Functional device, self-moving equipment system and mapping equipment

Abstract

The invention discloses a function device, a self-moving device system and a mapping device.The function device is applied to a self-moving working system, the self-moving working system comprises at least one candidate self-moving device detachably connected with the function device in a matched mode, and the function device comprises a positioning function module and a navigation control function module; the navigation control function module is configured to obtain a map of a working area of a target self-moving device under the condition that the function device is connected with the target self-moving device in the at least one candidate self-moving device in a matched mode, and control the working area of the target self-moving device on the basis of current position data and the map of the function device obtained by the positioning function module. And controlling the moving and / or working track of the target self-moving equipment in the working area. Therefore, a processing module for navigation control does not need to be independently arranged for each candidate self-moving device, the machine cost is greatly reduced, and the sharing advantage of the functional device is also exerted.

Description

Functional devices, self-propelled equipment systems and mapping equipment Technical Field

[0001] The present application relates to the field of automation technology, and in particular to a functional device, a self-propelled equipment system, and a mapping device. Background Art

[0002] With the continuous advancement of computer technology and artificial intelligence technology, the application of self-moving devices similar to intelligent robots is becoming more and more widespread. Self-moving devices can move and work in a limited working area without manual operation.

[0003] Typically, before a self-moving device operates, a collection module collects boundary data of its operating area. This boundary data is then processed by a target processing module within the device on which the collection module is mounted, or within another device, to obtain target demand data, which is used to enable the self-moving device to move and operate. However, if the target processing module within the device lacks the ability to process boundary data to obtain target demand data, or if this function is lost, the entire device must be reconfigured or repaired, which impacts operational plans and increases machine costs.

[0004] Summary of the Invention

[0005] Based on this, the purpose of this application is to provide a functional device, a self-propelled device system, and a mapping device to solve at least one technical problem in the related art. The technical solution is as follows:

[0006] In one aspect, the present application provides a functional device for use in a self-mobile working system, wherein the self-mobile working system includes at least one candidate self-mobile device detachably connected to the functional device, wherein the candidate self-mobile device is suitable for moving and / or working in a working area; the functional device includes:

[0007] a positioning function module, configured at least to obtain current position data of the functional device;

[0008] The navigation control function module is coupled to the positioning function module and is configured to obtain a map of the working area of ​​the target self-mobile device when the functional device is paired with at least one target self-mobile device among the candidate self-mobile devices, and control the trajectory of the target self-mobile device moving and / or working in the working area based on the current position data of the functional device and the map.

[0009] In an optional embodiment, the self-moving working system further includes an auxiliary device detachably connected to the functional device;

[0010] The positioning function module is further configured to follow the auxiliary device as it moves in the working area to obtain a map data set of the working area when the functional device is coupled to the auxiliary device;

[0011] The functional device also includes:

[0012] The map generation function module is coupled to the positioning function module and is configured to generate a map of the working area based on the map data set.

[0013] In an optional implementation, the navigation control function module and the map generation function module are integrated.

[0014] In an optional embodiment, the functional device further includes:

[0015] a matching terminal configured to match with at least one of the candidate self-mobile devices;

[0016] The number of the matching terminals is determined according to the number of functions required by each candidate mobile device.

[0017] In an optional embodiment, the functional device further includes:

[0018] a communication module configured to communicate with a cloud and / or a user terminal to receive a map of the working area of ​​the target self-mobile device sent by the cloud and / or the user terminal;

[0019] The communication module is coupled to the navigation control function module so that the navigation control function module controls the trajectory of the target self-mobile device moving and / or working in the working area based on the current position data of the functional device and the map.

[0020] In an optional embodiment, the functional device further includes:

[0021] a housing configured to accommodate at least the positioning function module and the navigation control function module;

[0022] The display module is provided in the housing and is coupled to at least the positioning function module to display the working status of the positioning function module.

[0023] On the other hand, the present application further provides a functional device for use in a self-moving work system, the self-moving work system comprising an auxiliary device detachably connected to the functional device, and at least one candidate self-moving device detachably connected to the functional device, the candidate self-moving device being suitable for moving and / or working in a work area; the functional device comprising:

[0024] a positioning function module, configured at least to follow the auxiliary device as it moves in the working area to obtain a map data set of the working area when the functional device is coupled to the auxiliary device;

[0025] The map generation function module is coupled to the positioning function module and is configured to generate a map of the working area based on the map data set.

[0026] In an optional embodiment, the functional device further includes:

[0027] a communication module, configured at least to communicate with a map receiving device to send the map to the map receiving device;

[0028] The map receiving device includes one or more of a cloud, a user terminal and the candidate mobile device.

[0029] On the other hand, the present application also provides a self-propelled equipment system, comprising:

[0030] Any of the functional devices described above;

[0031] The target self-mobile device is configured to be detachably connected to the functional device so as to move and / or work in the working area based on the navigation control instructions sent by the functional device.

[0032] In an optional embodiment, the target self-moving device includes: a controller, based on the current position data of the functional device and the map, controlling the trajectory of the target self-moving device moving and / or working in the working area, including:

[0033] The navigation control function module generates a planned path instruction based on the current position data and the map, and transmits the planned path instruction to the controller. The controller controls the trajectory of the target moving and / or working in the working area from the mobile device according to the planned path instruction.

[0034] In an optional embodiment, the target self-moving device includes: a working condition detection module coupled to the controller, wherein the working condition detection module is configured to detect working conditions encountered by the target self-moving device during the process of controlling the target self-moving device to move and / or work in the working area.

[0035] The operating condition detection module transmits the detected operating condition to the navigation control function module. When the navigation control function module determines that the operating condition is an abnormal operating condition, it generates an abnormality handling instruction and transmits it to the controller. The controller controls the target mobile device to perform corresponding processing operations according to the abnormality handling instruction.

[0036] On the other hand, the present application also provides a mapping device, including:

[0037] Any of the functional devices described above;

[0038] The auxiliary device is configured to be detachably connected to the functional device and drive the functional device to move in the working area to assist the functional device in generating a map of the working area.

[0039] The technical solutions provided in the embodiments of the present application have at least the following beneficial effects:

[0040] By setting the navigation control functional module in the functional device, the functional device is suitable for detachable connection with at least one candidate self-mobile device. Even if different types of candidate self-mobile devices are not equipped with a processing module for navigation control, it is only necessary to detachably connect the functional module to the required target self-mobile device, and then implement navigation control through the navigation control functional module set in the functional device in combination with the positioning functional module. This eliminates the need to separately set a processing module for navigation control for each candidate self-mobile device, greatly reducing machine costs and leveraging the sharing advantages of functional devices.

[0041] On the other hand, even if the functional module fails, only the functional module can be maintained without reconfiguring or repairing the entire machine; at the same time, another functional module can be connected to the self-moving equipment to ensure the normal progress of the work plan.

[0042] It should be understood that the foregoing general description and the following detailed description are merely illustrative and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0044] FIG1 is a system block diagram of a self-moving working system provided in an embodiment of the present application.

[0045] FIG2 is a structural block diagram of a functional device provided in an embodiment of the present application.

[0046] FIG3 is a structural block diagram of another functional device provided in an embodiment of the present application.

[0047] FIG4 is a structural block diagram of another functional device provided in an embodiment of the present application.

[0048] FIG5 is a structural block diagram of another functional device provided in an embodiment of the present application.

[0049] FIG6 is a structural block diagram of another functional device provided in an embodiment of the present application.

[0050] FIG7 is a structural block diagram of another functional device provided in an embodiment of the present application.

[0051] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application. DETAILED DESCRIPTION

[0052] To make the objectives, technical solutions, and advantages of this application more clear, this application will be further described in detail below with reference to the accompanying drawings. Obviously, the embodiment described is only one embodiment of this application, not all embodiments. All other embodiments derived by persons of ordinary skill in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0053] In the description of this application, the terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit this application. In addition, the term "and / or" used in this application includes any and all combinations of one or more related listed items.

[0054] The self-moving device in the embodiment of the present application may be an intelligent robot, for example, an intelligent lawn mower, an intelligent snow sweeper, an intelligent sweeper, an intelligent sprinkler, or other intelligent device with an automatic driving function.

[0055] The auxiliary device in the embodiment of the present application can be a movable or portable device such as a cart, a handheld terminal, etc.

[0056] Taking a smart lawn mower and a cart as an example, the self-moving working system 100 shown in FIG1 may include a smart lawn mower 110 , a cart 120 , and a working area 130 suitable for the operation of the smart lawn mower 110 .

[0057] Optionally, the automated system 100 may also include a charging station (not shown) for recharging the smart mower 110. The smart mower 110 can automatically perform tasks without human supervision and, when the battery is low, automatically return to the charging station for recharging. The charging station may be located on the boundary 131 of the work area 130, meaning that a portion of the charging station is located within the work area 130 and a portion is located in the non-work area. Alternatively, the charging station may be located entirely within the work area 130 or the non-work area.

[0058] In some applications, the cart 120 can travel along the boundary 131 of the work area 130 to collect boundary data of the boundary 131, such as the longitude, latitude, and altitude of the boundary location point, through a collection module (not shown). The collection module then sends the boundary data to a target processing module in the device on which the collection module is mounted or other devices (such as the cloud or other devices with relevant processing functions) for subsequent processing of the boundary data to obtain target requirement data for enabling the self-mobile device to move and operate, such as one or more map data and navigation data. The self-mobile device obtains the target requirement data and automatically moves and operates within the work area 130 defined by the boundary 131 based on the target requirement data.

[0059] However, in some cases, when the target processing module does not have the function of processing boundary data to obtain target demand data or the function is lost, it is necessary to reconfigure or replace the corresponding functional module. For example, taking the target demand data as navigation data as an example, it is generally calculated by the navigation control board carried by the mobile device itself. However, in some self-mobile devices that do not have the navigation control board with the calculation function or the relevant function of the navigation control board is lost, it is necessary to reconfigure or replace new navigation control boards for these self-mobile devices, which obviously increases the cost of the machine. Another example, taking the target demand data as map data as an example, it is generally processed by the mapping control board carried by some devices themselves. However, in the case that the device itself does not have the mapping control board with the mapping processing function or the relevant function of the mapping control board is lost, it is necessary to reconfigure or replace new mapping control boards for these devices, which obviously also increases the cost of the machine.

[0060] In order to solve the above problems, the embodiments of the present application provide a functional device, a self-moving equipment system and a mapping device. By designing a functional device that can be adapted to be detachably connected to at least one self-moving equipment and a device for mapping, when the self-moving equipment or the device for mapping itself does not have the corresponding required function or the required function is lost, the function can be quickly expanded by detachably connecting the functional device with the required function to the required device, thereby realizing function sharing of the functional device among multiple required devices, without the need to additionally configure a related control panel for each required device, thereby reducing the machine cost.

[0061] Example 1

[0062] Figure 2 is a structural block diagram of a functional device provided in an embodiment of the present application. The functional device is applied to a self-moving working system, which includes at least one candidate self-moving device that is detachably connected to the functional device.

[0063] Optionally, there may be one or more candidate self-mobile devices, and different candidate self-mobile devices may have the same or different device types. For example, candidate self-mobile device 1 may be a smart lawn mower a, candidate self-mobile device 2 may be a smart snow blower, candidate self-mobile device 3 may be a smart sprinkler, candidate self-mobile device 4 may be a smart lawn mower b, and so on. Each candidate self-mobile device is suitable for moving and / or operating in a corresponding work area, and the type of operation may match the device type and / or device status of the candidate self-mobile device.

[0064] As shown in FIG2 , the functional device includes a positioning functional module and a navigation control functional module, and the navigation control functional module is coupled to the positioning functional module.

[0065] Wherein, the positioning function module is at least configured to obtain the current position data of the functional device;

[0066] The navigation control function module is configured to obtain a map of the working area of ​​the target self-mobile device when the functional device is paired with at least one target self-mobile device among the candidate self-mobile devices, and control the trajectory of the target self-mobile device moving and / or working in the working area based on the current position data of the functional device and the map.

[0067] Optionally, the navigation control function module and the positioning function module may be connected by a wired connection, with the coupling between the two being achieved based on signal transmission between the two. It should be understood that the wired connection here may be a direct connection via, for example, a signal line, or an indirect connection via at least one intermediate transmission module to achieve signal transmission between the two. Of course, in some embodiments, the coupling between the two may also be achieved via a wireless connection such as Bluetooth.

[0068] Optionally, the positioning function module has the function of obtaining the current position data of the positioning function module itself. If the positioning function module is set on the functional device, the positioning function module can also be used to obtain the current position data of the functional device, and when the navigation control function module needs it, the current position data can be sent to the navigation control module for use. The current position data can be geographic location data. Exemplarily, the positioning function module can include a module for obtaining geographic location data, such as an RTK (Real-time kinematic) module, which is a real-time dynamic positioning technology based on carrier phase observations, or one or more of the Global Positioning System (GPS), the Beidou Satellite Navigation System (BDS), or some high-precision positioning systems.

[0069] Optionally, when the functional device is coupled to a target mobile device among at least one of the candidate mobile devices, that is, when the functional device is installed on the target mobile device, the navigation control functional module is configured to obtain a map of the operating area of ​​the target mobile device. The target mobile device is any one of the at least one candidate mobile devices. The map may be map data describing the operating area, thereby defining the scope of the operating area of ​​the target mobile device.

[0070] The navigation control module can obtain the current location data of the functional device from the positioning module, that is, the current location data of the target self-moving device, and use this map to control the movement and / or operation trajectory of the target self-moving device within the work area. For example, if the target self-moving device is a smart lawn mower, the work area here can refer to the active area, such as mowing the lawn area within the work area and moving without mowing in the aisle area within the work area.

[0071] In the embodiment of the present application, a navigation control functional module is set in a functional device, and the functional device is suitable for detachable connection with at least one candidate self-mobile device. Even if different types of candidate self-mobile devices are not equipped with a processing module for navigation control, it is only necessary to detachably connect the functional module to the required target self-mobile device, and then implement navigation control through the navigation control functional module set in the functional device in combination with the positioning functional module. This eliminates the need to separately set a processing module for navigation control for each candidate self-mobile device, greatly reducing machine costs and leveraging the sharing advantages of functional devices.

[0072] On the other hand, even if the functional module fails, only the functional module can be maintained without reconfiguring or repairing the entire machine; at the same time, another functional module can be connected to the self-moving equipment to ensure the normal progress of the work plan.

[0073] In an optional embodiment, the self-moving working system further includes an auxiliary device that is detachably connected to the functional device. In this case, in addition to being detachably connected to at least one candidate self-moving device, the functional device can also be detachably connected to the auxiliary device, allowing the functional device to simultaneously serve as both a self-moving device and an auxiliary device, thereby achieving multi-dimensional functional sharing of the functional device.

[0074] In an optional embodiment, as shown in FIG3 , in order to implement the function of docking with the auxiliary device, the positioning function module is further configured to follow the auxiliary device as it moves within the working area to obtain a map dataset of the working area when the functional device is docked with the auxiliary device;

[0075] Accordingly, the functional device further includes:

[0076] The map generation function module is coupled to the positioning function module and is configured to generate a map of the working area based on the map data set.

[0077] Optionally, the functional device is installed on the auxiliary equipment and is detachably connected to the auxiliary equipment, and calls the positioning function module in the functional device to follow the auxiliary equipment to move on the target boundary of the working area to collect the map data set of the working area.

[0078] The map dataset of the work area is a collection of boundary position data collected by the positioning module to represent the boundaries of targets within the work area. This target boundary may include, but is not limited to, the outer contour boundary of the work area, the boundaries of uncut areas within the work area (such as flower beds, pools, obstacles, etc.), the boundary data of channels or road boundaries for cross-region movement, and so on. This boundary position data may be absolute position coordinates, relative position coordinates, etc. After collection, this boundary position data may be stored in a memory, which may be set in the positioning module, the map generation module, or elsewhere outside of the positioning module and the map generation module.

[0079] Furthermore, the map generation module is coupled with the positioning module and performs mapping processing based on the acquired map dataset to generate a map of the work area. This map matches the map dataset and is used to describe the boundaries of each target in the work area.

[0080] In the embodiment of the present application, by further configuring a map generation function module in the functional device, when connected with an auxiliary device, a map of the work area can be generated conveniently and accurately based on a map data set, thereby improving the functional integration of the functional device. There is no need to separately configure a mapping function module for each auxiliary device, thereby reducing machine costs.

[0081] In addition, after the functional device has built the map, by removing the functional device from the auxiliary device and detachably connecting the removed functional device to different types of candidate self-mobile devices (such as smart lawn mowers, smart watering machines, smart snow blowers, etc.), different types of smart robots can quickly obtain the built and stored map from the map generation function module and work, eliminating the need for each smart robot to build a map separately, thereby improving work efficiency. In addition, there is no need to send the map data set to the cloud or other machines for map processing, avoiding the problems of long data transmission time, high traffic costs and poor user experience caused by the large amount of data in the map data set. The data transmission path and duration can be shortened, traffic costs can be saved, and data transmission and processing efficiency can be improved. At the same time, the complete map can be displayed on the terminal interface, which also improves the user experience.

[0082] In an optional embodiment, as shown in FIG4 , the navigation control function module and the map generation function module are integrated.

[0083] For example, the navigation control function module and the map generation function module can be integrated into the same algorithm board. In this case, the positioning function module is provided outside the algorithm board and can be communicatively connected to the algorithm board via a signal line. By integrating the navigation control function module and the map generation function module, the communication configuration link between the map generation function module and the navigation control function module, as well as the communication configuration link between the map generation function module and the positioning function module, can be reduced, simplifying the functional configuration difficulty of the working device, reducing communication transmission delays or transmission failure rates, and making the functional device more compact.

[0084] In another optional implementation, the navigation control function module and the map generation function module can be set separately.

[0085] In another optional implementation, the navigation control function module or the map generation function module may be integrated with the positioning function module, or the navigation control function module, the map generation function module and the positioning function module may be integrated together.

[0086] In an optional embodiment, as shown in FIG4 , the functional device further includes:

[0087] A matching terminal is configured to match with at least one of the candidate self-moving devices.

[0088] The number of matching terminals is determined based on the number of functions required by each candidate self-mobile device. Matching terminals can be of various types, such as GND, 5V, 3V3, USB, and other categories. Matching terminals with different terminal type combinations are used to adapt to different target devices. The number of functions refers to the total number of terminal types that can be implemented when the candidate self-mobile device is matched with the functional device.

[0089] Optionally, the number of terminals of the matching terminals is determined according to the number of functions required by each candidate mobile device.

[0090] For example, if the number of functions required by candidate self-mobile device 1 is n1, the number of functions required by candidate self-mobile device 2 is n2, and the number of functions required by candidate self-mobile device 3 is n3, where n2 has the largest value among n1, n2 and n3, then if the functional device is matched with these candidate self-mobile devices through matching terminals, the number of terminals of the matching terminals can be determined by the maximum number of functions among the number of functions of the candidate self-mobile devices that need to be matched. For example, the number of terminals can be selected as an integer greater than or equal to n2.

[0091] As another example, if the terminal types corresponding to the functions required by candidate self-mobile device 1 are terminal set U1, the terminal types corresponding to the functions required by candidate self-mobile device 2 are terminal set U2, and the terminal types corresponding to the functions required by candidate self-mobile device 3 are terminal set U3, the intersection of these three terminal sets is calculated as U. If the functional device is connected to these candidate self-mobile devices via matching terminals, the number of matching terminals can be determined by the number of functions of the candidate self-mobile devices that need to be matched. For example, the number of terminals can be selected as an integer greater than or equal to the intersection U.

[0092] In the embodiments of the present application, through the matching terminals in the functional device, functional matching with at least one candidate self-mobile device can be quickly achieved, reducing the complexity of matching the functional device with each candidate self-mobile device and achieving plug-and-play use of the functional device. Furthermore, the number of matching terminals is determined based on the number of functions required by each candidate self-mobile device. This not only ensures that the functional device fully covers the functions of each candidate self-mobile device, but also allows for the design of differentiated functional devices based on customer needs, improving customer demand matching and avoiding wasteful function development.

[0093] In an optional embodiment, when the functional device is also matched with an auxiliary device, the matching terminal is also configured to match with the auxiliary device. At this time, the number of terminals of the matching terminal is determined according to the number of functions required by each matching device. Optionally, the number of terminals of the matching terminal is determined according to the number of functions required by each matching device. Wherein, the matching device is an auxiliary device and at least one self-moving device, and the number of terminals can be greater than or equal to the maximum number of functions. At this time, by increasing the matching function of the matching terminal and the auxiliary device, it is possible to quickly achieve functional matching and functional conversion with at least one candidate self-moving device, while realizing diversified function sharing of the functional device, reducing the matching complexity of the functional device and each candidate self-moving device, and further reducing the machine cost of the self-moving work system.

[0094] In an optional embodiment, the mating terminal may be provided on the positioning function module, or may be in communication with the positioning function module. Since the mating terminal is used to mate with at least one candidate self-mobile device or auxiliary device, information exchange between the navigation control function module or the map generation function module and the at least one candidate self-mobile device or auxiliary device can be implemented through the positioning function module.

[0095] In an optional embodiment, as shown in FIG4 , the functional device further includes:

[0096] The communication module is configured to communicate with the cloud and / or the user terminal to receive a map of the working area of ​​the target self-mobile device sent by the cloud and / or the user terminal.

[0097] Optionally, the functional device may further include a communication module, through which communication with the cloud and / or user terminals is achieved. The user terminals may include, but are not limited to, one or more of a smartphone, a computer, and a smart wearable device. The communication module may include, but is not limited to, one or more of a 4G module, a 5G module, and a WiFi module. Exemplarily, the communication module may be integrated with any of the positioning function module, the navigation control function module, and the map generation function module.

[0098] Optionally, the map of the working area sent by the user terminal here may be a target map determined from at least one map, and the target map may be determined by a map selection instruction displayed to the user terminal.

[0099] Exemplarily, the functional device communicates with the cloud through the communication module to send the at least one generated map to the cloud, and then sends the map to the corresponding user terminal through the cloud so that the at least one map is rendered and displayed on the user terminal. Then, in response to a map selection instruction for the at least one map displayed on the user terminal, the target map is determined in the at least one map, and the target map is returned to the communication module through the cloud. Another exemplary embodiment, the functional device communicates directly with the user terminal through the communication module to send the at least one generated map to the corresponding user terminal so that the at least one map is rendered and displayed on the user terminal. Then, in response to a map selection instruction for the at least one map displayed on the user terminal, the target map is determined in the at least one map, and the target map is returned to the communication module.

[0100] Furthermore, the navigation control function module is coupled to the communication module so that the navigation control function module controls the trajectory of the target self-mobile device moving and / or working in the working area based on the current position data of the functional device and the target map.

[0101] Optionally, the communication module of the functional device is further coupled to a navigation control functional module. The communication module transmits the acquired target map to the navigation control module. The navigation control module controls the trajectory of the target moving and / or operating from the mobile device within the working area based on the acquired current position data of the functional device and the target map. Specifically, the trajectory of the target moving and / or operating from the mobile device within the working area indicated by the target map can be controlled.

[0102] In the embodiment of the present application, by setting up a communication module that communicates with the cloud and / or user terminal in the functional module, map data transmission and target map selection can be realized, which facilitates the adjustment of the movement and / or work trajectory of the mobile device based on the work map, and improves the control flexibility and user experience of the mobile work system.

[0103] In an optional embodiment, the functional device further includes:

[0104] The housing is configured to accommodate at least the positioning function module and the navigation control function module.

[0105] Optionally, the functional device further includes a housing, which at least accommodates the positioning functional module and the navigation control functional module to prevent these modules from being interfered with and affected by the external environment.

[0106] Alternatively, if the functional device further includes a map generation module and / or a communication module, the map generation module and / or the communication module are housed within the housing to protect these modules from interference and influence from the external environment. If the functional device further includes a matching terminal, the matching terminal can be provided on the housing, with one end of the matching terminal electrically connected to each module housed within the housing, and the other end can be exposed to the outside, capable of electrically connecting to at least one candidate self-moving device or auxiliary device to achieve sharing of the functions of the functional device. Accordingly, the at least one candidate self-moving device or auxiliary device that is matched with the functional device has a matching component that matches the matching terminal.

[0107] In an optional embodiment, the functional device further includes:

[0108] The display module is provided in the housing and is coupled to at least the positioning function module to display the working status of the positioning function module.

[0109] Optionally, the functional device may also include a display module, which is arranged at any position of the shell and is coupled to at least the positioning function module to display the working status of the positioning function module, such as positioning data collection status, running status, pause status, navigation status, regression status, etc.

[0110] Alternatively, the display module may also display the current location data collected by the positioning function module, and / or navigation information determined based on the current location data of the functional device and the map, etc. Of course, the display module may also be used to display the working status of other modules or devices connected to the positioning function module.

[0111] In an optional embodiment, the navigation control function module is further configured to perform one or more of the following:

[0112] a. In response to a trigger instruction for a map of the work area, performing map management processing on the map.

[0113] b. In response to an instruction for full coverage of the working area, adjusting the trajectory to achieve full coverage of the area.

[0114] c. When the self-moving device meets a preset return condition, control the self-moving device to move to a location of a charging station that matches the self-moving device.

[0115] d. When the self-moving device is in an abnormal working mode, performing escape control processing on the self-moving device.

[0116] e. In response to a charging instruction for the self-moving device, docking the self-moving device with a charging station that matches the self-moving device.

[0117] Optionally, one or more of the above auxiliary functions are also integrated into the navigation control function module, and one or more auxiliary functions such as map management, full coverage control, regression, escape and charging docking are realized through these functions. In this way, the functional device can be adapted to at least one self-moving device and auxiliary device with more functional requirements. These devices can expand these auxiliary functions by detachably connecting to the functional device, without the need to additionally configure related processing modules in at least one self-moving device and auxiliary device, thereby further reducing the machine cost of the self-moving work system.

[0118] Example 2

[0119] Figure 4 is a block diagram of another functional device provided in an embodiment of the present application. The functional device is applied to a self-moving working system, which includes an auxiliary device detachably connected to the functional device and at least one candidate self-moving device detachably connected to the functional device.

[0120] Optionally, the number of auxiliary devices may be one or more, the number of candidate self-mobile devices may be one or more, and the device types of different candidate self-mobile devices may be the same or different. For example, candidate self-mobile device 1 may be a smart lawn mower a, candidate self-mobile device 2 may be a smart snow blower, candidate self-mobile device 3 may be a smart sprinkler, candidate self-mobile device 4 may be a smart lawn mower b, and so on. Each candidate self-mobile device is suitable for moving and / or operating in its corresponding work area, and the type of operation may match the device type and / or device status of the candidate self-mobile device.

[0121] As shown in FIG4 , the functional device includes a positioning functional module and a map generation functional module, and the map generation functional module is coupled to the positioning functional module.

[0122] Wherein, the positioning function module is at least configured to follow the auxiliary device as it moves in the working area to obtain a map data set of the working area when the functional device is coupled to the auxiliary device;

[0123] The map generation function module is coupled to the positioning function module and is configured to generate a map of the work area based on the map data set.

[0124] Optionally, the functional device is mounted on the auxiliary device and is detachably connected to the auxiliary device, and calls the positioning function module in the functional device to follow the auxiliary device as it moves on the target boundary of the work area to collect a map data set of the work area. The map data set can be used to characterize the boundary position data of the target boundary in the work area. The boundary position data can be absolute position coordinates, relative position coordinates, etc. The target boundary can include, but is not limited to, the outer contour boundary of the work area, the boundary of an indivisible area within the work area (such as a flower bed, a pool, an obstacle, etc.), the channel boundary data for cross-region movement, or the road boundary, etc. One or more.

[0125] The map generation module is coupled to the positioning module and processes the map dataset obtained from the positioning module to generate a map of the work area. This map matches the map dataset and is used to describe the boundaries of each target in the work area.

[0126] In the embodiment of the present application, by further configuring a map generation function module in the functional device, when connected with an auxiliary device, a map of the work area can be generated conveniently and accurately based on a map data set, thereby improving the functional integration of the functional device. There is no need to separately configure a mapping function module for each auxiliary device, thereby reducing machine costs.

[0127] In addition, after the functional device has built the map, by removing the functional device from the auxiliary device and detachably connecting the removed functional device to different types of candidate self-mobile devices (such as smart lawn mowers, smart watering machines, smart snow blowers, etc.), different types of smart robots can quickly obtain the built and stored map from the map generation function module and work, eliminating the need for each smart robot to build a map separately, thereby improving work efficiency. In addition, there is no need to send the map data set to the cloud or other machines for map processing, avoiding the problems of long data transmission time, high traffic costs and poor user experience caused by the large amount of data in the map data set. The data transmission path and duration can be shortened, traffic costs can be saved, and data transmission and processing efficiency can be improved. At the same time, the complete map can be displayed on the terminal interface, which also improves the user experience.

[0128] In an optional embodiment, as shown in FIG5 , the functional device further includes:

[0129] a communication module, configured at least to communicate with a map receiving device to send the map to the map receiving device;

[0130] The map receiving device includes one or more of a cloud, a user terminal and the candidate mobile device.

[0131] Optionally, the communication module may include, but is not limited to, one or more of a 4G module, a 5G module, and a WiFi module. Exemplarily, the communication module may be integrated with either the positioning module or the map generation module. This communication module enables communication with a map receiving device, which can then directly or indirectly transmit a map or a target map determined by a selection operation to a target self-moving device, thereby facilitating control of the target self-moving device's movement and / or operation trajectory based on the map or the target map.

[0132] It should be noted that the functional device of the embodiment of the present application may also include the matching terminals, communication module, shell and display module defined in Example 1 and the functions they possess, and may also include the positioning function module and navigation control function module defined in Example 1 and the functions they possess. For specific details, please refer to the aforementioned Example 1 and will not be repeated here.

[0133] Example 3

[0134] An embodiment of the present application provides a self-moving equipment system, which includes a functional device and a target self-moving equipment.

[0135] The specific content of the functional modules can be found in the above-mentioned embodiment 1 or embodiment 2, which will not be repeated here.

[0136] The target self-mobile device is configured to be detachably coupled to the functional device so as to move and / or operate in the working area based on the navigation control instruction sent by the functional device.

[0137] Optionally, taking the target mobile device as an intelligent lawn mower as an example, the intelligent lawn mower may include a moving component, a cutting component, a power module and a control module.

[0138] Among them, the moving component may include a wheel set, which can be driven by a drive motor to drive the intelligent lawn mower to move. The wheel set may include driving wheels located on both sides of the rear of the housing of the intelligent lawn mower and at least one driven wheel located in the front of the housing, and the driven wheel may be a universal wheel. The cutting component is used to perform mowing work. The power module may include a battery pack, which can provide power support for the entire self-moving equipment system, such as providing working power for the relevant motors that realize the movement and / or operation of the intelligent lawn mower, and can also provide working power for the relevant modules in the functional device. The control module is electrically connected to the moving component, the cutting component and the power module to control the moving component to drive the intelligent lawn mower to move, and at the same time control the cutting component to perform corresponding mowing work.

[0139] Optionally, the target self-mobile device can provide a motor control interface and body sensor status to the functional device, so that the functional device can implement corresponding interface calls based on the motor control interface, and control the movement and / or operation of the target self-mobile device in the working area based on the body sensor status.

[0140] The functional device can be detachably connected to the target self-moving device. The functional device can be placed above, to the side, or behind the target self-moving device. For example, if the functional device and the target self-moving device are placed one above the other, the functional device can serve as the "head" of the target self-moving device system, and the target self-moving device can serve as the "body" of the target self-moving device system. The two can be detachably connected to each other to enable the target self-moving device to move and / or operate.

[0141] Optionally, the target mobile device may also be provided with a user interaction interface (eg, a screen and buttons, etc.), and may also provide battery management for the entire machine, etc.

[0142] Optionally, as shown in Figure 7, a controller may also be provided on the target self-mobile device, and the navigation control function module generates a planned path instruction based on the current position data and the map, and transmits the planned path instruction to the controller in the target self-mobile device through the communication module in the function module, so that the controller controls the movement and / or working trajectory of the target self-mobile device in the working area according to the planned path instruction.

[0143] Optionally, as shown in FIG7 , the target self-moving device may also be provided with a working condition detection module coupled to the controller. The working condition detection module is configured to detect working conditions encountered by the self-moving device during movement and / or operation within the working area. The working condition detection module transmits the detected working condition to the navigation control function module. If the navigation control function module determines that the working condition is abnormal, it generates an abnormality handling instruction and transmits it to the controller. The controller then controls the target self-moving device to execute corresponding processing operations according to the abnormality handling instruction.

[0144] Specifically, the working conditions detected by the working condition detection module may include at least one of the following: detecting the power of the self-moving device, whether the rain sensor on the self-moving device detects rain, whether the floating cover of the self-moving device is lifted, whether the camera on the self-moving device detects a collision, etc., so that the navigation control module determines whether the working condition currently encountered by the machine is an abnormal working condition such as insufficient power, rain, lifting, collision, entrapment, stalling, etc. based on the input of the working condition detection module, and sends an abnormal processing instruction to the controller in the self-moving device according to the abnormal working condition.

[0145] The scenario is explained using a stalled lawn mower as an example: while the lawn mower is driving, the sensor or algorithm installed on the body of the lawn mower detects the status of the drive wheel and transmits it to the navigation control module in the head through the matching terminal. The navigation control module determines that the lawn mower is in an abnormal stalled condition based on the input, and generates a reverse steering command and transmits it to the controller in the body through the matching terminal. The controller in the body controls the drive wheel to move according to the reverse steering command.

[0146] It should be noted that for details and beneficial effects not disclosed in the embodiments of the system of the present application, please refer to the description of the above embodiments and will not be repeated here.

[0147] Example 4

[0148] An embodiment of the present application provides a mapping device, which includes a functional device and an auxiliary device.

[0149] The specific content of the functional modules can be found in the above-mentioned embodiment 1 or embodiment 2, which will not be repeated here.

[0150] The auxiliary device is configured to be detachably connected to the functional device and drive the functional device to move in the working area to assist the functional device in generating a map of the working area.

[0151] Optionally, the auxiliary device can include a power module to provide power to the entire mapping device. Furthermore, the auxiliary device can provide the functional module with the operating status of relevant buttons and odometry data when the auxiliary device is moving. This allows the functional module to control the acquisition of the corresponding map dataset based on the operating status and odometry data, and generate a map of the work area based on this map dataset.

[0152] It should be noted that for details and beneficial effects not disclosed in the embodiments of the device of the present application, reference can be made to the description of the above embodiments and will not be repeated here.

[0153] Those skilled in the art will appreciate that all or part of the modules implementing the above embodiments may be implemented through hardware, or through a program instructing related hardware, and the program may be stored in a computer-readable storage medium.

[0154] The above is a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications are also considered to be within the scope of protection of the present application.

Claims

1. A functional device, applied to a self-moving working system, the self-moving working system comprising at least one candidate self-moving device detachably connected to the functional device, the candidate self-moving device being suitable for moving and / or working in a working area; It is characterized in that The functional device comprises: A positioning function module, configured at least to obtain current position data of the functional device; The navigation control function module is coupled to the positioning function module and is configured to obtain a map of the working area of ​​the target self-mobile device when the functional device is matched with at least one target self-mobile device among the candidate self-mobile devices, and control the trajectory of the target self-mobile device moving and / or working in the working area based on the current position data of the functional device and the map.

2. The device according to claim 1, characterized in that The self-moving working system also includes auxiliary equipment that is detachably connected to the functional device; The positioning function module is further configured to follow the auxiliary device to move in the working area to obtain a map data set of the working area when the functional device is coupled to the auxiliary device; The functional device also includes: The map generation function module is coupled to the positioning function module and is configured to generate a map of the working area based on the map data set.

3. The device according to any one of claims 1-2, characterized in that: The navigation control function module and the map generation function module are integrated.

4. The device according to any one of claims 1 to 3, characterized in that: The functional device also includes: A matching terminal configured to match with at least one of the candidate self-moving devices; The number of terminals of the matching terminals is determined according to the functions required by each candidate mobile device. The quantity can be determined.

5. The device according to any one of claims 1 to 4, characterized in that: The functional device also includes: A communication module, configured to communicate with a cloud and / or a user terminal to receive a map of a working area of ​​the target self-mobile device sent by the cloud and / or the user terminal; The communication module is coupled to the navigation control function module so that the navigation control function module controls the trajectory of the target self-mobile device moving and / or working in the working area based on the current position data of the functional device and the map.

6. The device according to any one of claims 1 to 5, characterized in that: The functional device also includes: A housing configured to at least accommodate the positioning function module and the navigation control function module; The display module is arranged in the housing and is at least coupled with the positioning function module to display the working status of the positioning function module.

7. A functional device, applied to a self-moving working system, the self-moving working system comprising an auxiliary device detachably connected to the functional device, and at least one candidate self-moving device detachably connected to the functional device, the candidate self-moving device being suitable for moving and / or working in a working area; It is characterized in that The functional device comprises: The positioning function module is at least configured to follow the auxiliary device moving in the working area to obtain a map data set of the working area when the functional device is coupled with the auxiliary device; The map generation function module is coupled to the positioning function module and is configured to generate a map of the working area based on the map data set.

8. The device according to claim 7, characterized in that The functional device also includes: a communication module, configured at least to communicate with a map receiving device to send the map to the map receiving device; The map receiving device includes one or more of a cloud, a user terminal and the candidate mobile device.

9. A self-propelled equipment system, characterized in that: include: The functional device according to any one of claims 1 to 6; The target self-mobile device is configured to be detachably connected to the functional device so as to move and / or work in a working area based on the navigation control instructions sent by the functional device.

10. The system according to claim 9, characterized in that The target self-moving device comprises: a controller, based on the current position data of the functional device and the map, controlling the trajectory of the target self-moving device moving and / or working in the working area, including: The navigation control function module generates a planned path instruction based on the current position data and the map, and transmits the planned path instruction to the controller. The controller controls the trajectory of the target self-mobile device moving and / or working in the working area according to the planned path instruction.

11. The system according to claim 10, characterized in that The target self-moving device comprises: a working condition detection module coupled to the controller, wherein the working condition detection module is configured to control the target self-moving device to detect working conditions encountered during the process of moving and / or working in the working area. The operating condition detection module transmits the detected operating condition to the navigation control function module. When the navigation control function module determines that the operating condition is an abnormal condition, it generates an abnormal processing instruction and transmits it to the controller. The controller controls the target mobile device to perform corresponding processing operations according to the abnormal processing instruction.

12. A mapping device, characterized in that: include: The functional device according to any one of claims 1 to 6, or the functional device according to claims 7 to 8; The auxiliary device is configured to be detachably connected to the functional device and drive the functional device to move in the working area to assist the functional device in generating a map of the working area.

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