Self-moving working equipment

Abstract

The utility model relates to the field of robots, in particular to self-moving working equipment. The self-moving working equipment comprises a main body, a containing groove is formed in the top of the main body, at least part of the safety key is located in the containing groove, the two ends of the safety key are rotationally connected with the two side walls of the containing groove respectively, and the safety key is provided with a first position horizontally arranged in the containing groove and a second position vertically arranged in the containing groove. The self-moving working equipment can operate normally, and when the safety key is changed from the first position to the second position, the self-moving working equipment can stop operating quickly, so that emergency braking is achieved when the self-moving working equipment encounters obstacles and is located at a dangerous position; the two ends of the safety key are rotationally connected with the two side walls of the containing groove respectively, the safety key does not need to be taken down after the self-moving working equipment is used, the problem that the safety key is prone to being lost is effectively solved, meanwhile, the safety key is detachably connected with the containing groove, and the safety requirement can be met.

Description

Technical Field

[0001] This application relates to the technical field of robots, and particularly to a self - moving working device. Background Art

[0002] According to the safety regulations requirements of the self - moving working device, a key - controlled switch, namely a safety key, should be assembled to prevent children from accidentally starting or unauthorized personnel from starting the self - moving working device without permission. The safety key can also be used for emergency stop in scenarios such as when the self - moving working device encounters an obstacle or is in a dangerous position. Currently, the safety key is generally removed from the self - moving working device after the use of the self - moving working device is completed. However, this method may cause the safety key to be easily lost. Therefore, how to provide a safety key that is anti - loss has become a technical problem to be solved. Summary of the Utility Model

[0003] The main purpose of this application is to propose a self - moving working device to solve the technical problem that the existing safety key is easily lost.

[0004] To achieve the above purpose, a self - moving working device provided by an embodiment of this application includes:

[0005] A main body, with a receiving groove provided at the top of the main body;

[0006] A working unit, provided at the bottom of the main body and used to execute a preset working task;

[0007] A safety key, at least part of which is located in the receiving groove. The two ends of the safety key are respectively rotatably connected to the two side walls of the receiving groove. The safety key has a first position where it lies flat in the receiving groove and a second position where it stands upright in the receiving groove. When in the first position, the self - moving working device operates normally. When the safety key changes from the first position to the second position, the self - moving working device can quickly stop operating.

[0008] The self - moving working device provided by the embodiment of the present application is designed such that a receiving groove is provided at the top of the main body, and at least a part of the safety key is located in the receiving groove. Both ends of the safety key are rotatably connected to the two side walls of the receiving groove respectively. The safety key has a first position where it lies flat in the receiving groove and a second position where it stands upright in the receiving groove. In the first position, the self - moving working device can be started after pressing the power button and can operate normally. In the second position, the safety key disconnects the power - on circuit of the self - moving working device. Therefore, even if the power button of the self - moving working device is pressed, the self - moving working device cannot be started and operated. When the safety key changes from the first position to the second position, the self - moving working device can quickly stop operating to perform an emergency brake in scenarios such as when the self - moving working device encounters an obstacle or is in a dangerous position. The safety key is arranged in the receiving groove at the top of the main body, facilitating direct operation by the user on the top of the self - moving working device. Both ends of the safety key are rotatably connected to the two side walls of the receiving groove respectively. After the use of the self - moving working device is completed, there is no need to remove the safety key, effectively avoiding the problem that the safety key is easily lost. At the same time, the safety key is detachably connected to the receiving groove position, thus meeting the safety regulations requirements.

[0009] In an alternative embodiment, the self - moving working device further includes a signal detection component. The signal detection component includes a detection circuit board, a detection element, and a detected element. The detection circuit board and the detection element are both arranged inside the main body and electrically connected to each other. The detected element is arranged on the safety key so that it can follow the safety key to rotate from the first position to the second position.

[0010] In an alternative embodiment, the safety key includes a pair of rotating arms and a connecting portion. One end of each of the pair of rotating arms is bent and connected to both ends of the connecting portion respectively. The other end of each of the pair of rotating arms is rotatably and detachably connected to the two side walls of the receiving groove respectively. The detected element is arranged on the connecting portion.

[0011] In an alternative embodiment, the rotating arms are elastic. When the pair of rotating arms are subjected to an external force, they can contract towards the middle of the connecting portion so that the distance between the pair of rotating arms is less than the distance between the two side walls of the receiving groove.

[0012] In an alternative embodiment, the rotating arm includes a first sub - arm, a rotating shaft section, and a second sub - arm. The first sub - arm and the second sub - arm are spaced apart in the extending direction of the connecting portion. The rotating shaft section is arranged on the first sub - arm and is rotatably connected to the side wall of the receiving groove. The first sub - arm can move towards the second sub - arm under the action of an external force.

[0013] In an optional embodiment, the detection element is a Hall sensor, and the detected element is a magnet. When in a first position, the Hall sensor senses the magnetic field generated by the magnet and generates a first voltage signal. When in a second position, the Hall sensor senses the magnetic field generated by the magnet and generates a second voltage signal, and the second voltage signal is different from the first voltage signal.

[0014] In an optional embodiment, a first avoidance notch is constructed on the safety key, and a second avoidance notch is correspondingly constructed on the side wall of the accommodating groove. When the safety key is in the first position, the first avoidance notch and the second avoidance notch are at least partially opposite to each other for moving the safety key.

[0015] In an optional embodiment, the self-movable working equipment also includes a sensor assembly, and the accommodating groove is provided with a mounting platform protruding from its bottom wall, and the sensor assembly is arranged on the mounting platform. When in the first position, the safety key surrounds the outer peripheral side of the mounting platform and is adapted thereto.

[0016] In an optional embodiment, the accommodating groove includes a transverse groove and a first extension groove and a second extension groove that are bent and extended from the transverse groove toward both sides. In the first position, the connecting portion is located in the transverse groove and adapted thereto, and the pair of rotating arms are respectively located in the first extension groove and the second extension groove and adapted thereto.

[0017] In an optional implementation, when the safety key is located at the first position, the detected element is located within the detectable range of the detection element; when the safety key is located at the second position, the detected element is located outside the detectable range of the detection element. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments are briefly introduced below.

[0019] Figure 1 It is a simplified side view of a self-moving working device provided by an embodiment of the present application;

[0020] Figure 2 is a three-dimensional diagram of a safety key in a mobile working device provided by an embodiment of the present application in a first position;

[0021] Figure 3 yes Figure 2 A partial enlarged view of the middle safety key in the first position;

[0022] Figure 4 is a three-dimensional diagram of a safety key in a self-mobile working device provided by an embodiment of the present application in a second position;

[0023] Figure 5 is Figure 4 A partially enlarged view of the safety key in the second position;

[0024] Figure 6 A partial cross-sectional view of the safety key in the first position provided by an embodiment of the present application;

[0025] Figure 7 A partial structural schematic diagram of the signal detection component provided by an embodiment of the present application;

[0026] Figure 8 A structural schematic diagram of the safety key from the first perspective provided by an embodiment of the present application;

[0027] Figure 9 A structural schematic diagram of the accommodation groove provided by an embodiment of the present application;

[0028] Figure 10 A structural schematic diagram of the safety key from the second perspective provided by an embodiment of the present application;

[0029] Figure 11 A side view of the side wall of the accommodation groove and the first sub-arm in a disassembled state provided by an embodiment of the present application.

[0030] Description of some reference numerals of the drawings:

[0031] Self-propelled working device 100; main body 10; working unit 20; safety key 30; chassis 11; top cover 12; accommodation groove 10a; drive wheel assembly 40; first position O1; second position O2; caster wheel assembly 50; signal detection component 60; detection circuit board 61; detection element 62; element to be detected 63; rotating arm 31; connecting portion 32; first sub-arm 311; rotating shaft section 312; second sub-arm 313; separation gap 314; rotating hole 10b; first avoidance notch 33; second avoidance notch 10c; clamping cavity 34; sensor assembly 70; mounting table 13; transverse groove 101; first extension groove 102; second extension groove 103; clamping protrusion 315; first clamping groove 104; second clamping groove 105; side wall 301. Detailed implementation manners

[0032] Next, the technical solutions of the present application will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the embodiments described in the present application are only a part of the embodiments, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments provided in the present application without creative efforts fall within the protection scope of the present application.

[0033] References to "embodiments" in this application mean that the specific features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of this application. The phrase may not necessarily refer to the same embodiment when it appears in various places in the specification, nor is it an exclusive, independent, or alternative embodiment to other embodiments. Those skilled in the art can explicitly and implicitly understand that the embodiments described in this application can be combined with other embodiments.

[0034] The terms "first", "second", etc. in the specification, claims, and above-mentioned drawings of this application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a component or device including one or more parts is not limited to the one or more parts listed, but optionally further includes one or more parts not listed but inherent in the product shown, or one or more parts that it should have based on the described function.

[0035] An embodiment of this application provides a self-propelled working device 100. The self-propelled working device 100 includes, but is not limited to, a smart lawn mower, a smart cleaning robot, a smart cart, etc. This embodiment takes the self-propelled working device 100 as a smart lawn mower as an example to specifically illustrate the inventive concept of this application, and other structures can refer to the inventive concept in the following.

[0036] Please refer to Figure 1 and Figure 2 , the self-propelled working device 100 includes a main body 10, a working unit 20, and a safety key 30.

[0037] Among them, please refer to Figure 1 and Figure 2 , the main body 10 includes, but is not limited to, the body structure of the self-propelled working device 100. For example, the main body 10 further includes, but is not limited to, a chassis 11, a top cover 12, a cutter head lifting assembly, a battery assembly, etc. Among them, the chassis 11 is the main load-bearing member for carrying most of the structures. The top cover 12 is covered on the chassis 11, and the top cover 12 and the chassis 11 enclose a receiving space to receive the cutter head lifting assembly, the battery assembly, etc. Figure 2 Some structures of the top cover 12 in

[0038] Please refer to Figure 3 , a receiving groove 10a is provided at the top of the main body 10. Optionally, the top cover 12 is recessed toward the side where the chassis 11 is located to form the receiving groove 10a.

[0039] The working unit 20 includes, but is not limited to, a cutter head assembly, a dust suction assembly, and a cleaning assembly. The working unit 20 is provided at the bottom of the main body 10 and is used to perform preset working tasks. The preset working tasks include, but are not limited to, mowing, weeding, dust suction cleaning, etc. In this embodiment, the cutter head assembly is taken as an example of the working unit 20 to illustrate the inventive concept of the present application.

[0040] Optionally, please refer to Figure 1 and Figure 2 , the self - propelled working device 100 further includes a driving wheel assembly 40, and the driving wheel assembly 40 is installed at a position near the rear end of the chassis 11. The rear end described in this application is the end opposite to the front end. The rear end described in this application is the end position in the backward direction of the self - propelled working device 100. The driving wheel assembly 40 includes at least a pair of driving wheels and a driving motor for driving the pair of driving wheels. The driving motor drives the driving wheels to roll, and the driving wheels friction with the ground to form a driving force for driving the self - propelled working device 100 to move. By controlling the rotation direction and speed of the pair of driving wheels, the self - propelled working device 100 can move forward, backward, turn left, turn right, steer, etc.

[0041] Optionally, please refer to Figure 1 and Figure 2 , the self - propelled working device 100 further includes a caster wheel assembly 50 installed at a position near the front end of the chassis 11. The front end described in this application refers to the end position in the traveling direction D1 of the self - propelled working device 100. The caster wheel assembly 50 can freely turn within a horizontal reference plane to move flexibly in various different directions, so that the self - propelled working device 100 maintains a stable balance in different environments. The caster wheel assembly 50 and the driving wheel assembly 40 are arranged front and rear at the bottom of the main body 10 to drive the body 10 fuselage part of the self - propelled working device 100 to move.

[0042] Please refer to Figure 2 and Figure 3 , at least a part of the safety key 30 is located in the receiving groove 10a. Optionally, all or part of the safety key 30 is provided in the receiving groove 10a.

[0043] Since the receiving groove 10a is provided on the top of the main body 10, specifically on the top cover 12, it is convenient for the user to operate the safety key 30 on the top cover 12.

[0044] Please refer to Figures 2 to 5 , both ends of the safety key 30 are respectively rotatably connected to the two side walls 301 of the receiving groove 10a.

[0045] The present application does not limit the setting directions of both ends of the safety key 30. For example, both ends of the safety key 30 can be arranged along the width direction of the self-propelled work equipment 100, or along the length direction, or in a direction intersecting both the width direction and the length direction in a horizontal plane or near the horizontal plane. In this embodiment, both ends of the safety key 30 are arranged along the width direction of the self-propelled work equipment 100, so as to facilitate the user to operate the safety key 30 at the front end or the rear end of the self-propelled work equipment 100.

[0046] Please refer to Figure 3 and Figure 5 The safety key 30 has a first position O1 lying flat in the accommodating groove 10a and a second position O2 standing upright in the accommodating groove 10a. Figure 4 In the top cover 12 in

[0047] Optionally, the first position O1 lying flat in the accommodating groove 10a includes, but is not limited to, the first position O1 horizontally placed in the accommodating groove 10a, and also includes the first position O1 inclinedly placed in the accommodating groove 10a close to the horizontal plane.

[0048] Optionally, the second position O2 standing upright in the accommodating groove 10a includes, but is not limited to, the second position O2 vertically placed in the accommodating groove 10a, and also includes the second position O2 inclinedly placed in the accommodating groove 10a close to the vertical plane.

[0049] Please refer to Figure 3 When the safety key 30 is in the first position O1, the self-propelled work equipment 100 can operate normally, that is, the self-propelled work equipment 100 is in an activated state. When the self-propelled work equipment 100 is in the activated state, turn on the power of the self-propelled work equipment 100 to make the engine in an energized state (that is, turning on the power can make the engine run), the self-propelled work equipment 100 runs, and the working unit 20 executes a preset work task.

[0050] Please refer to Figure 5 When the safety key 30 changes (rotates) from the first position O1 to the second position O2, if the self-propelled work equipment 100 is currently in a normal operating state, the self-propelled work equipment 100 can quickly stop running when the safety key 30 reaches the second position O2, and the self-propelled work equipment 100 changes from the activated state to the locked state. When the self-propelled work equipment 100 is in the locked state, even if the power of the self-propelled work equipment 100 is turned on, it is impossible to make the engine in an energized state (that is, turning on the power cannot make the engine run), and the self-propelled work equipment 100 cannot run, so as to prevent children from accidentally starting or unauthorized personnel from starting the self-propelled work equipment 100 without permission.

[0051] The safety key 30 can also be held in the second position O2 to keep the self-propelled working device 100 in a locked state, that is, turning on the power cannot make the engine run.

[0052] This application does not specifically limit the rotation angles of the safety key 30 when it is in the first position O1 and the second position O2. It can be understood that the first position O1 and the second position O2 are different positions. Optionally, when the safety key 30 is in the first position O1, it is located within the receiving groove 10a, and when the safety key 30 is in the second position O2, it is located outside the receiving groove 10a. Among them, the specific position of the second position O2 outside the receiving groove 10a is not limited. For example, the second position O2 can be a certain angle rotated out of the receiving groove 10a, such as 5°, or 10°, or 15°, or 20°, or 30°, or 40°, or 50°, or 60°, or 70°, or 80°, or 90°, or 100°, or 110°, or 120°, or 130°, or 140°, or 150°, or 160°, or 170°, or 180°, etc. For another example, the second position O2 can be a certain angle range rotated out of the receiving groove 10a, such as 5° - 10°, or 10° - 20°, or 20° - 30°, or 30° - 40°, or 40° - 50°, or 50° - 60°, or 60° - 70°, or 70° - 90°, or 90° - 110°, or 110° - 130°, or 130° - 150°, or 150° - 170°, or 170° - 180°, etc., which is a combination of one or more of the above angle ranges.

[0053] In other embodiments, when the safety key 30 is in the second position O2, it is located within the receiving groove 10a, and when the safety key 30 is in the first position O1, it is located outside the receiving groove 10a.

[0054] Before using the self-propelled working device 100, the user turns the safety key 30 to the first position O1 to activate the self-propelled working device 100. After turning on the power, the self-propelled working device 100 works normally. After finishing using the self-propelled working device 100, the user turns the safety key 30 to the second position O2 to keep the self-propelled working device 100 in a locked state. In addition, in scenarios where the self-propelled working device 100 encounters obstacles, is in a dangerous position, or the power switch fails, etc., the self-propelled working device 100 can also be emergently braked by turning the safety key 30 to the second position O2.

[0055] The self - moving working device 100 provided by the embodiment of the present application is designed such that a receiving groove 10a is provided at the top of the main body 10, and at least a part of the safety key 30 is located in the receiving groove 10a. Both ends of the safety key 30 are rotatably connected to the two side walls 301 of the receiving groove 10a. The safety key 30 has a first position O1 lying flat in the receiving groove 10a and a second position O2 standing upright in the receiving groove 10a. When in the first position O1, the self - moving working device 100 can be started after pressing the power button and can operate normally. When in the second position O2, the safety key 30 disconnects the power - on circuit of the self - moving working device 100. Therefore, even if the power button of the self - moving working device 100 is pressed, the self - moving working device 100 cannot be started and operated. When the safety key 30 changes from the first position O1 to the second position O2, the self - moving working device 100 can quickly stop operating to perform an emergency brake in scenarios where the self - moving working device 100 encounters an obstacle or is in a dangerous position. The safety key 30 is arranged in the receiving groove 10a at the top of the main body 10 for the convenience of the user to directly operate on the top of the self - moving working device 100. Both ends of the safety key 30 are rotatably connected to the two side walls 301 of the receiving groove 10a. After the use of the self - moving working device 100 is finished, there is no need to remove the safety key 30, effectively avoiding the problem that the safety key 30 is easily lost. At the same time, the safety key 30 is detachably connected to the side wall of the receiving groove 10a, so the requirements of safety regulations can be met.

[0056] Optionally, please refer to Figure 6 , the self - moving working device 100 further includes a signal detection component 60.

[0057] Please refer to Figure 6 and Figure 7 , the signal detection component 60 includes a detection circuit board 61, a detection element 62 and a detected element 63.

[0058] Both the detection circuit board 61 and the detection element 62 are arranged in the main body 10 and are electrically connected. Optionally, the detection element 62 is arranged on the detection circuit board 61.

[0059] The detected element 63 is arranged on the safety key 30, and the detected element 63 can follow the safety key 30 to rotate from the first position O1 to the second position O2, or from the second position O2 to the first position O1.

[0060] Specifically, as the detected component 63 rotates to different positions with the safety key 30, the distance between the detected component 63 and the detecting component 62 changes, and the detecting component 62 receives a change in the detection signal from the detected component 63. The detection signal includes, but is not limited to, a voltage signal or a current signal. Devices such as a processor on the detection circuit board 61 that have a certain data processing ability and can output control signals collect the change in the detection signal from the detecting component 62, and determine the position of the safety key 30 as the first position O1 or the second position O2 based on this change, and make corresponding feedback actions after determining the position of the safety key 30. For example, after the processor on the detection circuit board 61 determines that the position of the safety key 30 is the first position O1, it sends an activation instruction to the power module, so that after the power module receives the activation instruction, the engine is powered on under the trigger of the power switch (i.e., the aforementioned power button).

[0061] For example, after the processor on the detection circuit board 61 determines that the position of the safety key 30 is the second position O2, it sends a locking instruction to the power module. After the power module receives the locking instruction, even under the trigger of the power switch, the engine will not be powered on, or the engine will be powered off when the engine is running.

[0062] Optionally, the detecting component 62 and the detected component 63 include, but are not limited to, a light emitter and a light receiver, a magnetic emitter and a magnetic detector, a pressure sensor, etc. Specifically, for example, the detected component 63 is an infrared emitter and the detecting component 62 is an infrared receiver; or, the detecting component 62 is an infrared receiver and the detected component 63 is an infrared emitter. Specifically, for example, the detected component 63 is a Hall sensor and the detecting component 62 is a magnet; or, the detecting component 62 is a magnet and the detected component 63 is a Hall sensor. Specifically, for example, the detected component 63 is a light-shielding member for blocking visible light and the detecting component 62 is a visible light sensor. Specifically, for example, the detected component 63 is a pressing block with a certain weight and the detecting component 62 is a pressure sensor.

[0063] Optionally, when the safety key 30 is in the first position O1, the detecting component 62 and the detected component 63 are at least partially facing each other. When the safety key 30 is in the second position O2, the detecting component 62 and the detected component 63 are separated. By detecting an optical signal / magnetic signal / pressure signal, etc., the position of the safety key 30 is determined based on the amplitude change of the optical signal / magnetic signal / pressure signal.

[0064] For example, the detection element 62 is a Hall sensor. The detection circuit board 61 is disposed below the top cover 12 and opposite to the bottom of the accommodation groove 10a. The Hall sensor is disposed on one side of the detection circuit board 61 facing the bottom of the accommodation groove 10a and close to the position of the top cover 12 corresponding to the bottom of the accommodation groove 10a. The detected element 63 is a magnet.

[0065] Please refer to Figure 6 , when the safety key 30 is in the first position O1, the magnet is within the detectable range of the Hall sensor. The Hall sensor senses the magnetic field intensity generated by the magnet and generates a first voltage signal.

[0066] In an alternative embodiment, when the safety key 30 is in the second position O2, the magnet is within the detectable range of the Hall sensor. The Hall sensor senses the magnetic field intensity generated by the magnet and generates a second voltage signal. The amplitude of the second voltage signal is different from the amplitude of the first voltage signal. Specifically, when the safety key 30 is in the first position O1, the magnet is close to the position of the Hall sensor. At this time, the magnetic field intensity generated by the magnet detected by the Hall sensor is large, and the corresponding first voltage signal generated is stronger. When the safety key 30 is in the second position O2, the magnet is relatively far from the position of the Hall sensor. At this time, the magnetic field intensity generated by the magnet detected by the Hall sensor is weak, and the corresponding second voltage signal generated is weaker. For example, the first voltage signal is a high level, and the second voltage signal is a low level. Or, the amplitudes of both the first voltage signal and the second voltage signal are greater than 0, and the amplitude of the second voltage signal is less than the amplitude of the first voltage signal.

[0067] In another alternative embodiment, when the safety key 30 is in the second position O2, the magnet is outside the detectable range of the Hall sensor. At this time, the Hall sensor cannot detect the magnetic field of the magnet or collects an extremely weak signal. For example, the first voltage signal is a high level, and the second voltage signal is a low level. Or, the amplitude of the first voltage signal is greater than 0, and the amplitude of the second voltage signal is 0.

[0068] The following takes the accompanying drawings as an example to illustrate the structure of the safety key 30 in the present application.

[0069] Optionally, please refer to Figure 8 , the safety key 30 includes a pair of rotating arms 31 and a connecting portion 32. Among them, the pair of rotating arms 31 can be integrally formed with the connecting portion 32.

[0070] The connecting portion 32 is arranged along the width direction of the mobile working device 100. One end of each of the pair of rotating arms 31 is bent and connected to both ends of the connecting portion 32. The other end of each of the pair of rotating arms 31 is detachably and rotatably connected to the two side walls 301 of the receiving groove 10a.

[0071] By moving the connecting portion 32, the safety key 30 can be driven to rotate to the first position O1 or the second position O2. When the safety key 30 is located at the first position O1, the pair of rotating arms 31 and the connecting portion 32 are both disposed in the receiving groove 10a. At this time, the rotation angle of the safety key 30 is 0°. When the safety key 30 is located at the second position O2, the connecting portion 32 is disposed outside the receiving groove 10a, the other ends of the pair of rotating arms 31 are disposed in the receiving groove 10a, and the other parts are disposed outside the receiving groove 10a. At this time, the rotation angle of the safety key 30 is θ, which is greater than 0°.

[0072] In this embodiment, the safety key 30 is designed to include a pair of rotating arms 31 and a connecting portion 32. One end of each pair of rotating arms 31 is respectively bent and connected to the two ends of the connecting portion 32, and the other end of each pair of rotating arms 31 is respectively detachably rotatably connected to the two side walls 301 of the accommodating groove 10a, so that the safety key 30 can be rotated to the first position O1 and the second position O2 relative to the two side walls 301 of the accommodating groove 10a, driving the position of the detected element 63 to change, so that the voltage signal generated by the detection element 62 changes.

[0073] In an optional embodiment, the detected element 63 is disposed on the connecting portion 32. Since the rotation radius of the position where the connecting portion 32 is located is the largest, by arranging the detected element 63 on the connecting portion 32, the distance between the detection element 62 and the detected element 63 can be made larger when the safety key 30 rotates at a smaller rotation angle. For example, when the safety key 30 drives the detected element 63 to rotate to the second position O2 outside the detection range of the detection element 62, the safety key 30 is arranged on the connecting portion 32, and the required rotation radius is minimized when the rotation angle is constant, and the required rotation angle is minimized when the rotation radius is constant. Such a design can make the safety key 30 more compact, and the space occupied by the safety key 30 when it is in the first position O1 and the space occupied during the rotation process are both relatively small.

[0074] Of course, in other embodiments, the detection element 62 may also be disposed on a rotating shaft section on the rotating arm 31 .

[0075] Optionally, the rotating arm 31 is elastic. In other words, the rotating arm 31 is an elastic arm.

[0076] When the other ends of the pair of rotating arms 31 are subjected to an external force, they can contract (move) towards the middle of the connecting portion 32, so that the distance between the pair of rotating arms 31 is smaller than the distance between the two side walls 301 of the accommodating groove 10a. Specifically, when the other end of each rotating arm 31 is subjected to an external force, it can move towards the side where the other rotating arm 31 is located, and then separate from the side wall 301 of the accommodating groove 10a, so as to realize the detachable rotational connection between the other ends of the pair of rotating arms 31 and the two side walls 301 of the accommodating groove 10a respectively.

[0077] Specifically, please refer to Figure 8 , each of the rotating arms 31 includes a first sub-arm 311, a rotating shaft section 312 and a second sub-arm 313. The first sub-arm 311 and the second sub-arm 313 are arranged at intervals in the extending direction of the connecting portion 32. One end of the first sub-arm 311 and one end of the second sub-arm 313 are combined and interconnected with the connecting portion 32 as a whole. The other end of the first sub-arm 311 is separated from the other end of the second sub-arm 313, and a separation gap 314 is formed.

[0078] In an alternative embodiment, the first sub-arm 311 is located outside the second sub-arm 313. The rotating shaft section 312 is arranged on the side of the first sub-arm 311 facing away from the second sub-arm 313 and is rotatably connected to the side wall 301 of the accommodating groove 10a. The first sub-arm 311 can move towards the second sub-arm 313 under the action of an external force.

[0079] Optionally, please refer to Figure 8 and Figure 9 , rotation holes 10b are respectively provided on the two side walls 301 of the accommodating groove 10a, and the rotating shaft section 312 of each rotating arm 31 is arranged in one rotation hole 10b. When the safety key 30 rotates, the rotating shaft section 312 of each rotating arm 31 rotates in the rotation hole 10b.

[0080] The first sub-arm 311 can, under the action of an external force, squeeze the separation gap 314 and move towards the second sub-arm 313, driving the rotating shaft section 312 out of the rotation hole 10b, separating the rotating arm 31 from the side wall 301 of the accommodating groove 10a, and further separating the safety key 30 from the accommodating groove 10a.

[0081] Optionally, when the safety key 30 is vertically placed in the accommodating groove 10a, by squeezing the two sides of the two rotating arms 31, the two rotating arms 31 come closer together, and the safety key 30 can be disassembled. Therefore, the self-propelled working device 100 is in a locked state when the safety key 30 is disassembled.

[0082] In this embodiment, each rotating arm 31 includes a first sub-arm 311, a rotating shaft section 312 and a second sub-arm 313, and one end of the first sub-arm 311 is combined with one end of the second sub-arm 313 and interconnected with the connecting portion 32 as a whole, and the other end of the first sub-arm 311 and the other end of the second sub-arm 313 form a separation gap 314, so that the first sub-arm 311 can squeeze the separation gap 314 under the action of external force and move toward the second sub-arm 313, driving the rotating shaft section 312 to move out of the rotating hole 10b, so that the rotating arm 31 is separated from the side wall 301 of the accommodating groove 10a, and then the safety key 30 is separated from the accommodating groove 10a. By setting the safety key 30 to be detachable, the safety key 30 can be removed after the self-mobile working device 100 is finished using, so that the self-mobile working device 100 is in a locked state, effectively preventing the self-mobile working device 100 from being opened without permission.

[0083] In this embodiment, one end of the first sub-arm 311 is combined with one end of the second sub-arm 313 and interconnected with the connecting portion 32 as a whole, and the other end of the first sub-arm 311 and the other end of the second sub-arm 313 form a separation gap 314, which can increase the abutment force between the rotating arm 31 and the two side walls 301 of the accommodating groove 10a, thereby increasing the damping feeling when the safety key 30 is rotated.

[0084] Optional, see Figure 5 , a first avoidance notch 33 is configured on the safety key 30. A second avoidance notch 10c is correspondingly configured on the side wall 301 of the accommodating groove 10a. The second avoidance notch 10c is connected to the accommodating groove 10a. When the safety key 30 is in the first position O1, the first avoidance notch 33 and the second avoidance notch 10c are at least partially opposite to each other for moving the safety key 30. The first avoidance notch 33 and the second avoidance notch 10c are opposite to each other and form a relatively large space for the user to insert his fingers into the first avoidance notch 33 and the second avoidance notch 10c to move the safety key 30 and turn the safety key 30.

[0085] Optionally, the first avoidance notch 33 is provided on the connecting portion 32. By providing the first avoidance notch 33 on the connecting portion 32, the user inserts a finger into the first avoidance notch 33 and the second avoidance notch 10c to move the connecting portion 32 and turn the safety key 30, which is more labor-saving to move the safety key 30.

[0086] Optional, see Figure 6 and Figure 10The middle part of the connecting portion 32 also has a locking cavity 34 for arranging the detected element 63. The detected element 63 is arranged in the locking cavity 34. The first avoidance notch 33 is arranged adjacent to the locking cavity 34. The locking cavity 34 and the first avoidance notch 33 are both arranged on the side of the connecting portion 32 facing the bottom wall of the accommodating groove 10a. The first avoidance notch 33 is arranged on the side of the locking cavity 34 away from the rotating arm 31.

[0087] Optional, see Figure 3 , the self-mobile working equipment 100 also includes a sensor component 70. The sensor component 70 includes but is not limited to a raindrop detection sensor. The raindrop detection sensor includes but is not limited to a capacitive raindrop detection sensor or a resistive raindrop detection sensor. The capacitive raindrop detection sensor detects the presence of raindrops by measuring the change in capacitance of water droplets to the air around the electrode plate when it rains. When raindrops fall on the surface of the sensor, a conductive water droplet will be formed between the two electrodes of the sensor, changing the value of the capacitance. Therefore, it is possible to determine whether it is raining by measuring the change in capacitance value. The resistive raindrop detection sensor uses the conductivity of water and the change in the circuit to detect raindrops. A resistor is connected to both ends of the sensor. When raindrops fall on the surface of the resistive raindrop detection sensor, the circuit resistance will change. Whether it is raining is determined based on the output signal of the circuit.

[0088] See also Figure 3 and Figure 9 The receiving groove 10a is provided with a mounting platform 13 protruding from the bottom wall thereof. The sensor assembly 70 is arranged on the mounting platform 13 so that the sensor assembly 70 is not blocked by other structures and is more likely to receive raindrops, thereby improving the detection accuracy.

[0089] In the first position O1 , the safety key 30 is disposed around the outer circumference of the mounting platform 13 and is adapted to the mounting platform 13 .

[0090] For details, please refer to Figure 9 The accommodating groove 10a includes a transverse groove 101 and a first extension groove 102 and a second extension groove 103 extending from the transverse groove 101 toward both sides. In the first position O1, the connecting portion 32 is located in the transverse groove 101 and is adapted to the transverse groove 101. The pair of rotating arms 31 are respectively located in the first extension groove 102 and the second extension groove 103, and the pair of rotating arms 31 are respectively adapted to the first extension groove 102 and the second extension groove 103. In this embodiment, the safety key 30 and the mounting platform 13 are compactly arranged to reduce the space occupied by the safety key 30 and the mounting platform 13.

[0091] Optionally, when the safety key 30 is in the first position O1, the distance between a pair of rotating shaft segments 312 of the safety key 30 is greater than the distance between the two side walls 301 of the receiving groove 10a. A pair of rotating arms 31 of the safety key 30 are in a compressed state. The pair of rotating arms 31 have a pressing force on the side walls 301 of the receiving groove 10a to which they are respectively rotationally connected. This pressing force results in a relatively large static friction force between the safety key 30 and the side walls 301 of the receiving groove 10a. Due to this static friction force, the safety key 30 can be clamped in the first position O1 and will not be displaced due to the jitter, bump, etc. of the self-propelled working device 100. Similarly, when the safety key 30 is in the second position O2, a pair of rotating arms 31 of the safety key 30 are in a compressed state. The pair of rotating arms 31 have a pressing force on the side walls 301 of the receiving groove 10a to which they are respectively rotationally connected. This pressing force results in a relatively large static friction force between the safety key 30 and the side walls 301 of the receiving groove 10a. Due to this static friction force, the safety key 30 can be clamped in the second position O2 and will not rotate to other positions due to the jitter, bump, etc. of the self-propelled working device 100.

[0092] When rotating the safety key 30 from the first position O1 to the second position O2, a relatively large pushing force needs to be provided to overcome the static friction force between the safety key 30 and the side walls 301 of the receiving groove 10a, thereby forming a rotational damping.

[0093] In another alternative embodiment, please refer to Figure 11 , a clamping convex portion 315 adjacent to the rotating shaft segment 312 is further provided on the rotating arm 31. The surface of the clamping convex portion 315 can be an arc surface. A first clamping groove 104 and a second clamping groove 105 are provided on the side wall 301 of the receiving groove 10a. When the safety key 30 is in the first position O1, the clamping convex portion 315 is disposed in the first clamping groove 104. When the safety key 30 rotates from the first position O1 to the second position O2, the clamping convex portion 315 moves out of the first clamping groove 104 and moves into the second clamping groove 105. When the safety key 30 is in the second position O2, the clamping convex portion 315 is disposed in the second clamping groove 105 to achieve fixed-point clamping of the safety key 30 in the first position O1 and the second position O2, avoiding the safety key 30 being randomly fluctuated under any external force and improving stability.

[0094] Optionally, when the safety key 30 is in the second position O2, the rotation angle of the safety key 30 is 90°. When the safety key 30 stands up, it can be fixed on the self-propelled working device 100 without being pulled out, effectively solving the problem that users are prone to losing the safety key 30.

[0095] Taking the self-propelled working device 100 as a lawn mower as an example, the lawn mower can walk along a route by itself within a pre-defined working area and perform mowing work. The safety key 30 is used to control whether the lawn mower is in an active state. When the lawn mower is in an active state, the lawn mower can be started; when the lawn mower is in a locked state, the lawn mower cannot be started. When the safety key 30 is rotated to lie flat in the receiving groove 10a and the magnet is close to the Hall sensor, the lawn mower is in an active state at this time; when the safety key 30 is rotated to stand upright in the receiving groove 10a and the magnet is away from the Hall sensor, the lawn mower is in a locked state at this time.

[0096] The power switch is installed on the top cover 12 of the self-propelled working device 100. When the lawn mower is in an active state and the power switch is turned on, the power device for starting the engine can be used to provide power for the engine; when the power switch is turned off, the engine is in a power-off state. When the lawn mower is in a locked state, whether the power switch is turned on or off, the engine is in a power-off state. With such a setting, accidental startup of the lawn mower is avoided, making the lawn mower have better safety.

[0097] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application, and these improvements and refinements are also regarded as the protection scope of the present application.

Claims

1. A self-propelled working device, characterized in that, The self-mobile working equipment comprises: A main body, wherein a receiving groove is provided on the top of the main body; A working unit, which is arranged at the bottom of the main body and is used to perform a preset working task; A safety key, wherein the safety key is at least partially located in the receiving groove, and the two ends of the safety key are rotatably connected to the two side walls of the receiving groove respectively. The safety key has a first position placed horizontally in the receiving groove, and a second position placed vertically in the receiving groove. In the first position, the self-movable working device operates normally, and when the safety key changes from the first position to the second position, the self-movable working device can quickly stop running.

2. The self-moving working device according to claim 1, characterized in that: The self-moving working equipment also includes a signal detection component, which includes a detection circuit board, a detection element and a detected element. The detection circuit board and the detection element are both arranged in the main body and are electrically connected. The detected element is arranged on the safety key so that it can follow the safety key to rotate from the first position to the second position.

3. The self-moving working device according to claim 2, characterized in that: The safety key includes a pair of rotating arms and a connecting portion, wherein one end of each of the pair of rotating arms is bent and connected to the two ends of the connecting portion, and the other end of each of the pair of rotating arms is detachably connected to the two side walls of the accommodating groove, and the detected element is arranged on the connecting portion.

4. The self-moving working device according to claim 3, characterized in that: The rotating arms are elastic, and the pair of rotating arms can be retracted toward the middle of the connecting portion when subjected to external force, so that the distance between the pair of rotating arms is smaller than the distance between the two side walls of the accommodating groove.

5. The self-moving working device according to claim 4, characterized in that: The rotating arm includes a first sub-arm, a rotating shaft section and a second sub-arm. The first sub-arm and the second sub-arm are spaced apart in the extension direction of the connecting portion. The rotating shaft section is arranged on the first sub-arm and is rotatably connected to the side wall of the accommodating groove. The first sub-arm can move toward the second sub-arm under the action of external force.

6. The self-moving working device according to any one of claims 2 to 5, characterized in that: The detection element is a Hall sensor, and the detected element is a magnet. When in a first position, the Hall sensor senses the magnetic field generated by the magnet and generates a first voltage signal. When in a second position, the Hall sensor senses the magnetic field generated by the magnet and generates a second voltage signal, and the second voltage signal is different from the first voltage signal.

7. The self-moving working device according to claim 1, characterized in that: A first avoidance notch is configured on the safety key, and a second avoidance notch is correspondingly configured on the side wall of the accommodating groove. When the safety key is in the first position, the first avoidance notch and the second avoidance notch are at least partially opposite to each other for moving the safety key.

8. The self-moving working device according to claim 1, characterized in that: The self-propelled working device further includes a sensor assembly. An installation platform protruding from the bottom wall is provided in the accommodation groove. The sensor assembly is disposed on the installation platform. In the first position, the safety key surrounds the outer peripheral side of the installation platform and is adapted thereto.

9. The self-propelled working device according to claim 3, wherein the accommodation groove includes a transverse groove and a first extension groove and a second extension groove that bend and extend from the transverse groove toward both sides. In the first position, the connecting portion is located in the transverse groove and is adapted thereto, and the pair of rotating arms are respectively located in the first extension groove and the second extension groove and are adapted thereto.

10. The self-propelled working device according to claim 2, wherein when the safety key is in the first position, the detected element is within the detectable range of the detection element; when the safety key is in the second position, the detected element is outside the detectable range of the detection element.

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