Self-moving working device

Abstract

The utility model provides a self-moving working device. The self-moving working device comprises an equipment body, a moving device, a working device and a protection device, at least one to-be-protected component is arranged on the surface of the equipment body, the moving device is arranged at the bottom of the equipment body, the working device is arranged on the equipment body, and the protection device is detachably connected with the equipment body. The protection device is arranged on at least part of the peripheral side of the to-be-protected component in a surrounding mode and used for stopping or repelling the to-be-repelled body from entering a protection area formed by the protection device. The protection device can block or repel the to-be-repelled body from entering the protection area formed by the protection device, the to-be-repelled body is prevented from shielding or damaging the to-be-protected part, the self-moving working device works normally, the safety and reliability of the self-moving working device during working are improved, a user can adjust the installation position of the protection device through detachable connection, and the safety of the user is improved. A user can detach the protective device for cleaning, overhauling or replacing, and the situation that the overall use of the device is affected due to damage of the protective device is avoided.

Description

Technical Field

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

[0002] Currently, self-propelled working devices generally lack protective designs against small creatures such as snails. These creatures can easily climb onto the surface of the device during operation, thus blocking the sensors or lidar and other sensing modules. This blocking can lead to a decrease in the device's positioning accuracy and a weakening of its environmental awareness. In severe cases, it can cause the obstacle avoidance function of the self-propelled working device to fail. Snails and other small creatures may also climb onto the charging plates and corrode them with the liquid they carry, thus affecting the normal operation of the self-propelled working device. This will reduce the working efficiency and accuracy of the self-propelled working device, as well as its safety and reliability. Utility Model Content

[0003] This application provides a self-moving working device that can solve at least some of the above-mentioned technical problems.

[0004] This application provides a self-moving working device, comprising:

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

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

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

[0008] A protective device is detachably connected to the main body of the equipment and is disposed around at least a portion of the periphery of the component to be protected, for blocking or repelling the component to be repelled from entering the protected area formed by the protective device.

[0009] This application provides a self-moving working device. The self-moving working device includes a main body, a moving device, a working device, and a protective device. At least one component to be protected is disposed on the surface of the main body. The moving device is disposed at the bottom of the main body and is used to drive the self-moving working device to move. The working device is disposed on the main body and is used to perform a preset task. The protective device is detachably connected to the main body and is disposed around at least a portion of the component to be protected, for blocking or repelling the component to be repelled from entering the protected area formed by the protective device. This application places the protective device around the periphery of the component to be protected. When the object to be avoided climbs onto the surface of the equipment body and comes into contact with the protective device, the protective device will block or repel the object to be avoided from entering the protected area formed by the protective device, thereby preventing the object to be avoided from obstructing or damaging the component to be protected, allowing the self-moving working device to work normally, improving the working efficiency and accuracy of the self-moving working device, and also improving the safety and reliability of the self-moving working device during operation; furthermore, the protective device is detachably connected to the equipment body, allowing the user to adjust the installation position of the protective device according to needs, and also facilitating the user or maintenance personnel to remove the protective device for cleaning, inspection or replacement, avoiding the impact of the protective device's overall use due to damage, and improving the maintainability and service life of the protective device.

[0010] In one optional embodiment, the protective device is provided with a first magnetic suction member, and the device body is provided with a second magnetic suction member. The protective device and the device body are fixed together by the first magnetic suction member and the second magnetic suction member.

[0011] In one optional embodiment, the protective device has an adhesive component on its back, and the protective device is attached to the surface of the device body via the adhesive component.

[0012] In one optional embodiment, a first snap-fit ​​member is provided on one of the protective device and the equipment body, and a second snap-fit ​​member is provided on the other of the protective device and the equipment body, and the protective device and the equipment body are snapped and fixed by the first snap-fit ​​member and the second snap-fit ​​member.

[0013] In one optional embodiment, the surface of the device body is provided with a receiving groove, and at least a portion of the protective device is embedded in the receiving groove.

[0014] In one optional embodiment, the protective device includes a mounting part and a protective body, the mounting part being embedded in the receiving groove, and the protective body being mounted on the mounting part and protruding from the receiving groove.

[0015] In one alternative embodiment, the protective device includes an electric shock component for generating a repellent current to repel the subject to be repelled.

[0016] In one optional embodiment, the protective device includes a spike structure that protrudes from the surface of the device body and surrounds the periphery of the component to be protected.

[0017] In one alternative embodiment, the protective device is disposed around the top and / or side of the device body.

[0018] In one optional embodiment, the component to be protected includes a sensor module and / or a charging assembly, and the protective device surrounds at least a portion of the periphery of the sensor module and / or the charging assembly. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a side view of a self-moving working device according to an embodiment of this application.

[0021] Figure 2 This is a three-dimensional structural diagram of a self-moving working device according to another embodiment of this application.

[0022] Figure 3 for Figure 2 Enlarged view at point A.

[0023] Figure 4 for Figure 2 A three-dimensional structural diagram of the self-moving working device in another direction.

[0024] Figure 5 for Figure 4 Enlarged view at point B.

[0025] Figure 6 This is a three-dimensional structural diagram of a self-moving working device in another embodiment of this application.

[0026] Figure 7 for Figure 6 An exploded view of the protective device and the main body of the self-moving working device.

[0027] Figure 8 for Figure 7 Enlarged view at point C.

[0028] Figure 9 for Figure 5 A three-dimensional structural diagram of the self-moving working device in another direction.

[0029] Figure 10 for Figure 9 An exploded view of the protective device and the main body of the self-moving working device.

[0030] Figure 11 for Figure 10 Enlarged view at point D.

[0031] Figure 12 This is a three-dimensional structural diagram of a self-moving working device according to another embodiment of this application.

[0032] Figure 13 for Figure 12 Enlarged view at point E.

[0033] Figure 14 for Figure 12 Rear view of the self-moving working device.

[0034] Figure 15 This is a schematic diagram showing the second electrode protruding relative to the first electrode.

[0035] Figure 16 A schematic diagram showing the conductive portion provided for the second electrode.

[0036] Icon labels:

[0037] Self-moving working device-100;

[0038] Equipment body -1, component to be protected -11; sensor module -111; charging assembly -112; receiving slot -12; protected area -13;

[0039] Mobile device-2; Casters-21; Wheels-22; Wheel axles-23;

[0040] Operating device-3; protective device-4; electric shock assembly-41; first electrode-42; second electrode-43; mounting part-44; conductive part-45. Detailed Implementation

[0041] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0042] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment to other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0043] In the description of the embodiments of this application, it should be understood that the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. The term "connection" in this application, unless otherwise specified, primarily refers to a physical structural connection; however, if specified, it may also include direct or indirect connections. The terms "first" and "second" in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0044] Please see Figures 1-3 , Figure 1 This is a side view of the self-moving working device 100 according to an embodiment of this application. Figure 2 This is a three-dimensional structural diagram of the self-moving working device 100 in another embodiment of this application. Figure 3 for Figure 2 Enlarged view at point A. The self-moving working device 100 includes a device body 1, a moving device 2, a working device 3, and a protective device 4. At least one component 11 to be protected is provided on the surface of the device body 1. The moving device 2 is located at the bottom of the device body 1 and is used to drive the self-moving working device 100 to move. The working device 3 is located on the device body 1 and is used to perform a preset task. The protective device 4 is detachably connected to the device body 1 and is arranged around at least part of the periphery of the component 11 to be protected, for blocking or repelling the component to be repelled from entering the protective area 13 formed by the protective device 4.

[0045] Therefore, by placing the protective device 4 around the periphery of the component 11 to be protected, when the object to be avoided climbs onto the surface of the main body 1 of the equipment and comes into contact with the protective device 4, the protective device 4 will block or repel the object to be avoided from entering the protective area 13 formed by the protective device 4, thereby preventing the object to be avoided from obstructing or damaging the component 11 to be protected, allowing the self-moving working device 100 to work normally, improving the working efficiency and accuracy of the self-moving working device 100, and also improving the safety and reliability of the self-moving working device 100 during operation; furthermore, the protective device 4 is detachably connected to the main body 1 of the equipment, allowing the user to adjust the installation position of the protective device 4 according to needs, and also facilitating the user or maintenance personnel to remove the protective device 4 for cleaning, inspection or replacement, avoiding the impact of damage to the protective device 4 on the overall use of the protective device 4, and improving the maintainability and service life of the protective device 4.

[0046] The protective device 4 surrounds at least a portion of the periphery of the component 11 to be protected, forming a protective area 13 around the component 11, so that the subject to be avoided is blocked or driven away and stops moving or changes its direction of movement when it comes into contact with the protective device 4.

[0047] Please see Figure 4 and Figure 5 , Figure 4 for Figure 2 A three-dimensional structural diagram of the self-moving working device 100 in another direction. Figure 5 for Figure 4 Enlarged view at point B. In some embodiments, at least a portion of the periphery of the component to be protected 11 includes at least one of the front, left, rear, and right sides of the component to be protected 11. Therefore, the protective device 4 may be provided on at least one of the front, left, rear, and right sides of the component to be protected 11.

[0048] In some embodiments, the protective device 4 is disposed at least partially on the periphery of the component 11 to be protected, thereby forming the protective area 13 on the periphery of the component 11 to be protected, so that the subject to be avoided stops moving or changes its direction of movement when it comes into contact with the protective device 4. Specifically, the protective device 4 may be in the form of a ring, a straight line, an arc, a semi-ring, a bent line, a dot matrix, a linear array, etc., and is not limited here.

[0049] In some embodiments, the protective device 4 is ring-shaped and surrounds the periphery of the component to be protected 11; or, a semi-ring-shaped protective device 4 is provided on the path where the component to be protected 11 frequently encounters crawling objects; or, two semi-ring-shaped protective devices 4 are combined to form a ring and surround the periphery of the component to be protected 11; or, multiple protective devices 4 are arc-shaped and combined to form a ring and surround the periphery of the component to be protected 11.

[0050] In some embodiments, the mobile device 2 includes casters 21, wheels 22, and wheel axles 23. The casters 21 are located at the bottom front side of the device body 1. The wheel axles 23 are passed through the front and rear sides of the device body 1, or the wheel axles 23 are only passed through the rear side of the device body 1. The wheels 22 are respectively located at both ends of the wheel axles 23.

[0051] In some embodiments, the mobile device 2 includes a walking wheel 22 and a walking wheel axle 23, the walking wheel axle 23 being disposed at the front and rear positions of the main body 1 of the device, and the walking wheel 22 being disposed at both ends of the walking wheel axle 23.

[0052] It is understood that if the self-moving working device 100 is a lawnmower, then the working device 3 is a cutting device; if the self-moving working device 100 is a snowplow, then the working device 3 is a snowplow; if the self-moving working device 100 is a cleaning robot, then the working device 3 is a cleaning roller brush device.

[0053] The subjects to be avoided include, but are not limited to, small reptiles such as snails.

[0054] In some embodiments, the number of the component to be protected 11 is one, and the number of the protective device 4 is also one. The protective device 4 is arranged around the periphery of the component to be protected 11 to form a protective area 13 around the periphery of the component to be protected 11.

[0055] In some embodiments, the number of the component to be protected 11 is one, and the number of the protective devices 4 is multiple. The multiple protective devices 4 may be arranged in a ring around the periphery of the component to be protected 11, or each protective device 4 may be distributed inside and outside the periphery of the component to be protected 11 to form a protective area 13 around the periphery of the component to be protected 11.

[0056] In some embodiments, there are multiple components 11 to be protected and multiple protective devices 4. The protective devices 4 are arranged one-to-one around the periphery of the multiple components 11 to form multiple protective areas 13 around the periphery of the multiple components 11. Alternatively, at least one protective device 4 may be provided around at least some of the components 11 to form at least one protective area 13 to block or repel any subject that is about to enter the protective area 13.

[0057] In some embodiments, the protective device 4 is provided with a first magnetic suction member, and the device body 1 is provided with a second magnetic suction member. The protective device 4 and the device body 1 are fixed by the first magnetic suction member and the second magnetic suction member.

[0058] Therefore, the protective device 4 is detachably connected to the equipment body 1, which facilitates the user to install the protective device 4 on the equipment body 1 as needed. Furthermore, the detachable connection also allows the user to adjust the installation position of the protective device 4 according to requirements. Moreover, the detachable connection of the protective device 4 to the equipment body 1 also facilitates the user or maintenance personnel to remove the protective device 4 for cleaning, inspection, or replacement, avoiding the impact of damage to the protective device 4 on its overall use, and improving the maintainability and service life of the protective device 4.

[0059] In some embodiments, the back of the protective device 4 is provided with an adhesive component, and the protective device 4 is attached to the surface of the device body 1 by means of the adhesive component.

[0060] Therefore, the protective device 4 is detachably connected to the equipment body 1, which facilitates the user to install the protective device 4 on the equipment body 1 as needed. Furthermore, the detachable connection also allows the user to adjust the installation position of the protective device 4 according to requirements. Moreover, the detachable connection of the protective device 4 to the equipment body 1 also facilitates the user or maintenance personnel to remove the protective device 4 for cleaning, inspection, or replacement, avoiding the impact of damage to the protective device 4 on its overall use, and improving the maintainability and service life of the protective device 4.

[0061] In some embodiments, a first snap-fit ​​member is provided on one of the protective device 4 and the device body 1, and a second snap-fit ​​member is provided on the other of the protective device 4 and the device body 1. The protective device 4 and the device body 1 are snapped and fixed together by the first snap-fit ​​member and the second snap-fit ​​member.

[0062] Therefore, the protective device 4 is detachably connected to the equipment body 1, which facilitates the user to install the protective device 4 on the equipment body 1 as needed. Furthermore, the detachable connection also allows the user to adjust the installation position of the protective device 4 according to requirements. Moreover, the detachable connection of the protective device 4 to the equipment body 1 also facilitates the user or maintenance personnel to remove the protective device 4 for cleaning, inspection, or replacement, avoiding the impact of damage to the protective device 4 on its overall use, and improving the maintainability and service life of the protective device 4.

[0063] Please see Figure 6 and Figure 7 , Figure 6 This is a three-dimensional structural diagram of the self-moving working device 100 in another embodiment of this application. Figure 7 for Figure 6 An exploded view of the protective device 4 and the equipment body 1 of the self-moving working device 100. In some embodiments, the surface of the equipment body 1 is provided with a receiving groove 12, and at least a portion of the protective device 4 is embedded in the receiving groove 12.

[0064] Therefore, the receiving groove 12 provides a precise installation position for the protective device 4, making it less prone to displacement or loosening after fitting, ensuring a more stable connection between the protective device 4 and the equipment body 1, and reducing the risk of displacement due to vibration or external force. The protective device 4 is partially or completely embedded in the receiving groove 12, making it flush with the surface of the equipment body 1 or forming a smooth transition, improving its overall appearance and aesthetics, and avoiding abrupt protrusions or gaps. The sidewalls of the receiving groove 12 can limit and protect the protective device 4, reducing the direct impact of external impacts or foreign objects on the edges of the protective device 4, reducing the possibility of deformation or damage, thereby improving the durability of the protective device 4. By partially embedding the protective device 4 in the receiving groove 12, the overall thickness or volume of the equipment body 1 can be reduced, achieving a more compact structural design.

[0065] Please see Figure 8 , Figure 8 for Figure 7 Enlarged view at point C. In some embodiments, the protective device 4 includes a mounting portion 44 and a protective body, the mounting portion 44 being embedded in the receiving groove 12, and the protective body being mounted on the mounting portion 44 and protruding from the receiving groove 12.

[0066] Therefore, the receiving groove 12 provides a precise installation position for the mounting part 44, making it less prone to displacement or loosening after fitting, ensuring a more stable connection between the mounting part 44 and the equipment body 1, and reducing the risk of displacement due to vibration or external force. The sidewall of the receiving groove 12 can limit and protect the mounting part 44, reducing the direct impact of external impacts or foreign objects on the edge of the mounting part 44, thereby reducing the possibility of deformation or damage to the protective device 4, thus improving the durability of the protective device 4. By embedding the mounting part 44 in the receiving groove 12, the overall thickness or volume of the equipment body 1 can also be reduced, achieving a more compact structural design.

[0067] In some embodiments, the mounting portion 44 is embedded in the receiving groove 12, and at least a portion of the mounting portion 44 may also protrude from the surface of the device body 1.

[0068] It is understood that the mounting part 44 is an insulating plate, which can be made of insulating materials such as silicone or plastic, and is not limited here.

[0069] In some embodiments, the mounting portion 44 and the protective body are integrally formed, or multiple protective bodies are detachably mounted on the mounting portion 44, wherein the protective body is, for example, an electrode, a galvanic cell electrode, a conductive portion 45, or a wire.

[0070] In other embodiments, the surface of the device body 1 may not have the receiving groove 12.

[0071] Please see Figures 9-11 , Figure 9 for Figure 8 A three-dimensional structural diagram of the self-moving working device 100 in another direction. Figure 10 for Figure 9 An exploded view of the protective device 4 and the main body 1 of the self-moving working device 100. Figure 11 for Figure 10 Enlarged view at point D. In some embodiments, the protective device 4 includes an electric shock component 41 for generating a repellent current to repel the object to be repelled.

[0072] Therefore, the current generated by the electric shock component 41 stimulates the subject to be avoided, causing the subject to change its direction of travel and thus avoid the subject to be avoided, thereby preventing the subject to be avoided from blocking or damaging the protective component 11, enabling the self-moving working device 100 to work normally, improving the working efficiency and accuracy of the self-moving working device 100, and also improving the safety and reliability of the self-moving working device 100 during operation.

[0073] Specifically, when the subject to be driven crawls to contact the electric shock component 41, the current generated by the electric shock component 41 is conducted to the subject to be driven, causing the subject to receive a slight electric shock and feel discomfort, thereby changing its direction of travel to move away from the protected area 13, thus driving away the subject to be driven, thereby preventing the subject to be driven from blocking or damaging the protected component 11, and allowing the self-moving working device 100 to work normally.

[0074] In some embodiments, the current is at the microamp or milliamp level. The electrical stimulation only serves to repel the subject, causing discomfort and changing its direction of travel, without endangering the life of the subject.

[0075] In some embodiments, the electric shock assembly 41 includes a first electrode 42 and a second electrode 43. Optionally, the arrangement of the first electrode 42 and the second electrode 43 includes, but is not limited to, parallel arrangement, non-parallel and non-intersecting arrangement, and intersecting but electrically isolated arrangement. In this embodiment, the first electrode 42 and the second electrode 43 are arranged in parallel as an example.

[0076] In some embodiments, the first electrode 42 is electrically connected to the positive terminal of the power supply, and the second electrode 43 is electrically connected to the negative terminal of the power supply.

[0077] Specifically, in the initial state, the first electrode 42 and the second electrode 43 are in an open circuit state. When the subject to be avoided simultaneously contacts the first electrode 42 and the second electrode 43, the first electrode 42 and the second electrode 43 become conductive, and a conductive circuit is formed between the first electrode 42, the subject to be avoided, and the second electrode 43. Due to the potential difference, a repulsion current is generated between the first electrode 42 and the second electrode 43. The repulsion current causes the subject to be avoided to experience a slight electric shock and discomfort, thereby changing its direction of travel to move away from the area where the protective device 4 is located (i.e., the protective area 13), thereby repelling the subject to be avoided and preventing the subject to be avoided from blocking or damaging the protected component 11, so that the self-moving working device 100 can work normally.

[0078] In some embodiments, the voltage of the plurality of first electrodes 42 may be the same positive voltage or different positive voltages, while the voltage of the plurality of second electrodes 43 is the same, all of which are negative voltages.

[0079] Specifically, when at least some of the first electrodes 42 have different positive voltages, for example, the positive voltage of the first first electrode 42 is different from that of the second first electrode 42, and the potential difference between the first first electrode 42 and the first second electrode 43 is different from that between the second first electrode 42 and the first second electrode 43, then when the subject to be avoided simultaneously contacts two first electrodes 42 with different positive voltages, the two first electrodes 42 with different positive voltages will conduct, forming a conductive circuit between the two first electrodes 42 with different positive voltages and the subject to be avoided. Due to the potential difference, a repulsion current is generated between the two first electrodes 42 with different positive voltages. The repulsion current causes the subject to be avoided to experience a slight electric shock, resulting in discomfort, thereby changing its direction of travel to move away from the area where the protective device 4 is located (i.e., the protective area 13), thus repelling the subject to be avoided, thereby preventing the subject to be avoided from blocking or damaging the protected component 11, and allowing the self-moving working device 100 to work normally.

[0080] In some embodiments, the first electrode 42 and the second electrode 43 are at least part of the aforementioned protective body, such as... Figure 11 As shown, the first electrode 42 and the second electrode 43 are alternately mounted on the mounting portion 44.

[0081] In some embodiments, the distance between the first electrode 42 and the second electrode 43 is greater than or equal to a first preset distance and less than or equal to a second preset distance. If the distance between the first electrode 42 and the second electrode 43 is too large, some small objects to be driven away may not be able to contact the first electrode 42 and the second electrode 43 simultaneously, thus preventing the formation of a conductive circuit between the first electrode 42 and the second electrode 43. If the distance between the first electrode 42 and the second electrode 43 is too small, the first electrode 42 and the second electrode 43 may easily conduct directly, resulting in a short circuit.

[0082] In some embodiments, the first electrode 42 and the second electrode 43 are annular and are both arranged around the periphery of the component to be protected 11. The second electrode 43 is located between the first electrode 42 and the component to be protected 11, or the first electrode 42 is located between the second electrode 43 and the component to be protected 11.

[0083] It is understood that the number of the first electrode 42 is one or more, and the number of the second electrode 43 is one or more, which can be set as needed and is not limited here.

[0084] In some embodiments, when there are multiple first electrodes 42 and multiple second electrodes 43, the multiple first electrodes 42 and multiple second electrodes 43 are alternately arranged to form multiple electrical stimulation protections outside the protection area 13, thereby improving the avoidance rate for the subject to be avoided. Wherein, if the first electrodes 42 and the second electrodes 43 are annular, the multiple first electrodes 42 are multiple annular electrodes with different radial dimensions, and the multiple second electrodes 43 are also multiple annular electrodes with different radial dimensions.

[0085] In some embodiments, the protective device 4 further includes a first extension electrode, one end of which is electrically connected to the first electrode 42, and the other end of which is electrically connected to the positive terminal of the power supply. The protective device 4 also includes a second extension electrode, one end of which is electrically connected to the second electrode 43, and the other end of which is electrically connected to the negative terminal of the power supply. The first electrode 42 and the second electrode 43 are, but are not limited to, metal traces, and the first extension electrode and the second extension electrode are, but are not limited to, wires with protective sheaths.

[0086] In some embodiments, multiple first electrodes 42 with the same voltage may be electrically connected to the same first extended electrode, and multiple second electrodes 43 may be electrically connected to the same second extended electrode.

[0087] In some embodiments, the first extension electrode of the plurality of first electrodes 42 with different positive electrode voltages is electrically insulated from the other first electrodes 42 and also electrically insulated from the plurality of second electrodes 43. The second extension electrodes of the plurality of second electrodes 43 are electrically insulated from the plurality of first electrodes 42 and also electrically insulated from the plurality of first extension electrodes.

[0088] In some embodiments, the first electrode 42 and the second electrode 43 are planar spiral electrodes, both surrounding the periphery of the component 11 to be protected. One end of the first electrode 42 and one end of the second electrode 43 are electrically connected to the positive and negative terminals of the power supply, respectively, and the other ends of the first electrode 42 and the second electrode 43 are open circuit terminals. In this embodiment, the spiral shape of the first electrode 42 and the second electrode 43 allows for the alternating arrangement of multiple turns of positive and negative electrodes, thus forming multiple layers of electrical stimulation protection.

[0089] In some embodiments, the first electrode 42 and the second electrode 43 are alternately arranged, and the first electrode 42 and the second electrode 43 are respectively electrically connected to different positive terminals of the power supply, so that the voltage of the first electrode 42 and the second electrode 43 are both positive voltages, and there is a potential difference between the first electrode 42 and the second electrode 43.

[0090] The protective device 4 further includes multiple extension electrodes. One end of each extension electrode is electrically connected to the first electrode 42 or the second electrode 43, and the other end of each extension electrode is electrically connected to the positive terminal of the power supply. The first electrode 42 and the second electrode 43 include, but are not limited to, metal traces, and the extension electrodes include, but are not limited to, wires with protective sheaths.

[0091] In some embodiments, multiple first electrodes 42 and second electrodes 43 with the same voltage may be electrically connected to the same extended electrode.

[0092] In some embodiments, the extension electrode of one of the plurality of first electrodes 42 and the plurality of second electrodes 43 with a different positive electrode voltage is electrically insulated from the other electrodes.

[0093] It is understood that the number of the first electrode 42 may be one or more, and the number of the second electrode 43 may be one or more, without limitation here.

[0094] In some embodiments, the first electrode 42 and the second electrode 43 are alternately arranged, and the potential difference between the plurality of first electrodes 42 and the plurality of second electrodes 43 can increase sequentially along the direction close to the component to be protected 11. When the body to be avoided contacts the first first electrode 42 and the first second electrode 43 of the plurality of electrodes along the direction close to the component to be protected 11 to form a conductive circuit, since the potential difference between the first first electrode 42 and the first second electrode 43 is not large, the current flowing through the body to be avoided is also not large. At this time, the body to be avoided may not change its direction of travel. However, if the body to be avoided continues to move along the direction close to the component to be protected 11, it will be affected by the... As the potential difference between the first electrode 42 and the second electrode 43 gradually increases, the electrical stimulation becomes stronger and stronger. The subject to be avoided will experience increasing discomfort due to the stronger electrical stimulation and change its direction of travel. This prevents the protected component 11 from being blocked or damaged by the subject to be avoided. This design increases the success rate of avoiding the subject to be avoided and is also effective in avoiding large subjects to be avoided. Some larger subjects to be avoided can simultaneously contact multiple first electrodes 42 and multiple second electrodes 43, that is, simultaneously receive the avoidance current from multiple electrical stimulation protections, which can further stimulate the larger subjects to crawl away from the protected component 11.

[0095] For example, if multiple first electrodes 42 and second electrodes 43 are alternately arranged, with the first first electrode 42 connected to a 1V power supply, the first second electrode 43 connected to a 3V power supply, and the second first electrode 42 connected to a 7V power supply, then the potential difference between the first first electrode 42 and the first second electrode 43 is 2V, and the potential difference between the first second electrode 43 and the second first electrode 42 is 4V. Alternatively, if multiple first electrodes 42 and second electrodes 43 are alternately arranged, with the first first electrode 42 connected to a 1V power supply, the first second electrode 43 connected to a 0V power supply, and the second first electrode 42 connected to a 3V power supply, then the potential difference between the first first electrode 42 and the first second electrode 43 is 1V, and the potential difference between the first second electrode 43 and the second first electrode 42 is 3V.

[0096] In some embodiments, the plurality of first electrodes 42 and the plurality of second electrodes 43 may not be arranged alternately, but it is necessary to ensure that there is a potential difference between two adjacent electrodes. Furthermore, the potential difference between two adjacent electrodes may increase sequentially along the direction closer to the component to be protected 11.

[0097] Please see Figures 12-14 , Figure 12 This is a three-dimensional structural diagram of the self-moving working device 100 in another embodiment of this application. Figure 13 for Figure 12 Enlarged view at point E, Figure 14 for Figure 12 The image shows a rear view of the self-moving working device 100. In some embodiments, there are multiple first electrodes 42 and multiple second electrodes 43, with the multiple first electrodes 42 arranged at intervals and the multiple second electrodes 43 arranged at intervals. The multiple first electrodes 42 and multiple second electrodes 43 are crisscrossed to form a grid-like protective device 4. The grid-like protective device 4 can increase the probability that the subject to be avoided will simultaneously contact two electrodes with a potential difference, thereby generating a repelling current.

[0098] In some embodiments, multiple first electrodes 42 are electrically connected to different positive or negative terminals of a power supply, which can create a potential difference between two adjacent first electrodes 42.

[0099] In some embodiments, multiple second electrodes 43 are electrically connected to different positive or negative terminals of a power supply, so that there is a potential difference between two adjacent second electrodes 43.

[0100] In some embodiments, a plurality of first electrodes 42 are electrically connected to the positive terminal of a power supply, so that the plurality of first electrodes 42 have the same positive voltage, and a plurality of second electrodes 43 are electrically connected to another positive or negative terminal of the power supply, so that the plurality of second electrodes 43 have the same positive or negative voltage, thereby creating a potential difference between the first electrodes 42 and the second electrodes 43.

[0101] Specifically, the junctions of the first electrode 42 and the second electrode 43 with different voltages are electrically isolated, that is, electrically insulated. Furthermore, the junctions of the first electrode 42 and the second electrode 43 with different voltages are insulated from each other.

[0102] Specifically, based on the above, in the initial state, the two first electrodes 42 or the two second electrodes 43, or the first electrode 42 and the second electrode 43, which have a potential difference, are in an open circuit state. When the object to be avoided simultaneously contacts the two first electrodes 42 or the two second electrodes 43, or the first electrode 42 and the second electrode 43, which have a potential difference, electrical conduction occurs between the two first electrodes 42 or the two second electrodes 43, or the first electrode 42 and the second electrode 43, forming a conductive circuit with the object to be avoided and generating a repelling current. This causes the object to be avoided to experience a slight electric shock, resulting in discomfort and causing it to change its direction of travel, moving away from the protected component 11. Therefore, the mesh-like protective device 4 can form electrodes with potential differences in all directions, thereby effectively preventing objects to be avoided from different directions from entering the protected area 13.

[0103] In some embodiments, the surfaces of the first electrode 42 and the second electrode 43 are flush with or protrude from the surface of the device body 1, so as to facilitate full contact between the first electrode 42 and the second electrode 43 and the subject to be driven away.

[0104] Please see Figure 15 , Figure 15 This is a schematic diagram showing the second electrode 43 protruding relative to the first electrode 42. In some embodiments, the second electrode 43 is configured to protrude relative to the first electrode 42.

[0105] Therefore, the staggered height of the first electrode 42 and the second electrode 43 can reduce the probability of the user accidentally touching the first electrode 42 and the second electrode 43 at the same time, thereby reducing the probability of the user being electrically stimulated.

[0106] Please see Figure 15 , Figure 16A schematic diagram showing a conductive portion 45 provided for the second electrode 43. In some embodiments, when the second electrode 43 is electrically connected to the negative terminal of the power supply, the second electrode 43 is provided with a plurality of spaced conductive portions 45, which are electrically connected to the second electrode 43 and protrude relative to the first electrode 42.

[0107] This reduces the probability of a user accidentally touching both the first electrode 42 and the second electrode 43 simultaneously, thereby reducing the probability of the user being electrically stimulated; and the water accumulated between the two second electrodes 43 can flow out along the recessed portion, avoiding affecting the normal operation of the protective device 4.

[0108] The conductive part 45, the second electrode 43 and the first electrode 42 together constitute the electric shock assembly 41.

[0109] In some embodiments, the conductive portions 45 of two adjacent second electrodes 43 are staggered. For example, the conductive portion 45 of the inner second electrode 43 is aligned with the gap of the outer second electrode 43, and the conductive portion 45 of the outer second electrode 43 is aligned with the gap of the inner second electrode 43. This not only effectively prevents the user from accidentally touching the first electrode 42 and the second electrode 43 at the same time, but also facilitates the flow of water between the two second electrodes 43 through the gaps on both sides, further preventing water from accumulating between the two adjacent second electrodes 43.

[0110] In some embodiments, if the second electrode 43 and the first electrode 42 are respectively electrically connected to the positive terminal of the power supply, so that there is a potential difference between the second electrode 43 and the first electrode 42, and there may be a potential difference between multiple first electrodes 42 and a potential difference between multiple second electrodes 43, then a plurality of spaced conductive portions 45 are provided on one of the two having potential differences, and the plurality of conductive portions 45 are respectively electrically connected to it and protrude relative to the other.

[0111] In some embodiments, the surface of the device body 1 is at least partially curved, thereby accelerating the flow of accumulated water.

[0112] In some embodiments, the electric shock assembly 41 includes a conductive layer, the two ends of which are electrically connected to the positive and negative terminals of a power source, respectively, for applying electrical stimulation to the subject to be driven when it comes into contact with the conductive layer.

[0113] Specifically, the power supply, load, and conductive layer form a conductive circuit. The conductive layer is disposed on the surface of the main body 1 of the device and is generally arranged in a ring around the periphery of the component to be protected 11. The load has a relatively large resistance, resulting in a small avoidance current in the conductive circuit. This causes the component to be avoided to stop moving or change direction upon contact with the conductive layer due to electrical stimulation, preventing it from entering the protected area 13. This, in turn, prevents the component to be protected 11 from being blocked or damaged by the component, improving the safety and reliability of the self-moving working device 100 during operation.

[0114] It is understood that the number of conductive layers can be one or more, and can be set according to actual needs; no limit is made here.

[0115] In some embodiments, the electric shock assembly 41 includes a plurality of conductive layers, which are spaced apart along a direction close to the component to be protected. Further along a direction close to the component to be protected 11, the current in the plurality of conductive loops in which the plurality of conductive layers are located increases sequentially.

[0116] In some embodiments, the electric shock component 41 includes a galvanic cell electrode, which generates a current through the galvanic cell effect to apply electrical stimulation to the subject when the subject to be avoided comes into contact with the galvanic cell electrode.

[0117] The galvanic cell electrode is an electrochemically active metal layer. Taking a snail as an example, this metal layer can react electrochemically with the snail's secreted mucus to form a galvanic cell reaction. During this reaction, an electric current is generated, which can be conducted to the snail's body to produce a slight electrical stimulus, causing discomfort and causing the snail to stop moving or change direction. The material of the galvanic cell electrode includes, but is not limited to, reactive metals such as copper, zinc, magnesium, and aluminum.

[0118] In some embodiments, the galvanic cell electrode is a copper layer, copper sheet, or copper foil.

[0119] In some embodiments, the galvanic cell electrode is in the form of a closed ring or multiple arc segments.

[0120] Generally, the gap between adjacent arc-shaped electrodes is less than or equal to 5 mm to prevent snails from crawling into the protected area 13 through the gaps between adjacent arc-shaped electrodes. Of course, the galvanic cell electrodes can also be in a dot matrix shape, with the gap between the dot matrix shapes being less than or equal to 5 mm, to prevent snails from crawling into the protected area 13 through the gaps between the dot matrix shapes.

[0121] It should be noted that snail mucus contains water and a certain concentration of electrolytes (such as salts, calcium ions, and other minerals), making it conductive. When a snail crawls onto the surface of copper (the electrode of the galvanic cell), the mucus acts as a conductive medium, allowing the copper to form a simple electrochemical battery with its environment. Specifically, when the snail's mucus comes into contact with the copper surface, the metal atoms in the copper release electrons and are oxidized into copper ions (Cu2+). This process reacts with the mucus inside the snail's body, forming a weak current. The specific anode reaction of the galvanic cell (copper oxidation) is as follows:

[0122] Cu→Cu 2+ +2e -

[0123] The specific cathode reaction formula of the galvanic cell is as follows:

[0124] O 2- +4H + +4e - →2H2O

[0125] These reactions, aided by the mucus, form closed circuits, resulting in the generation of tiny electric currents. This current stimulates the snail's body, potentially interfering with its nervous system or metabolic processes. Furthermore, the generated copper ions (Cu2+) deter snails from copper surfaces. The protective device 4 provided in this embodiment requires no power supply, saving energy and posing no risk to the user.

[0126] In some embodiments, the protective device 4 further includes a power supply, wherein each voltage output port of the power supply is electrically connected to the first electrode 42 and the second electrode 43, so that there is a potential difference between two adjacent electrodes between the first electrode 42 and the second electrode 43, and the power supply is turned on through the body to be driven to generate a driving current.

[0127] Therefore, the protective device 4 has its own power supply and does not need to share the power supply of the self-moving working device 100. Consequently, it does not need to convert the power supply of the self-moving working device 100 into a corresponding small voltage to form a small avoidance current.

[0128] In some embodiments, the power source is a solar cell. On the one hand, the solar cell can be charged using solar energy, eliminating the need for the power source of the self-moving working device 100. On the other hand, since the generated avoidance current is very small, the required battery capacity is also small, and solar charging is sufficient to supply the generated avoidance current.

[0129] In some embodiments, the self-moving working device 100 includes a power supply, the voltage output ports of which are electrically connected to the first electrode 42 and the second electrode 43 respectively, so that there is a potential difference between two adjacent electrodes between the first electrode 42 and the second electrode 43, and the power supply is turned on through the body to be driven to generate a driving current. Optionally, the power supply here may be a rechargeable battery of the self-moving working device 100, etc.

[0130] Therefore, the protective device 4 reuses the rechargeable battery of the self-moving working device 100, eliminating the need for an additional power supply, saving costs and reducing the space required for an additional power supply.

[0131] In some embodiments, the protective device 4 includes a spike structure that protrudes from the surface of the device body 1 and surrounds the periphery of the component 11 to be protected.

[0132] Thus, by physically stimulating the subject to be avoided through the spiked structure, the subject changes its direction of travel in order to avoid the subject.

[0133] In some embodiments, the protective device 4 is formed by at least one mesh structure to physically prevent the subject to be avoided from approaching the protected component 11.

[0134] In some embodiments, the spike structure may be made of an insulating material, and the spike structure may be in the form of a ring or a dot matrix, surrounding the periphery of the component 11 to be protected.

[0135] In some embodiments, the spike structure may be made of a conductive material. When the spike structure is made of a conductive material, it may be the same structure as the aforementioned galvanic cell electrode, i.e., the galvanic cell electrode may have several spike structures. In this embodiment, the galvanic cell effect is used for electrical stimulation and physical defense to repel snails, preventing the protected component 11 within the protected area 13 from being blocked by snails or affected by the mucus secreted by the snails.

[0136] In some embodiments, the protective device 4 is disposed around the top and / or side of the device body 1.

[0137] Therefore, the protective device 4 can repel small animals such as snails from multiple directions, prevent the object to be repelled from climbing onto the protected component 11 by various methods, thereby avoiding the object to be repelled from blocking or damaging the protected component 11, enabling the self-moving working device 100 to work normally, improving the working efficiency and accuracy of the self-moving working device 100, and also improving the safety and reliability of the self-moving working device 100 during operation.

[0138] As previously described, specifically, the portion of the self-moving working device 100 facing the ground is the bottom, and the portion of the self-moving working device 100 facing away from the ground is the top. The self-moving working device 100 also has a side portion connecting the top and bottom, and this side portion can be a peripheral surface of the self-moving working device 100. In the peripheral surface of the self-moving working device 100, one end in the forward direction is the front end, and the other end in the backward direction is the tail end.

[0139] When the self-moving working device 100 is placed on the ground, the subject to be avoided can climb to the periphery of the device body 1 (i.e., the periphery of the self-moving working device 100) through stones, steps, walls, etc. at the bottom or around the device body 1, or climb to the periphery of the device body 1 through the walking wheels 22, or climb to the periphery of the device body 1 through the universal wheels 21, or climb to the periphery of the device body 1 through the walking wheel axle 23. Therefore, the protective device 4 is set on the side of the device body 1 to prevent the subject to be avoided from climbing to the protected component 11 by various methods, thereby avoiding the subject to be avoided from blocking or damaging the protected component 11.

[0140] It is understood that, specifically, the protective device 4 can be arranged around the periphery of the main body 1 and near the bottom. The protective device 4 can also be arranged around the side of the main body 1 and above the axle of the walking wheel 23. The protective device 4 can also be arranged on the side of the main body 1 and above the walking wheel 22, so as to prevent the subject to be driven from climbing onto the protected component 11 by various methods, thereby avoiding the subject to be driven from blocking or damaging the protected component 11, so that the self-moving working device 100 can work normally, and improve the working efficiency and accuracy of the self-moving working device 100 when working, and also improve the safety and reliability of the self-moving working device 100 when working.

[0141] Furthermore, the protective device 4 can also be positioned around the periphery of the main body 1 and near the top. Thus, when the object being driven climbs along high stones, steps, walls, or other obstacles around the main body 1 to reach its periphery, it will not enter the protective area 13 formed by the protective device 4.

[0142] In some embodiments, the component to be protected 11 includes a sensor module 111 and / or a charging assembly 112, and the protective device 4 surrounds at least a portion of the periphery of the sensor module 111 and / or the charging assembly 112.

[0143] Therefore, the protective device 4 is arranged around the sensor module 111 and / or the charging component 112, thereby preventing the subject to be avoided from blocking the sensor module 111 and preventing the subject to be avoided from corroding the charging component 112 and damaging it. This ensures the normal operation of the self-moving working device 100, improves the working efficiency and accuracy of the self-moving working device 100, and also improves the safety and reliability of the self-moving working device 100 during operation and charging.

[0144] In some embodiments, the sensor module 111 may be a vision sensor, lidar, etc.

[0145] In some embodiments, the sensor module 111 is located at the top and / or the tail of the device body 1. If the object to be avoided climbs onto the sensor module 111, it will block the sensor module 111, causing inaccurate signal acquisition by the sensor module 111, which in turn leads to inaccurate device positioning accuracy or obstacle avoidance function malfunction. Therefore, the protective device 4 is arranged around the sensor module 111 to prevent the object to be avoided from blocking the sensor module 111, so that the self-moving working device 100 can work normally, and improves the working efficiency and accuracy of the self-moving working device 100, as well as the safety and reliability of the self-moving working device 100 during operation.

[0146] In some embodiments, the charging component 112 is disposed at the front end, rear end, or side of the device body 1. Generally, the charging component 112 includes, but is not limited to, charging electrodes made of metal. If the object to be avoided climbs onto the charging electrodes, the mucus secreted by the object to be avoided will corrode the charging electrodes, causing corrosion and affecting the charging efficiency of the self-moving working device 100. Therefore, the protective device 4 is disposed around the charging component 112 to prevent the object to be avoided from corroding the charging component 112 and damaging it, thereby improving the safety and reliability of the self-moving working device 100 during charging.

[0147] In some embodiments, the self-moving working device 100 includes a controller, the component to be protected 11 includes a humidity sensor, the humidity sensor is electrically connected to the controller, and the controller is at least used to control the protective device 4 to generate a repellent current when the humidity sensor detects that the humidity is greater than or equal to a humidity threshold.

[0148] Thus, the humidity sensor detects the humidity of the environment or the surface of the device body 1, compares the detected humidity with the humidity threshold, and controls the protective device 4 to be electrically connected to the power supply based on the comparison result, so as to activate the protective device 4. In this way, the protective device 4 is only controlled to be electrically connected to the power supply when it is needed, thereby saving the power of the power supply and improving the utilization rate of the power supply.

[0149] Specifically, certain objects to be avoided (such as snails) are usually present on rainy days. Therefore, the humidity sensor detects the humidity and compares the detected humidity with the humidity threshold to determine whether the current weather is rainy. Then, the controller only controls the protective device 4 to be electrically connected to the power source on rainy days to activate the protective device 4.

[0150] In other embodiments, the controller is used to control the protective device 4 to generate an avoidance current when the self-moving working device 100 is in a charging state or a working state.

[0151] Therefore, the protective device 4 is activated when the self-moving working device 100 is in a charging state or a working state, and the protective device 4 is only controlled to be electrically connected to the power source when the protective device 4 is needed, thereby saving the power energy of the power source and improving the utilization rate of the power source.

[0152] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Where there is no conflict, the embodiments and features in the embodiments of this application can be combined with each other. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A self-moving work device, characterized by comprising: include: The equipment body has at least one component to be protected on its surface. A mobile device is located at the bottom of the main body of the equipment and is used to drive the self-moving working device to move. A working device, which is mounted on the main body of the equipment, is used to perform a preset task; A protective device is detachably connected to the main body of the equipment and is disposed around at least a portion of the periphery of the component to be protected, for blocking or repelling the component to be repelled from entering the protected area formed by the protective device.

2. The self-moving work device according to claim 1, characterized in that, The protective device is provided with a first magnetic component, and the main body of the equipment is provided with a second magnetic component. The protective device and the main body of the equipment are fixed together by the first magnetic component and the second magnetic component.

3. The self-moving work device according to claim 1, characterized in that, The protective device has an adhesive component on its back, and the protective device is attached to the surface of the main body of the equipment through the adhesive component.

4. The self-moving work device according to claim 1, characterized in that, A first snap-fit ​​component is provided on one of the protective device and the main body of the equipment, and a second snap-fit ​​component is provided on the other of the protective device and the main body of the equipment. The protective device and the main body of the equipment are snapped and fixed together by the first snap-fit ​​component and the second snap-fit ​​component.

5. The self-moving work device according to any one of claims 1-4, characterized in that, The surface of the main body of the device is provided with a receiving groove, and at least part of the protective device is embedded in the receiving groove.

6. The self-moving work device according to claim 5, characterized in that, The protective device includes a mounting part and a protective body. The mounting part is embedded in the receiving groove, and the protective body is mounted on the mounting part and protrudes from the receiving groove.

7. The self-moving work device according to claim 1, characterized in that, The protective device includes an electric shock component that generates a repellent current to repel the object to be repelled.

8. The self-moving work device according to claim 1, characterized in that, The protective device includes a spike structure that protrudes from the surface of the main body of the equipment and surrounds the periphery of the component to be protected.

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

10. The self-moving working device according to claim 1, characterized in that, The component to be protected includes a sensor module and / or a charging assembly, and the protective device surrounds at least a portion of the periphery of the sensor module and / or the charging assembly.

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