the movement of a self-moving working device. In other words, the mobile device drives the main body of the device to move, and also drives other devices carried on the main body of the device, such as working devices, components to be protected, and protective devices, to move. The working device is used to perform a preset task, and the protective device is used to avoid the main body to be avoided, so as to prevent the main body to be avoided from approaching the component to be protected and damaging it. This gives the self-moving working device a better avoidance function and self-protection function, improving the reliability of the self-moving working device. Specifically, when the direction of travel of the main body to be avoided is parallel to the first direction, parallel to the second direction, or located between the first and second directions, the main body to be avoided can contact any two adjacent first electrode lines, or any two adjacent second electrode lines, or one first electrode line and one second electrode line, so as to form a closed loop with a potential difference. The grid structure can increase the probability of the main body to be avoided contacting and conducting with the first electrode line and / or the second electrode line, thereby enhancing the protective effect of the protective device on the component to be protected. When the object to be avoided comes into contact with the protective device, even if the direction of travel of the object to be avoided is uncertain, the probability of the object to be avoided being connected to the first electrode line and / or the second electrode line is still relatively high. This is conducive to forming a repelling current and driving the object to be avoided to move in a direction away from the protected component, reducing the probability of the object to be avoided coming into contact with the protected component after passing the protective device. This gives the self-moving working equipment a better repelling function and self-protection function, and improves the reliability of the self-moving working equipment. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the implementation will be briefly introduced below. Obviously, the drawings described below are some implementations of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of the self-moving working device according to the first embodiment of this application;

[0022] Figure 2 This is a schematic diagram of the structure of the self-moving working device according to the second embodiment of this application;

[0023] Figure 3 for Figure 2 Enlarged view of the dashed box in the middle A Figure 1 ;

[0024] Figure 4 This is a partial structural schematic diagram of a protective device according to an embodiment of this application;

[0025] Figure 5 This is a partial structural schematic diagram of a self-moving working device according to an embodiment of this application;

[0026] Figure 6 for Figure 2 Enlarged view of the dashed box in the middle A Figure 2 ;

[0027] Figure 7 This is a schematic diagram of the structure of the self-moving working device provided in the third embodiment of this application;

[0028] Figure 8 A perspective view of the front end of a self-moving working device provided in an embodiment of this application;

[0029] Figure 9 A schematic diagram showing a protective device for a self-moving working device provided in an embodiment of this application, located on the side of the main body of the device near the bottom;

[0030] Figure 10 A schematic diagram showing a protective device for a self-moving working device provided in an embodiment of this application, located on the side of the main body of the device near the top;

[0031] Figure 11 This is a schematic diagram of the structure of the self-moving working device according to the second embodiment of this application;

[0032] Figure 12 This is a partial structural schematic diagram of the self-moving working device according to the first embodiment of this application;

[0033] Figure 13 This is a partial structural schematic diagram of the self-moving working device according to the second embodiment of this application.

[0034] Explanation of reference numerals in the attached figures:

[0035] 100 - Self-moving working device; 110 - Equipment body; 111 - Receiving slot; 120 - Moving device; 21 - Front traveling wheel assembly; 211 - Front rotating wheel; 212 - First connecting structure; 22 - Rear traveling wheel assembly; 221 - Rear rotating wheel; 222 - Second connecting structure; 121 - Drive wheel; 130 - Working device; 140 - Protective device; 141 - First electrode wire; 1411 - First positive electrode; 1412 - First negative electrode; 1413 - Third electrode wire. Positive electrode, 142-Second electrode line, 1421-Second positive electrode, 1422-Second negative electrode, 1423-Fourth positive electrode, 143-First insulating part, 144-Second insulating part, 145-First conductive part, 146-Second conductive part, 150-Power supply, 151-First extended electrode, 152-Second extended electrode, 160-Sensor module, 170-Charging component, 180-First magnetic clasp, 190-Second magnetic clasp, 210-Adhesive component. Detailed Implementation

[0036] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0037] 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 specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0038] In this document, references to "embodiment" or "implementation" mean that a particular feature, structure, or characteristic described in connection with an embodiment or implementation may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0039] Currently, most lawnmower products lack protective designs against small creatures such as snails. These creatures can climb onto the machine's surface during operation, easily obstructing the vision module or lidar, affecting the lawnmower's normal operation, reducing positioning accuracy, weakening environmental awareness, and in severe cases, causing obstacle avoidance failure, thus impacting the lawnmower's normal operation and safety. If these small creatures climb onto the charging contacts, they may also produce secretions that corrode the contacts, damaging them and affecting the lawnmower's normal performance and safety.

[0040] Please see Figure 1 This application provides a self-moving working device 100, which includes: a device body 110, and at least one component to be protected is provided on the surface of the device body 110.

[0041] Optionally, the self-moving working device 100 may be, but is not limited to, a lawnmower, rotary tiller, seeder, or other similar equipment.

[0042] Optionally, the component to be protected may be, but is not limited to, a vision module, ultrasonic radar, lidar, charging port, etc.

[0043] Understandably, in the terminology of this application, "at least one" means one or more, and may be, but is not limited to, one, two, three, four or five, etc.

[0044] Understandably, at least one component to be protected is disposed on the surface of the device body 110, and the surface of the device body 110 includes, but is not limited to, the top surface, side surface, and bottom surface of the device body 110. In other words, the component to be protected is disposed on the top surface and / or side surface and / or bottom surface of the device body 110.

[0045] In addition, the self-moving work device 100 also includes a moving device 120 and a working device 130. The moving device 120 is disposed at the bottom of the main body 110 and is used to drive the self-moving work device 100 to move. The working device 130 is disposed on the main body 110 and is used to perform preset tasks.

[0046] Optionally, the working device 130 may be, but is not limited to, a mowing device, a rotary tillage device, a seeding device, etc. Correspondingly, the preset task may be, but is not limited to, a mowing task, a rotary tillage task, or a seeding task. Here, the type of the working device 130 and the type of the preset task are not limited.

[0047] In this embodiment, the mobile device 120 is used to drive the self-moving work equipment 100 to move. In other words, the mobile device 120 drives the main body of the equipment 110 to move, and drives other devices such as the working device 130 carried on the main body of the equipment 110 to move, so as to perform a preset task.

[0048] In addition, the self-moving working device 100 also includes a protective device 140, which surrounds at least a portion of the periphery of the component to be protected.

[0049] Optionally, in the self-moving working device 100, the number of protective devices 140 is one or more. In the terminology of this application, "a plurality of" means two or more.

[0050] Understandably, at least a portion of the periphery of the component to be protected may be at least one of the front, rear, left, and right sides of the component to be protected.

[0051] Understandably, when the protective device 140 is disposed on the surface of the equipment body 110 and on the periphery of at least one component to be protected, the protective device 140 encloses a protective area, and the at least one component to be protected is located within the protective area.

[0052] The protective device 140 is disposed at least partially on the periphery of the component to be protected, so as to form a protective area on the periphery of the component 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 protective device 140.

[0053] For example, the protective device 140 is located on at least one of the front, left, rear, and right sides of the component to be protected. Specifically, the protective device 140 may be annular; or, the protective device 140 may be an open shape such as a straight line, an arc, a semi-circle, a bent line, a dot matrix, or a linear array.

[0054] For example, the protective device 140 may be annular, with the annular protective device 140 surrounding the periphery of the component to be protected.

[0055] Optionally, the protective device 140 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.

[0056] For example, a protective device 140 is semi-circular, and the semi-circular protective device 140 is disposed around the periphery of the part to be protected, for example, on a path where snails frequently crawl on the part to be protected.

[0057] For another example, two protective devices 140 are in a semi-circular shape, and the two semi-circular protective devices 140 are combined to form a ring, which is arranged around the periphery of the component to be protected.

[0058] For another example, multiple protective devices 140 are arc-shaped, and the multiple arc-shaped protective devices 140 are combined to form a ring, surrounding the periphery of the component to be protected.

[0059] For ease of explanation, this embodiment is described below as having the protective device 140 arranged in a ring around the part to be protected. Of course, this embodiment can be used as a reference when the protective device 140 has other open structures.

[0060] Specifically, in some embodiments, the protective device 140 is disposed on the surface of the device body 110 and at least partially around the component to be protected, to prevent the component to be avoided from moving past the protective device 140 toward the component to be protected. In other embodiments, the protective device 140 is disposed on the surface of the device body 110 and surrounds a component of the self-moving working device 100, such that when the component to be avoided moves to the surface of the device body 110, the protective device 140 can repel the component to be avoided, preventing it from climbing onto the surface of the device body 110 and preventing it from moving toward the component to be protected.

[0061] Optionally, when the protective device 140 is disposed on the surface of the equipment body 110 and on at least a portion of the periphery of the component to be protected, in some embodiments, the number of the protective device 140 is one, and the protective device 140 may be disposed on the periphery of at least one component to be protected to protect the at least one component to be protected from damage, thereby enabling the self-moving working device 100 to have better avoidance and self-protection functions, and improving the reliability of the self-moving working device 100. In other embodiments, the number of the protective device 140 is multiple, and each protective device 140 may be disposed on the periphery of one or more of at least one component to be protected to protect the component to be protected, thereby enabling the self-moving working device 100 to have better avoidance and self-protection functions, and improving the reliability of the self-moving working device 100.

[0062] For further details, please refer to [link / reference]. Figure 2 and Figure 3 The protective device 140 includes a plurality of first electrode lines 141 and a plurality of second electrode lines 142, wherein the plurality of first electrode lines 141 are along a first direction (e.g., Figure 3 The second electrode lines 142 are arranged at intervals along the second direction (as shown in the X direction), and a plurality of second electrode lines 142 are arranged along the second direction (as shown in the X direction). Figure 3The electrodes 141 and 142 are arranged at intervals in the Y direction, with the first direction intersecting the second direction. The first electrode line 141 and the second electrode line 142 are configured such that when the subject to be driven away simultaneously contacts any two adjacent first electrode lines 141, or any two adjacent second electrode lines 142, or one first electrode line 141 and one second electrode line 142, a closed loop with a potential difference is formed.

[0063] Understandably, at least two of the first electrode lines 141, at least two of the second electrode lines 142, at least one of the first electrode lines 141 and at least one of the second electrode lines 142 can all contact the subject to be driven away and form a circuit with a potential difference.

[0064] Understandably, in the terminology of this application, "several" means multiple, that is, more than or equal to two, and may be, but is not limited to, two, three, four, five, six, ten, fifty, one hundred, etc.

[0065] Understandably, if a plurality of first electrode lines 141 are arranged at intervals along a first direction, and a plurality of second electrode lines 142 are arranged at intervals along a second direction, then the plurality of first electrode lines 141 and the plurality of second electrode lines 142 form a grid-like structure. When the direction of travel of the subject to be avoided is parallel to the first direction, parallel to the second direction, or located between the first and second directions, the subject to be avoided can contact any two adjacent first electrode lines 141, or any two adjacent second electrode lines 142, or one first electrode line 141 and one second electrode line 142, thereby forming a closed loop with a potential difference. The grid-like structure can increase the probability of the subject to be avoided contacting and conducting with the first electrode lines 141 and / or the second electrode lines 142.

[0066] Optionally, in some embodiments, the first direction is perpendicular to the second direction.

[0067] Understandably, at least some of the plurality of first electrode lines 141 are loaded with different voltages, such that at least two of the first electrode lines 141 can contact the body to be driven and form a loop with a potential difference.

[0068] Understandably, at least a portion of the plurality of second electrode lines 142 are loaded with different voltages, such that at least two of the second electrode lines 142 can contact the body to be driven and form a loop with a potential difference.

[0069] Understandably, at least a portion of the first electrode line 141 and at least a portion of the second electrode line 142 are loaded with different voltages, such that at least one first electrode line 141 and one second electrode line 142 come into contact with the body to be driven and form a loop with a potential difference.

[0070] Understandably, when the subject to be driven is not in contact with the first electrode line 141 and the second electrode line 142, there is an open circuit between the first electrode line 141 and the second electrode line 142, between the first electrode line 141 and the first electrode line 141, and between the second electrode line 142 and the second electrode line 142.

[0071] Optionally, the subject to be repelled may be, but is not limited to, snails, slugs, etc.

[0072] Understandably, Figure 1 The protective device 140 of the self-moving working device 100 does not show the first electrode lines 141 and the second electrode lines 142 arranged in a grid pattern, and should not be construed as a limitation on the arrangement of the first electrode lines 141 and the second electrode lines 142 of the protective device 140 of the self-moving working device 100 provided in the embodiments of this application.

[0073] In this embodiment, the protective device 140 includes a plurality of first electrode lines 141 and a plurality of second electrode lines 142. The first electrode lines 141 are arranged at intervals along a first direction, and the plurality of second electrode lines 142 are arranged at intervals along a second direction. The plurality of first electrode lines 141 and the plurality of second electrode lines 142 form a grid-like structure. When the direction of travel of the subject to be avoided is parallel to the first direction, parallel to the second direction, or located between the first direction and the second direction, the subject to be avoided can contact any two adjacent first electrode lines 141, or any two adjacent second electrode lines 142, or one first electrode line 141 and one second electrode line 142, so as to form a closed loop with a potential difference, thereby generating a repelling current and giving the subject to be avoided a slight electric shock. Specifically, when the direction of travel of the subject to be avoided is parallel or nearly parallel to the first direction, if the subject to be avoided simultaneously contacts at least two adjacent first electrode lines 141, the at least two adjacent first electrode lines 141 are connected by the subject to be avoided to form a circuit with a potential difference and generate a repelling current. The repelling current flows through the body of the subject to be avoided to give it a slight electric shock. The subject to be avoided feels uncomfortable and changes its crawling direction, that is, moves away from the protective device 140 and the protected component. After feeling uncomfortable, the subject to be avoided may also stop moving, thereby preventing the subject to be avoided from approaching the protected component. Thus, the self-moving working device 100 has a better repelling function and self-protection function, improving the reliability of the self-moving working device 100. Similarly, when the direction of travel of the subject to be avoided is parallel or nearly parallel to the second direction, if the subject to be avoided simultaneously contacts at least two adjacent second electrode lines 142, the at least two adjacent second electrode lines 142 are connected by the subject to be avoided to form a circuit with a potential difference and generate a repelling current. The repelling current flows through the body of the subject to be avoided to give it a slight electric shock. The subject to be avoided will feel discomfort and change its crawling direction. After feeling discomfort, the subject to be avoided may also stop moving, thereby preventing the subject to be avoided from approaching the protected component. Thus, the self-moving working device 100 has a better repelling function and self-protection function, improving the reliability of the self-moving working device 100.Furthermore, when the direction of travel of the subject to be avoided is between the first direction and the second direction, if the subject to be avoided simultaneously contacts at least one first electrode line 141 and at least one second electrode line 142 arranged nearby, the at least one first electrode line 141 and at least one second electrode line 142 arranged nearby are connected by the subject to be avoided to form a circuit with a potential difference and generate a repelling current. The repelling current flows through the body of the subject to be avoided to give it a slight electric shock. The subject to be avoided will feel discomfort and change its crawling direction. After feeling discomfort, the subject to be avoided may also stop moving, thereby preventing the subject to be avoided from approaching the protected part. Thus, the self-moving working device 100 has a better repelling function and self-protection function, improving the reliability of the self-moving working device 100. In this embodiment, when the subject to be avoided contacts the protective device 140, the first electrode line 141 and the second electrode line 142 are arranged in a grid pattern. This increases the probability that the subject to be avoided will connect to the first electrode line 141 and / or the second electrode line 142, even if the direction of travel of the subject to be avoided is uncertain. This improves the repelling effect of the protective device 140 on the subject to be avoided, thus protecting the component to be protected and reducing the probability that the subject to be avoided will contact the component to be protected after passing the protective device 140. As a result, the self-moving working device 100 has better repelling and self-protection functions, improving the reliability of the self-moving working device 100.

[0074] Understandably, in the terminology of this application, the repelling current refers to a current with a relatively low intensity, the intensity of which is sufficient to cause discomfort to the subject being repelled without posing a threat to the human body. Optionally, the intensity of the repelling current may be, but is not limited to, 10μA, 15μA, 200μA, 450μA, 0.5mA, etc., and no limitation is made here regarding the intensity of the repelling current.

[0075] Understandably, when there is no potential difference between the first electrode line 141 and / or the second electrode line 142 simultaneously contacted by the object to be avoided, the object to be avoided will conduct the first electrode line 141 and / or the second electrode line 142, but cannot form a repelling current. Therefore, in this application, at least two first electrode lines 141, at least two second electrode lines 142, and at least one first electrode line 141 and at least one second electrode line 142 can all contact the object to be avoided and form a circuit with a potential difference.

[0076] Optionally, the first electrode line 141 extends along the second direction, and the second electrode line 142 extends along the first direction, so that the first electrode line 141 and the second electrode line 142 form a grid-like structure, which helps to increase the probability of the subject to be driven and connected to the first electrode line 141 and / or the second electrode line 142.

[0077] In some embodiments, a plurality of the first electrode lines 141 include alternating first positive electrode 1411 and first negative electrode 1412.

[0078] Understandably, the first electrode lines 141, including alternating first positive electrodes 1411 and first negative electrodes 1412, can be arranged alternately and sequentially along the first direction.

[0079] Understandably, there are multiple first positive electrodes 1411 and multiple first negative electrodes 1412.

[0080] In this embodiment, when the traveling direction of the subject to be driven is parallel or nearly parallel to the first direction, if the subject to be driven simultaneously contacts at least one first positive electrode 1411 and at least one first negative electrode 1412, the first positive electrode 1411 and the first negative electrode 1412 are connected by the subject to be driven and form a circuit with a potential difference, thereby generating a driving current to achieve electric shock to the subject to be driven and to drive away the subject to be driven.

[0081] Optionally, a plurality of the second electrode lines 142 include alternately arranged second positive electrodes 1421 and second negative electrodes 1422.

[0082] Understandably, the second electrode lines 142, including alternately arranged second positive electrodes 1421 and second negative electrodes 1422, can be arranged alternately and sequentially along the second direction.

[0083] Understandably, there are multiple second positive electrodes 1421 and multiple second negative electrodes 1422.

[0084] In this embodiment, when the traveling direction of the subject to be driven is parallel or nearly parallel to the second direction, if the subject to be driven simultaneously contacts at least one second positive electrode 1421 and at least one second negative electrode 1422, the second positive electrode 1421 and the second negative electrode 1422 are connected by the subject to be driven and form a circuit with a potential difference, thereby generating a driving current to achieve electric shock to the subject to be driven and to drive away the subject to be driven. Furthermore, a plurality of the first electrode lines 141 and a plurality of the second electrode lines 142 form a grid structure. When the traveling direction of the subject to be avoided is between the first direction and the second direction, if the subject to be avoided simultaneously contacts the first positive electrode 1411 and the second negative electrode 1422, the subject to be avoided connects the first positive electrode 1411 and the second negative electrode 1422 and forms a repelling current. Similarly, if the subject to be avoided simultaneously contacts the first negative electrode 1412 and the second positive electrode 1421, the subject to be avoided connects the first negative electrode 1412 and the second positive electrode 1421 and forms a repelling current, so as to achieve the repelling of the subject to be avoided, thereby preventing the subject to be avoided from approaching the component to be protected, and ultimately reducing the probability of the subject to be avoided damaging the component to be protected.

[0085] Optionally, the first positive electrode 1411 and the second negative electrode 1422 are electrically isolated at their junction.

[0086] Optionally, in some embodiments, the first positive electrode 1411 and the second negative electrode 1422 are electrically isolated at their junction, the first positive electrode 1411 and the second negative electrode 1422 are insulated, or the first positive electrode 1411 and the second negative electrode 1422 are spaced apart.

[0087] In this embodiment, the first positive electrode 1411 and the second negative electrode 1422 are electrically isolated at their junction. This prevents the first positive electrode 1411 and the second negative electrode 1422 from accidentally connecting and causing a short circuit when the subject to be driven does not simultaneously contact the first positive electrode 1411 and the second negative electrode 1422. This avoids damage to the first positive electrode 1411 and the second negative electrode 1422 and helps to extend the service life of the protective device 140.

[0088] Optionally, the first negative electrode 1412 and the second positive electrode 1421 are electrically isolated at their junction.

[0089] Optionally, in some embodiments, the first negative electrode 1412 and the second positive electrode 1421 are electrically isolated at their junction, in which case the first negative electrode 1412 and the second positive electrode 1421 are insulated, or the first negative electrode 1412 and the second positive electrode 1421 are spaced apart.

[0090] In this embodiment, the first negative electrode 1412 and the second positive electrode 1421 are electrically isolated at their junction. This avoids the first negative electrode 1412 and the second positive electrode 1421 from accidentally connecting and causing a short circuit when the subject to be driven does not simultaneously contact the first negative electrode 1412 and the second positive electrode 1421. This avoids damage to the first negative electrode 1412 and the second positive electrode 1421 and helps to extend the service life of the protective device 140.

[0091] Please see also Figure 4 In some embodiments, a first insulating portion 143 is provided at the junction of the first positive electrode 1411 and the second negative electrode 1422, and the first positive electrode 1411 and the second negative electrode 1422 are electrically isolated by the first insulating portion 143.

[0092] Optionally, a first insulating portion 143 is provided at the junction of the first positive electrode 1411 and the second negative electrode 1422. This can be either the first insulating portion 143 being disposed between the first positive electrode 1411 and the second negative electrode 1422, or the first insulating portion 143 being fused with both the first positive electrode 1411 and the second negative electrode 1422.

[0093] Optionally, in some embodiments, the first insulating part 143 may be, but is not limited to, a rubber part, a plastic part, etc.

[0094] Understandably, Figure 4 The embodiment is a partial structural schematic diagram of the protective device 140, specifically showing the first insulating part 143, the second insulating part 144, the first conductive part 145, and the second conductive part 146. Figure 3 The first insulating portion 143, the second insulating portion 144, the first conductive portion 145, and the second conductive portion 146 are not shown in the embodiment and should not be construed as... Figure 3 In this embodiment, the first insulating part 143, the second insulating part 144, the first conductive part 145, and the second conductive part 146 are not provided.

[0095] In this embodiment, a first insulating part 143 is provided at the junction of the first positive electrode 1411 and the second negative electrode 1422. The first insulating part 143 can achieve electrical isolation between the first positive electrode 1411 and the second negative electrode 1422. When the object to be avoided is not in contact with the first positive electrode 1411 and the second negative electrode 1422, the connection between the first positive electrode 1411 and the second negative electrode 1422 at the junction can be avoided, thus preventing a short circuit between the first positive electrode 1411 and the second negative electrode 1422. When the object to be avoided is connected to the first positive electrode 1411 and the second negative electrode 1422, the protective device 140 can form a circuit with a potential difference and generate a repelling current, thereby playing a repelling role against the protective device 140. If there is a short circuit between the first positive electrode 1411 and the second negative electrode 1422, the protective device 140 cannot play a protective role. The first insulating part 143 provided in this application improves the performance of the protective device 140.

[0096] In some embodiments, a second insulating portion 144 is provided at the junction of the first negative electrode 1412 and the second positive electrode 1421, and the first negative electrode 1412 and the second positive electrode 1421 are electrically isolated by the second insulating portion 144.

[0097] Optionally, a second insulating portion 144 is provided at the junction of the first negative electrode 1412 and the second positive electrode 1421. This can be either the second insulating portion 144 being disposed between the first negative electrode 1412 and the second positive electrode 1421, or the second insulating portion 144 being fused with both the first negative electrode 1412 and the second positive electrode 1421.

[0098] Optionally, in some embodiments, the second insulating part 144 may be, but is not limited to, a rubber part, a plastic part, etc.

[0099] In this embodiment, a second insulating portion 144 is provided at the junction of the first negative electrode 1412 and the second positive electrode 1421. The second insulating portion 144 can achieve electrical isolation between the first negative electrode 1412 and the second positive electrode 1421. When the object to be avoided is not in contact with the first negative electrode 1412 and the second positive electrode 1421, it can prevent the first negative electrode 1412 and the second positive electrode 1421 from connecting at the junction, thereby avoiding a short circuit between the first negative electrode 1412 and the second positive electrode 1421. When the object to be avoided connects the first negative electrode 1412 and the second positive electrode 1421, the protective device 140 can form a circuit with a potential difference and generate a repelling current, thereby playing a repelling role against the protective device 140. If the first negative electrode 1412 and the second positive electrode 1421 are short-circuited, the protective device 140 cannot play a protective role. The provision of the second insulating portion 144 in this application improves the performance of the protective device 140.

[0100] In some embodiments, the first positive electrode 1411 and the second positive electrode 1421 are electrically connected at their junction.

[0101] Understandably, the plurality of first positive electrodes 1411 are electrically connected to each other, the plurality of second positive electrodes 1421 are electrically connected to each other, and the first positive electrode 1411 and the second positive electrode 1421 are electrically connected. In other words, the plurality of first positive electrodes 1411 and the plurality of second positive electrodes 1421 are all connected, which facilitates the connection of the first positive electrode 1411 and the second positive electrode 1421 to the power supply 150, thereby simplifying the electrical connection between the first positive electrode 1411, the second positive electrode 1421 and the power supply 150.

[0102] Optionally, the first negative electrode 1412 and the second negative electrode 1422 are electrically connected at their junction.

[0103] Understandably, the plurality of first negative electrodes 1412 are electrically connected to each other, the plurality of second negative electrodes 1422 are electrically connected to each other, and the first negative electrode 1412 and the second negative electrode 1422 are electrically connected to each other. In other words, the plurality of first negative electrodes 1412 and the plurality of second negative electrodes 1422 are all connected to each other, which facilitates the connection of the first negative electrode 1412 and the second negative electrode 1422 to the power supply 150, thereby simplifying the electrical connection between the first negative electrode 1412, the second negative electrode 1422 and the power supply 150.

[0104] Optionally, please also see Figure 5The self-moving working device 100 further includes a first extended electrode 151 and a second extended electrode 152. One end of the first extended electrode 151 is used to connect to one of the first positive electrode 1411 and the second positive electrode 1421, and the other end of the first extended electrode 151 is used to connect to the positive terminal of the power supply 150. One end of the second extended electrode 152 is used to connect to one of the first negative electrode 1412 and the second negative electrode 1422, and the other end of the first extended electrode 151 is used to connect to the negative terminal of the power supply 150.

[0105] Optionally, in some embodiments, the power supply 150 is the power supply 150 of the self-moving working device 100, and the power supply 150 is also used to supply power to at least one of the moving device 120 and the working device 130. In other embodiments, the power supply 150 is the power supply 150 of the protective device 140.

[0106] In the self-moving working device 100 provided in this embodiment, the power supply 150 is used to apply voltage to the first positive electrode 1411, the first negative electrode 1412, the second positive electrode 1421 and the second negative electrode 1422, the first extended electrode 151 is used to connect the first positive electrode 1411 and the second positive electrode 1421 with the power supply 150, and the second extended electrode 152 is used to connect the first negative electrode 1412 and the second negative electrode 1422 with the power supply 150. Specifically, the first positive electrode 1411 and the second positive electrode 1421 are electrically connected at their junction. One end of the first extended electrode 151 is connected to one of the first positive electrode 1411 and the second positive electrode 1421, and the other end of the first extended electrode 151 is connected to the positive terminal of the power supply 150. This allows both the first positive electrode 1411 and the second positive electrode 1421 to be electrically connected to the power supply 150. Compared to a scheme where multiple first positive electrodes 1411 and multiple second positive electrodes 1421 are connected to the power supply 150 respectively, this application simplifies the process of connecting the first positive electrode 1411 and the second positive electrode 1421 to the positive terminal of the power supply 150, avoids overly complex wiring of the self-moving working device 100, and improves the usability of the self-moving working device 100. Similarly, the first negative electrode 1412 and the second negative electrode 1422 are electrically connected at their junction. One end of the second extension electrode 152 is used to connect to one of the first negative electrode 1412 and the second negative electrode 1422, and the other end of the first extension electrode 151 is used to connect to the negative terminal of the power supply 150. This allows both the first negative electrode 1412 and the second negative electrode 1422 to be electrically connected to the power supply 150. Compared to a scheme where multiple first negative electrodes 1412 and multiple second negative electrodes 1422 are connected to the power supply 150 respectively, this application simplifies the process of connecting the first negative electrode 1412 and the second negative electrode 1422 to the positive terminal of the power supply 150, avoids overly complex wiring of the self-moving working device 100, and improves the usability of the self-moving working device 100.

[0107] Please see Figure 4 In some embodiments, a first conductive part 145 is provided at the junction of the first positive electrode 1411 and the second positive electrode 1421, and the first positive electrode 1411 and the second positive electrode 1421 are electrically connected through the first conductive part 145.

[0108] Optionally, the first conductive part 145 may be, but is not limited to, a solder joint, an electrical connector, etc.

[0109] In this embodiment, the first positive electrode 1411 and the second positive electrode 1421 have a physical connection point, which forms the junction. The junction facilitates the electrical connection between the first positive electrode 1411 and the second positive electrode 1421. A first conductive part 145 is provided at the junction of the first positive electrode 1411 and the second positive electrode 1421. The first conductive part 145 can improve the stability of the electrical connection between the first positive electrode 1411 and the second positive electrode 1421 and prevent the first positive electrode 1411 and the second positive electrode 1421 from peeling off from each other. Thus, when one end of the first extended electrode 151 is connected to one of the first positive electrode 1411 and the second positive electrode 1421, both the first positive electrode 1411 and the second positive electrode 1421 can be connected to the positive terminal of the power supply 150. This improves the stability of the electrical connection between the first positive electrode 1411, the second positive electrode 1421 and the power supply 150, and ensures the avoidance effect of the protective device 140 on the subject to be avoided, thereby protecting the component to be protected.

[0110] Optionally, a second conductive part 146 is provided at the junction of the first negative electrode 1412 and the second negative electrode 1422, and the first negative electrode 1412 and the second negative electrode 1422 are electrically connected through the second conductive part 146.

[0111] Optionally, the second conductive part 146 may be, but is not limited to, a solder joint, an electrical connector, etc.

[0112] In this embodiment, the first negative electrode 1412 and the second negative electrode 1422 have a physical connection point, which forms the junction. The junction facilitates the electrical connection between the first negative electrode 1412 and the second negative electrode 1422. A second conductive part 146 is provided at the junction of the first negative electrode 1412 and the second negative electrode 1422. The second conductive part 146 can improve the stability of the electrical connection between the first negative electrode 1412 and the second negative electrode 1422 and prevent the first negative electrode 1412 and the second negative electrode 1422 from peeling off from each other. Thus, when one end of the second extended electrode 152 is connected to one of the first negative electrode 1412 and the second negative electrode 1422, both the first negative electrode 1412 and the second negative electrode 1422 can be connected to the negative terminal of the power supply 150. This improves the stability of the electrical connection between the first negative electrode 1412, the second negative electrode 1422 and the power supply 150, ensuring the avoidance effect of the protective device 140 on the subject to be avoided, and thus protecting the component to be protected.

[0113] Optionally, in some embodiments, the power supply 150 may also be electrically connected to the working device 130 to supply power to the working device 130.

[0114] Please see Figure 6 In other embodiments, a plurality of first electrode lines 141 include a plurality of third positive electrodes 1413, and a first potential difference exists between two adjacent third positive electrodes 1413.

[0115] Understandably, Figure 3 Examples and Figure 6 The examples are two parallel examples.

[0116] In this embodiment, the plurality of first electrode lines 141 include a plurality of third positive electrodes 1413. The third positive electrodes 1413 are arranged at intervals along the first direction. When the traveling direction of the subject to be avoided is parallel or nearly parallel to the first direction, if the subject to be avoided simultaneously contacts at least two adjacent third positive electrodes 1413, and there is a first potential difference between the two adjacent third positive electrodes 1413, then the subject to be avoided connects to the two third positive electrodes 1413 respectively, forming a circuit with a potential difference, so as to form a repelling current to shock the subject to be avoided, thereby causing the subject to be avoided to feel discomfort and change its crawling direction, so as to protect the protective component.

[0117] For example, in some embodiments, the first potential difference between two adjacent third positive electrodes 1413 can be, but is not limited to, 0.5V, 1V, 1.5V, 2V, etc.

[0118] Optionally, a plurality of second electrode lines 142 include a plurality of fourth positive electrodes 1423, with a second potential difference between two adjacent fourth positive electrodes 1423.

[0119] In this embodiment, the plurality of second electrode lines 142 include a plurality of fourth positive electrodes 1423. The fourth positive electrodes 1423 are arranged at intervals along the second direction. When the traveling direction of the subject to be avoided is parallel or nearly parallel to the second direction, if the subject to be avoided simultaneously contacts at least two adjacent fourth positive electrodes 1423, and there is a second potential difference between the two adjacent fourth positive electrodes 1423, the subject to be avoided connects to the two fourth positive electrodes 1423 respectively, forming a circuit with a potential difference, so as to form a repelling current to shock the subject to be avoided, thereby causing the subject to be avoided to feel discomfort and change its crawling direction, so as to protect the protective component.

[0120] For example, in some embodiments, the second potential difference between two adjacent fourth positive electrodes 1423 can be, but is not limited to, 0.5V, 1V, 1.5V, 2V, etc.

[0121] Optionally, in some embodiments, when the protective device 140 is disposed on the surface of the device body 110 and on the periphery of at least one component to be protected, the first potential difference between two adjacent third positive electrodes 1413 gradually decreases in the direction from the component to be protected toward the protective device 140. In other words, in the first direction and from the outside toward the component to be protected, the first potential difference between two adjacent third positive electrodes 1413 gradually increases.

[0122] In this embodiment, the first potential difference between two adjacent third positive electrodes 1413 gradually decreases in the direction from the protected component to the protective device 140, that is, from the inside to the outside of the protective area formed by the protective device 140. When the subject to be avoided crawls towards the protected component from the outside, if the subject to be avoided connects to the two third positive electrodes 1413 that are far away from the protected component, the first potential difference between the two adjacent third positive electrodes 1413 may be small, and the discomfort of the subject to be avoided is weak, so it may continue to move towards the area closer to the protected component. Furthermore, as the subject to be avoided gets closer to the protected component and simultaneously contacts the two adjacent third positive electrodes 1413, the first potential difference between the two adjacent third positive electrodes 1413 gradually increases, so that the generated repulsion current becomes larger and larger. The subject to be avoided feels discomfort and adjusts its direction of movement, which is conducive to effectively repelling the subject to be avoided and ultimately achieving protection of the protected component.

[0123] Optionally, in some embodiments, when the protective device 140 is disposed on the surface of the device body 110 and on the periphery of at least one component to be protected, the second potential difference between two adjacent fourth positive electrodes 1423 gradually decreases in the direction from the component to be protected to the protective device 140. In other words, in the second direction and from the outside to the component to be protected, the second potential difference between two adjacent fourth positive electrodes 1423 gradually increases.

[0124] In this embodiment, the second potential difference between two adjacent fourth positive electrodes 1423 gradually decreases in the direction from the protected component to the protective device 140, that is, from the inside to the outside of the protected area formed by the protective device 140. When the subject to be avoided crawls towards the protected component from the outside, if the subject to be avoided connects to the two fourth positive electrodes 1423 that are far away from the protected component, the second potential difference between the two adjacent fourth positive electrodes 1423 may be small, and the discomfort of the subject to be avoided is weak, so it may continue to move towards the area closer to the protected component. Furthermore, as the subject to be avoided gets closer to the protected component and simultaneously contacts the two adjacent fourth positive electrodes 1423, the second potential difference between the two adjacent fourth positive electrodes 1423 gradually increases, so that the generated repulsion current becomes larger and larger. The subject to be avoided feels discomfort and adjusts its direction of movement, which is conducive to effectively repelling the subject to be avoided and ultimately achieving protection of the protected component.

[0125] Optionally, the mobile device 120 includes a front wheel assembly 21 and a rear wheel assembly 22. The front wheel assembly 21 includes, but is not limited to, a drive wheel 121 located at the front end of the bottom of the device body 110; or, two front rotating wheels 211 located on both sides of the device body 110 at the front end, the two front rotating wheels being connected to the device body 110 via a first connecting structure 212. The rear wheel assembly 22 includes, but is not limited to, two rear rotating wheels 221 located on both sides of the device body 110 at the rear end, the two rear rotating wheels 221 being connected to the device body 110 via a second connecting structure 222.

[0126] The following, in conjunction with the accompanying drawings, provides a specific example illustrating the position of the protective device 140 on the main body 110 of the equipment.

[0127] 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.

[0128] When the self-moving work device 100 is located on the ground, the ways in which the subject to be driven can climb onto the self-moving work device 100 include: Please refer to Figure 7Path 1 - The subject to be driven climbs from the drive wheel 121 (e.g., caster wheel) and 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 7 (As indicated by the arrow in ①); please refer to Figure 8 Route 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 8 (As indicated by arrow ② in the middle); please refer to Figure 8 Path 3 - The subject to be driven climbs to a position near the top of the peripheral side of the self-moving working device 100 via the front rotating wheel 211 or the rear rotating wheel 221 (see...). Figure 8 (As indicated by arrow ③ in the middle); please refer to Figure 8 Path 4 - The subject to be driven climbs to a position near the top of the peripheral side of the self-moving working device 100 via the first connection structure 212 between the front rotating wheel 211 and the main body 110, or via the second connection structure 222 between the rear rotating wheel 221 and the main body 110 (see...). Figure 8 (As indicated by arrow ④ in the middle).

[0129] Please refer to sections 1 to 2. Figure 9 The protective device 140 is disposed around the side of the equipment body 110. In other words, the installation path of the protective device 140 is at least located on the side of the equipment body 110.

[0130] The area formed by the protective device 140 surrounding the surface of the equipment body 110 is the protective area. It should be noted that the side of the equipment body 110 may be the peripheral side of the aforementioned self-moving working device 100.

[0131] In the first alternative implementation, please refer to Figure 7 The protective device 140 is disposed around the peripheral side of the device body 110 and near the bottom. In other words, the installation path of the protective device 140 is at least located on the peripheral side of the device body 110 and near the bottom. For example Figure 9 The position indicated by S1 in the diagram.

[0132] The area formed by the protective device 140 surrounding the surface of the equipment body 110 is the protective area. It should be noted that the peripheral side of the equipment body 110 can be the peripheral side of the aforementioned self-moving working device 100; the bottom of the equipment body 110 can be the bottom of the aforementioned self-moving working device 100.

[0133] This embodiment effectively avoids a subject that has crawled along path 1 (from the drive wheel 121, down to the bottom of the self-moving working device 100) to the bottom of the self-moving working device 100. When the subject crawls along path 1 to the bottom of the self-moving working device 100, it encounters the protective device 140. The protective device 140 provides electrical stimulation by releasing a small current or by physical stimulation by setting spikes, thus preventing the subject from continuing to move forward. This causes the subject to change its direction of movement upon contact with the protective device 140, preventing it from entering the protected area. Consequently, the protected component 12 is prevented 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.

[0134] 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 front rotating wheel 211 or rear rotating wheel 221 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 protective device 140 provided in the first optional embodiment. Based on this, this application also provides the following layout position of the protective device 140.

[0135] In a second optional embodiment, the protective device 140 is positioned around the side of the main body 110 and above the aforementioned first connecting structure 212 and second connecting structure 222. 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 self-moving working device 100, it will encounter the protective device 140. The protective device 140 provides electrical stimulation by releasing a small current or by physical stimulation by setting spikes, etc., 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 when it comes into contact with the protective device 140, preventing it from entering the protected area. This also prevents the protected part from being blocked by the object to be avoided or affected by the mucus secreted by the object to be avoided, giving the self-moving working device 100 better avoidance and self-protection functions, and improving the reliability of the self-moving working device 100.

[0136] Optionally, the protective device 140 is positioned on the side of the main body 110 and above the aforementioned front rotating wheel 211 and rear rotating wheel 221. When the object to be avoided climbs along the rear rotating wheel 221 (path 3) to the circumference of the nearby self-moving working device 100, it will encounter the protective device 140. The protective device 140 provides electrical stimulation by releasing a small current or by 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 when it comes into contact with the protective device 140, preventing it from entering the protected area. This also prevents the protected part from being blocked by the object to be avoided or affected by the mucus secreted by the object to be avoided, giving the self-moving working device 100 better avoidance and self-protection functions, and improving the reliability of the self-moving working device 100.

[0137] Since the protective device 140 in this embodiment is disposed around the periphery of the main body 110 of the device, when the object to be avoided climbs along 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 self-moving working device 100, it will encounter the protective device 140. The protective device 140 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 when it comes into contact with the protective device 140, preventing the object to be avoided from entering the protected area. This also prevents the protected part 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.

[0138] For further options, please refer to [link / reference]. Figure 10 The protective device 140 can be positioned around the periphery of the main body 110 and near the top. Thus, the protective device 140 is positioned relatively high, and the protective area formed by the protective device 140 is close to the top of the main body 110 (i.e., the top of the self-moving working device 100). When the object to be avoided climbs along path 2 (by passing rocks, steps, or walls near the self-moving working device 100) to the periphery of the self-moving working device 100, even if the rocks, steps, or walls are high, the object will not enter the protective area formed by the protective device 140.

[0139] Optionally, the protective device 140 may also be disposed around the top of the device body 110, and the top of the device body 110 is provided with the component to be protected. By disposing the protective device 140 around the top of the device body 110, the component to be protected on the top can be protected.

[0140] Optionally, the protective device 140 may also be disposed around the top and sides of the device body 110. This embodiment provides double protection for the top component by providing one protective device 140 around the side of the device body 110 and another protective device 140 around the top of the device body 110. This effectively protects snails that climb onto the device body 110 via the aforementioned paths 1, 2, 3, and 4.

[0141] In some embodiments, the at least one component to be protected includes a sensor module 160, and the protective device 140 surrounds the periphery of the sensor module 160.

[0142] Optionally, the sensor module 160 includes at least one of a visual sensor, an ultrasonic radar, etc.

[0143] In this embodiment, the at least one component to be protected includes a sensor module 160. The sensor module 160 is disposed on the surface of the device body 110 and can be used to obtain information about the environment in which the device body 110 is located, such as location information, so as to realize the positioning and obstacle avoidance of the self-moving working device 100, and assist the working device 130 in performing preset tasks, thereby improving the working efficiency and reliability of the self-moving working device 100. In this embodiment, the protective device 140 is disposed around the sensor module 160. When the subject to be avoided moves past the protective device 140 toward the sensor module 160, at least two of the first electrode lines 141, at least two of the second electrode lines 142, at least one of the first electrode lines 141 and at least one of the second electrode lines 142 in the protective device 140 can contact the subject to be avoided and form a circuit with a potential difference to generate an avoidance current and shock the subject to be avoided. This causes the subject to feel uncomfortable and move toward the direction away from the sensor module 160, thus preventing the subject to be avoided from blocking the sensor module 160 and affecting the working accuracy of the sensor module 160. It also prevents the secretions generated by the subject to be avoided from corroding or damaging the sensor module 160. This gives the self-moving working device 100 a better avoidance function and self-protection function, improving the reliability of the self-moving working device 100.

[0144] In some embodiments, the sensor module 160 is located at the top of the device body 110 and / or at the tail of the device body 110.

[0145] In some embodiments, the sensor module 160 is located at the top of the device body 110; in other embodiments, the sensor is located at the rear of the device body 110; in still other embodiments, a portion of the sensor module 160 is located at the top of the device body 110, and another portion of the sensor module 160 is located at the rear of the device body 110. When the sensor module 160 is located at the top and / or rear of the device body 110, it facilitates the device body 110 in obtaining position information, thereby enabling the self-moving working device 100 to locate and avoid obstacles, and improving the reliability of the self-moving working device 100.

[0146] In some embodiments, the at least one component to be protected includes a charging assembly 170, and the protective device 140 surrounds the periphery of the charging assembly 170.

[0147] Optionally, the charging assembly 170 includes at least one charging electrode.

[0148] In this embodiment, the charging component 170 is at least partially disposed on the surface of the device body 110 so that the self-moving working device 100 can be charged after moving to the charging pile. In this embodiment, the protective device 140 is disposed around the periphery of the charging component 170. When the subject to be avoided moves past the protective device 140 toward the charging component 170, at least two of the first electrode lines 141, at least two of the second electrode lines 142, at least one of the first electrode lines 141 and at least one of the second electrode lines 142 in the protective device 140 can contact the subject to be avoided and form a circuit with a potential difference to generate an avoidance current and shock the subject to be avoided. This causes the subject to feel uncomfortable and move toward the direction away from the charging component 170, thus preventing the subject to be avoided from blocking the charging component 170 and affecting the electrical connection between the self-moving working device 100 and the outside. It also prevents the secretions generated by the subject to be avoided from corroding or damaging the charging component 170, thereby giving the self-moving working device 100 a better avoidance function and self-protection function, and improving the reliability of the self-moving working device 100.

[0149] In some embodiments, the charging assembly 170 is disposed at the tail and / or side of the device body 110.

[0150] In some embodiments, the charging component 170 is located at the rear of the device body 110; in other embodiments, the charging component 170 is disposed on the side of the device body 110; in still other embodiments, a portion of the charging component 170 is located at the rear of the device body 110, and another portion of the charging component 170 is located on the side of the device body 110.

[0151] In some embodiments, the protective device 140 is detachably connected to the device body 110.

[0152] In this embodiment, the protective device 140 is detachably connected to the main body 110 of the equipment, so that users or maintenance personnel can easily remove the protective device 140 for cleaning, inspection or replacement, avoiding the impact of damage to the protective device 140 on the overall use of the self-moving work equipment 100, improving the maintainability of the self-moving work equipment 100 and extending the service life of the self-moving work equipment 100.

[0153] Optionally, the protective device 140 and the equipment body 110 can be detachably connected by at least one of magnetic connection, adhesive connection, and snap-fit ​​connection.

[0154] Please see Figure 11 In some embodiments, the surface of the device body 110 is provided with a receiving groove 111, and the protective device 140 is at least partially embedded in the receiving groove 111.

[0155] In this embodiment, the receiving groove 111 provides a precise installation position for the protective device 140, ensuring that it is not easily displaced or loosened after fitting, thus ensuring a more stable connection between the protective device 140 and the equipment body 110 and reducing the risk of displacement due to vibration or external force. The protective device 140 is partially or completely embedded in the receiving groove 111, making it flush with the surface of the equipment body 110 or forming a smooth transition, improving the integrity and aesthetics of the self-moving work equipment 100's appearance and avoiding abrupt protrusions or gaps. The sidewalls of the receiving groove 111 can limit and protect the protective device 140, reducing the direct impact of external impacts or foreign objects on the edges of the protective device 140, reducing the possibility of deformation or damage, thereby improving the durability of the protective device 140. By partially embedding the protective device 140 in the receiving groove 111, the overall thickness or volume of the self-moving work equipment 100 can be reduced, achieving a more compact structural design.

[0156] Please see Figure 12 In some embodiments, the protective device 140 is provided with a first magnetic 180, and the device body 110 is provided with a second magnetic 190. The protective device 140 and the device body 110 are fixed by the first magnetic 180 and the second magnetic 190.

[0157] Optionally, the protective device 140 further includes a mounting part (not shown in the figure), on the side of the mounting part away from the device body 110, the first electrode line 141 and the second electrode line 142 are provided, and on the side of the mounting part facing the device body 110, the first magnetic suction member 180 is provided.

[0158] Understandably, this is to simplify the drawings. Figure 12 The protective device 140 of the self-moving working device 100 does not show the first electrode lines 141 and the second electrode lines 142 arranged in a grid pattern, and should not be construed as a limitation on the arrangement of the first electrode lines 141 and the second electrode lines 142 of the protective device 140 of the self-moving working device 100 provided in the embodiments of this application.

[0159] In this embodiment, the protective device 140 is provided with a first magnetic attractor 180, and the device body 110 is provided with a second magnetic attractor 190. When the first magnetic attractor 180 and the second magnetic attractor 190 are magnetically attracted to each other, the protective device 140 is fixed to the surface of the device body 110. The magnetic attraction between the first magnetic attractor 180 and the second magnetic attractor 190 simplifies the process of mounting the protective device 140 to the surface of the device body 110, improving the efficiency of installation. Furthermore, if the surface of the device body has a receiving groove 111, the second magnetic attractor 190 can also be disposed within the receiving groove 111. When the first magnetic attractor 180 and the second magnetic attractor 190 are magnetically attracted to each other, the stability of the protective device 140 mounted on the device body can be further improved.

[0160] Please see Figure 13 In some embodiments, an adhesive component 210 is provided on the back of the protective device 140, and the protective device 140 is attached to the surface of the device body 110 through the adhesive component 210.

[0161] Optionally, the protective device 140 further includes a mounting part, on the side of the mounting part away from the device body 110, the first electrode line 141 and the second electrode line 142 are provided, and on the side of the mounting part facing the device body 110, the adhesive part 210 is provided.

[0162] Understandably, this is to simplify the drawings. Figure 13 The protective device 140 of the self-moving working device 100 does not show the first electrode lines 141 and the second electrode lines 142 arranged in a grid pattern, and should not be construed as a limitation on the arrangement of the first electrode lines 141 and the second electrode lines 142 of the protective device 140 of the self-moving working device 100 provided in the embodiments of this application.

[0163] Understandably, the back side of the protective device 140 refers to the surface of the protective device 140 that is away from the first electrode line 141 and the second electrode line 142, that is, the surface of the mounting portion that is away from the first electrode line 141 and the second electrode line 142.

[0164] In this embodiment, an adhesive component 210 is provided on the back of the protective device 140. When the protective device 140 is disposed on the surface of the device body 110, the protective device 140 is attached to the surface of the device body 110 by the adhesive component 210. On the one hand, this can improve the efficiency of installing the protective device 140 on the surface of the device body 110, and on the other hand, it can improve the structural stability of the protective device 140 disposed on the surface of the device body.

[0165] Alternatively, in other embodiments, the adhesive 210 may also be disposed on the surface of the device body 110.

[0166] In this application, the terms "embodiment" and "implementation" mean that a specific feature, structure, or characteristic described in connection with an embodiment can be included in at least one embodiment of this application. The appearance of these phrases in various locations throughout the specification does not necessarily refer to the same embodiment, nor are they independent or alternative embodiments mutually exclusive with other embodiments. Those skilled in the art will understand, explicitly and implicitly, that the embodiments described in this application can be combined with other embodiments. Furthermore, it should be understood that the features, structures, or characteristics described in the various embodiments of this application can be arbitrarily combined to form another embodiment that does not depart from the spirit and scope of the technical solution of this application, provided there is no contradiction between them.

[0167] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the above preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions to the technical solutions of this application should not depart from the spirit and scope of the technical solutions 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 mobile device is disposed at the bottom of the main body of the equipment and is used to drive the self-moving working device to move. A working device, which is mounted on the main body of the equipment, is used to perform a preset task; as well as A protective device is disposed on the main body of the equipment 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 the subject to be repelled stops moving or changes its direction of movement when it comes into contact with the protective device; the subject to be repelled includes organisms that secrete corrosive mucus when crawling; the protective device includes a plurality of first electrode lines and a plurality of second electrode lines, the plurality of first electrode lines being spaced apart along a first direction, and the plurality of second electrode lines being spaced apart along a second direction, the first direction intersecting the second direction; The first electrode line and the second electrode line are configured such that when the subject to be driven simultaneously contacts any two adjacent first electrode lines, or any two adjacent second electrode lines, or one first electrode line and one second electrode line, a closed loop with a potential difference is formed.

2. The self-moving working device according to claim 1, characterized in that, The plurality of first electrode lines include alternating first positive electrodes and first negative electrodes, and the plurality of second electrode lines include alternating second positive electrodes and second negative electrodes. The first positive electrodes and second negative electrodes are electrically isolated at their junctions, and the first negative electrodes and second positive electrodes are electrically isolated at their junctions.

3. The self-moving working device according to claim 2, characterized in that, A first insulating portion is provided at the junction of the first positive electrode and the second negative electrode, and the first positive electrode and the second negative electrode are electrically isolated through the first insulating portion; a second insulating portion is provided at the junction of the first negative electrode and the second positive electrode, and the first negative electrode and the second positive electrode are electrically isolated through the second insulating portion.

4. The self-moving working device according to claim 2, 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. The self-moving working device further includes a first extended electrode and a second extended electrode. One end of the first extended electrode is used to connect to one of the first positive electrode and the second positive electrode, and the other end of the first extended electrode is used to connect to the positive terminal of the power supply. One end of the second extended electrode is used to connect to one of the first negative electrode and the second negative electrode, and the other end of the first extended electrode is used to connect to the negative terminal of the power supply.

5. The self-moving working device according to claim 4, characterized in that, A first conductive part is provided at the junction of the first positive electrode and the second positive electrode, and the first positive electrode and the second positive electrode are electrically connected through the first conductive part. A second conductive part is provided at the junction of the first negative electrode and the second negative electrode, and the first negative electrode and the second negative electrode are electrically connected through the second conductive part.

6. The self-moving working device according to claim 1, characterized in that, The first electrode lines include a plurality of third positive electrodes, the second electrode lines include a plurality of fourth positive electrodes, there is a first potential difference between two adjacent third positive electrodes, and there is a second potential difference between two adjacent fourth positive electrodes.

7. The self-moving working device according to claim 1, characterized in that, The protective device is provided around the top and / or sides of the main body of the equipment.

8. The self-moving working device according to claim 1, characterized in that, The at least one component to be protected includes a sensor module, and the protective device is disposed around the periphery of the sensor module.

9. The self-moving working device according to claim 8, characterized in that, The sensor module is located at the top of the device body and / or the tail of the device body.

10. The self-moving working device according to claim 1, characterized in that, The at least one component to be protected includes a charging assembly, and the protective device is disposed around the periphery of the charging assembly.

11. The self-moving working device according to claim 10, characterized in that, The charging component is located at the rear and / or side of the main body of the device.

12. The self-moving working device according to claim 1, characterized in that, The protective device is detachably connected to the main body of the equipment.

13. The self-moving working device according to claim 12, characterized in that, The surface of the main body of the device is formed with a receiving groove, and the protective device is at least partially embedded in the receiving groove.

14. The self-moving working device according to claim 12 or 13, characterized in that, The protective device is provided with a first magnetic suction component, and the main body of the equipment is provided with a second magnetic suction component. The protective device and the main body of the equipment are fixed together by the first magnetic suction component and the second magnetic suction component.

15. The self-moving working device according to claim 12 or 13, characterized in that, An adhesive component is provided on the back of the protective device, and the protective device is attached to the surface of the main body of the equipment through the adhesive component.

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