Self-walking working equipment

Abstract

The utility model provides self-walking working equipment which comprises a machine body, a walking device, a working device and a protection device, and at least one to-be-protected component is arranged on the surface of the machine body; the walking device is arranged at the bottom of the machine body and used for driving the self-walking working equipment to walk. The operation device is arranged on the machine body and used for executing a preset task; the protection device comprises at least one metal electrode, the metal electrode is arranged on the machine body, and when the to-be-repelled body makes contact with the metal electrode, the to-be-repelled body and the metal electrode form a primary battery so as to apply electrical stimulation to the to-be-repelled body, so that the to-be-repelled body changes the moving direction when making contact with the protection device; the to-be-repelled main body is prevented from climbing to the to-be-protected part, so that the to-be-protected part is prevented from being shielded by the to-be-repelled main body or being influenced by mucus secreted by the to-be-repelled main body, the self-walking working equipment has a good repelling function and a good self-protection function, and the reliability of the self-walking working equipment is improved.

Description

Technical Field

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

[0002] With the widespread use of self-propelled work equipment such as self-propelled lawnmowers, self-propelled snowplows, and self-propelled cleaning robots, these devices are susceptible to attack by small creatures such as snails and slugs. These creatures can climb onto the surface of the device, obstructing the sensing modules and causing decreased sensitivity or false triggering of obstacle avoidance functions. Furthermore, the mucus secreted by these creatures can corrode the charging electrodes. Currently, self-propelled work equipment lacks effective solutions to prevent snail climbing, leaving the sensing modules vulnerable to obstruction and the charging electrodes susceptible to corrosion. This affects the device's positioning and obstacle avoidance capabilities, and damage to the charging electrodes can lead to decreased efficiency and accuracy. Therefore, improving the obstacle avoidance capabilities of self-propelled work equipment has become a crucial technical challenge. Utility Model Content

[0003] The main objective of this application is to propose a self-propelled working device to solve the technical problem of how to improve the driving and avoidance function of a self-propelled working device.

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

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

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

[0007] The working device is mounted on the main body of the machine and is used to perform preset tasks;

[0008] A protective device includes at least one metal electrode disposed on the main body of the device. When the subject to be avoided comes into contact with the metal electrode, the subject to be avoided and the metal electrode form a galvanic cell to apply electrical stimulation to the subject to be avoided.

[0009] The self-propelled working device provided in this application includes a main body, a walking 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 walking device is located at the bottom of the main body and is used to drive the self-propelled working device to move. The working device is disposed on the main body and is used to perform preset tasks. The protective device includes at least one metal electrode disposed on the main body. When the component to be avoided comes into contact with the metal electrode, the component to be avoided and the metal electrode form a galvanic cell, applying electrical stimulation to the component to be avoided. This causes the component to change its direction of movement upon contact with the protective device, preventing it from crawling onto the component to be protected. This prevents the component to be protected from being blocked by the component or affected by the mucus secreted by the component, thus giving the self-propelled working device better avoidance and self-protection functions, improving its reliability. Furthermore, the protective device provided in this application does not require a power source, making it a passive protective device that saves energy; it also requires no electrical control and poses no risk to the user.

[0010] In one optional embodiment, the protective device is disposed on the side of the fuselage body.

[0011] In one alternative embodiment, the protective device is disposed on the top of the fuselage body.

[0012] In one optional embodiment, the at least one component to be protected includes a sensor module, and the protective device surrounds the periphery of the sensor module.

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

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

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

[0016] In one optional embodiment, the protective device includes a metal electrode, which is a copper foil, copper layer, or copper sheet surrounding the component to be protected.

[0017] In one optional embodiment, the protective device includes two metal electrodes with different activities. The two metal electrodes are respectively arranged around the periphery of the component to be protected and are spaced apart. One metal electrode is located on the side closer to the component to be protected, and the other metal electrode is located on the side farther away from the component to be protected.

[0018] In one optional embodiment, the protective device is detachably connected to the fuselage body. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly described below.

[0020] Figure 1 This is a side view schematic diagram of a self-propelled working device provided in an embodiment of this application;

[0021] Figure 2 This is a perspective view of the rear end of a self-propelled working device provided in an embodiment of this application;

[0022] Figure 3 This is a perspective view of the front end of a self-propelled working device provided in an embodiment of this application;

[0023] Figure 4 This is a schematic diagram showing a protective device for a self-propelled working device provided in an embodiment of this application, located on the side of the main body of the machine near the bottom;

[0024] Figure 5 This is a schematic diagram showing that the protective device of a self-propelled working device provided in this application is located on the side of the main body of the machine body, higher than the front and rear wheels;

[0025] Figure 6 This is a schematic diagram of a protective device for a self-propelled working device provided in this application embodiment, located on the side of the main body near the top. Figure 1 ;

[0026] Figure 7 This is a schematic diagram of a protective device for a self-propelled working device provided in this application embodiment, located on the side of the main body near the top. Figure 2 ;

[0027] Figure 8 This is a schematic diagram of the structure of the first protective device provided in the embodiments of this application;

[0028] Figure 9 This is a schematic diagram of the structure of the second protective device provided in the embodiments of this application;

[0029] Figure 10 This is a schematic diagram of the structure of the third protective device provided in the embodiments of this application;

[0030] Figure 11 This is a schematic diagram of the structure of the fourth protective device provided in the embodiments of this application;

[0031] Figure 12This is a structural schematic diagram of one installation method of the protective device provided in the embodiments of this application. Detailed Implementation

[0032] The technical solution of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the embodiments described in this application are only a part of the embodiments, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without creative effort are within the protection scope of this application.

[0033] 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.

[0034] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a particular order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, an assembly or device comprising one or more components is not limited to the one or more components listed, but may optionally also include one or more components not listed but inherent to the exemplified product, or one or more components that it should have based on the described function.

[0035] Please see Figures 1-3 This application proposes an outdoor self-propelled working device 100 that works in home gardens, estates, hotels, etc. The self-propelled working device 100 includes, but is not limited to, lawnmowers, snowplows, cleaning robots, etc.

[0036] Currently, self-propelled work equipment 100 generally lacks protective design against small organisms such as snails and slugs. These organisms can easily climb onto the surface of the machine during operation, causing signal blockage. The mucus secreted by these small organisms may also corrode the metal structure of the self-propelled work equipment 100.

[0037] This application uses a lawnmower as an example. The lawnmower's casing 11 is equipped with sensing modules 121, such as vision sensors and lidar. If a snail climbs onto the lawnmower's casing 11 and blocks the vision sensors or lidar, this obstruction will lead to decreased positioning accuracy and weakened environmental awareness. In severe cases, it may cause obstacle avoidance failure, affecting the lawnmower's normal operating performance and safety. If the snail climbs to the charging contacts, the slime it produces will corrode the charging contacts, hindering the lawnmower's charging process.

[0038] Current lawnmowers lack effective solutions to prevent snails from climbing, which makes the vision module or lidar easily obstructed and the charging plates easily corroded. This affects the lawnmower's positioning and obstacle avoidance functions, and damage to the charging plates may lead to a decrease in its working efficiency and accuracy.

[0039] Based on the above issues, please refer to Figures 1-3 This application proposes a self-propelled working device 100, which includes a main body 10, a walking device 20, a working device 30, and at least one protective device 40.

[0040] Please see Figures 1-3 The main body 10 includes a fuselage shell 11.

[0041] Please see Figures 1-3 The surface of the main body 10 is provided with at least one component 12 to be protected. Optionally, the surface of the housing 11 is also provided with at least one component 12 to be protected. The component 12 to be protected includes, but is not limited to, components such as the sensing module 121 or the charging assembly 122 that are easily affected by small organisms such as snails and slugs.

[0042] Please see Figure 1 , Figure 2 and Figure 3 The walking device 20 is located at the bottom of the main body 10 and is used to drive the self-propelled working device 100 to move. Optionally, the walking device 20 includes a front walking wheel assembly 21 and a rear walking wheel assembly 22. The front walking wheel assembly 21 includes, but is not limited to, omnidirectional wheels located at the front end of the bottom of the main body 10; or, two front walking wheels 211 located on both sides of the main body 10 at the front end, the two front walking wheels being connected to the body housing 11 via a first connecting structure 212. The rear walking wheel assembly 22 includes, but is not limited to, two rear walking wheels 221 located on both sides of the main body 10 at the rear end, the two rear walking wheels 221 being connected to the body housing 11 via a second connecting structure 222.

[0043] The working device 30 is mounted on the main body 10 and is used to perform preset tasks. Optionally, the self-propelled working device 100 is a lawnmower, and the working device 30 is a cutting device. Alternatively, the self-propelled working device 100 is a snowplow, and the working device 30 is a snowplow. Still alternatively, the self-propelled working device 100 is a cleaning robot, and the working device 30 is a cleaning roller brush device.

[0044] Please see Figures 1-3 The protective device 40 includes at least one metal electrode 41. The metal electrode 41 is disposed on the main body 10 of the fuselage.

[0045] As the object to be avoided climbs onto the main body 10 and moves toward the component to be protected 12, it will come into contact with the metal electrode 41. When the object to be avoided comes into contact with the metal electrode 41, a galvanic cell effect is formed between the object to be avoided and the metal electrode 41, thereby applying electrical stimulation to the object to be avoided.

[0046] The entities to be avoided include, but are not limited to, small reptiles such as snails and slugs, to prevent these creatures from interfering with the operation of the lawnmower's sensing module 121 or corroding the metal parts of the lawnmower. The sensing module 121 includes, but is not limited to, at least one of a visual sensor, an ultrasonic sensor, a lidar sensor, a rain detector, and a humidity sensor.

[0047] Optionally, the metal electrode 41 is an active metal electrode 41. Further optionally, the material of the metal electrode 41 is, but is not limited to, a composite metal formed from at least one or more of aluminum, copper, iron, zinc, and magnesium.

[0048] The metal electrode 41 can also be called a galvanic cell electrode. When the subject to be repelled comes into contact with the metal electrode 41, a repulsion current is generated through the galvanic cell effect to apply electrical stimulation to the subject to be repelled.

[0049] The target species to be avoided is, for example, a snail. It should be noted that the mucus secreted by snails contains water and a certain concentration of electrolytes (such as salts, calcium ions, and other minerals), making it conductive.

[0050] The metal electrode 41 is an electrochemically active metal. This metal electrode 41 can react electrochemically with the mucus secreted by the snail to form a galvanic cell reaction. During the galvanic cell reaction, an electric current is generated. This current can be conducted to the snail's body to produce a slight electric stimulation, making the snail feel uncomfortable and change its crawling direction, moving away from the area where the protective device 40 is located (i.e., the protective area 13). This achieves the goal of repelling the snail and preventing the protected component 12 in the protective area 13 from being blocked by the snail or affected by the mucus secreted by the snail.

[0051] Optionally, the snail forms a galvanic cell effect upon contact with the metal electrode 41, generating a small current that can serve as a repulsion current. This repulsion current is a microcurrent. The intensity of the repulsion current is less than a first preset current intensity. The first preset current intensity is 2 mA. This application does not specifically limit the intensity of the repulsion current generated by the protective device 40. Optionally, the repulsion current can be in the milliampere or microampere range. This microcurrent will not pose a threat to the human body or cause fatal harm to the snail; it will only cause discomfort. For example, the intensity of the repulsion current can be, but is not limited to, any one or any combination of 10 μA, 50 μA, 100 μA, 200 μA, 300 μA, 400 μA, 500 μA, 600 μA, 700 μA, 800 μA, 900 μA, 1 mA, etc.

[0052] The number of metal electrodes 41 can be one or more. Multiple metal electrodes 41 can be arranged to form a protective wall; or multiple protective walls can be formed.

[0053] The shape of the metal electrode 41 includes, but is not limited to, straight lines, bent lines, arcs, curves, rings, or dots.

[0054] Optionally, the metal electrode 41 is ring-shaped and surrounds the periphery of the component 12 to be protected, forming a protective area 13. Alternatively, multiple metal electrodes 41 are arranged in a ring to form a protective area 13, and the area enclosed by the ring is the protective area 13, within which the component 12 to be protected is located.

[0055] The number of components 12 to be protected can be one or more.

[0056] When there is only one component 12 to be protected, there is only one protective device 40. One protective device 40 is disposed around the component 12 to form a protective area 13 around the component 12 to repel any subject that is about to enter the protective area 13. For example, the subject changes its direction of movement when it comes into contact with the protective device 40, thus preventing the subject from entering the protective area 13 and preventing the component 12 from being blocked by the subject or affected by the mucus secreted by the subject.

[0057] When there is only one component 12 to be protected, there are multiple protective devices 40. These multiple protective devices 40 can be arranged in a ring around the component 12 to be protected; or each protective device 40 can be located around the component 12 to be protected, with multiple protective devices 40 distributed inside and outside the component 12 to form a protective area 13 around the component 12 to repel any subject that is about to enter the protective area 13. For example, the subject may change its direction of movement when it comes into contact with the protective device 40, thus preventing the subject from entering the protective area 13 and preventing the component 12 to be protected from being blocked by the subject or affected by the mucus secreted by the subject.

[0058] Please see Figure 3 When there are multiple components 12 to be protected, there is only one protective device 40. This protective device 40 is positioned around the periphery of the multiple components 12 to form a protective area 13. This protects against any entity that is about to enter the protective area 13. For example, it causes the entity to change its direction of movement upon contact with the protective device 40, preventing it from entering the protective area 13 and thus preventing the components 12 from being blocked or affected by the secretions of the entity. For instance, one protective device 40 surrounds and forms a protective area 13, within which multiple components 12 are located.

[0059] Please see Figure 2 When there are multiple components 12 to be protected, there are also multiple protective devices 40. Optionally, multiple protective devices 40 can be arranged to form a protective area 13, and all multiple components 12 to be protected can be located within this protective area 13; or, multiple protective devices 40 can be arranged to form multiple protective areas 13, and multiple components 12 to be protected can be located within multiple protective areas 13 respectively, in order to repel any subject that is about to enter the multiple protective areas 13. For example, the subject to be repelled can change its direction of movement when it comes into contact with the protective device 40, thereby preventing the subject to be repelled from entering the protective area 13, and thus preventing the components to be protected from being blocked by the subject to be repelled or affected by the mucus secreted by the subject to be repelled.

[0060] Generally, a portion of the sensing module 121 protrudes from the housing 11. For example, a vision sensor protrudes from the housing 11 to perform positioning and obstacle detection on the self-propelled work device 100 by acquiring images or light. If a snail climbs onto the vision sensor on the housing 11, it will block the transmission or reception of images or light, resulting in inaccurate signal acquisition by the vision sensor, which in turn leads to inaccurate positioning accuracy or obstacle avoidance malfunction. Similarly, a lidar sensor protrudes from the housing 11 to perform positioning on the self-propelled work device 100 by transmitting and receiving radar signals. If a snail climbs onto the lidar sensor on the housing 11, it will block the transmission or reception of images or light, resulting in inaccurate signal acquisition by the lidar, which in turn leads to inaccurate positioning accuracy. For example, the charging electrode is exposed on the housing 11 and is used to connect with the charging interface on the charging pile to charge the self-propelled working device 100. If a snail crawls onto the charging electrode on the housing 11, the mucus secreted by the snail will corrode the charging electrode because the charging electrode is made of metal, thus affecting the charging efficiency of the self-propelled working device 100.

[0061] Based on this, the self-propelled working device 100 provided in this application includes a main body 10, a walking device 20, a working device 30, and a protective device 40. At least one component 12 to be protected is disposed on the surface of the main body 10. The walking device 20 is located at the bottom of the main body 10 and is used to drive the self-propelled working device 100 to move. The working device 30 is disposed on the main body 10 and is used to perform preset tasks. The protective device 40 includes at least one metal electrode 41, which is disposed on the main body 10. When the component to be avoided comes into contact with the metal electrode 41, the component to be avoided and the metal electrode 41 form a galvanic cell to apply electrical stimulation to the component to be avoided. This causes the component to change its direction of movement when it comes into contact with the protective device 40, preventing it from climbing onto the component to be protected 12. This prevents the component to be protected 12 from being blocked by the component to be avoided or affected by the mucus secreted by the component to be avoided, thus giving the self-propelled working device 100 better avoidance and self-protection functions and improving the reliability of the self-propelled working device 100. Furthermore, the protective device 40 provided in this embodiment does not require a power supply, making it a passive protective device 40 that saves energy; moreover, it does not require electrical control and will not pose a risk to the user.

[0062] The following, in conjunction with the accompanying drawings, provides a specific example illustrating the position of the protective device 40 on the fuselage body 10.

[0063] For ease of explanation, the portion of the self-propelled working device 100 facing the ground is defined as the bottom, and the portion facing away from the ground is defined as the top. The self-propelled working device 100 also has a side portion connecting the top and bottom, which can be referred to as the circumferential side surface of the self-propelled working device 100. In the circumferential side surface of the self-propelled working device 100, one end in the forward direction is defined as the front end, and the other end in the backward direction is defined as the rear end. The self-propelled working device 100 also has two side surfaces connecting the top and bottom, which are referred to as the first side surface and the second side surface, respectively.

[0064] When the self-propelled work equipment 100 is located on the ground, the ways in which the subject to be driven can climb onto the self-propelled work equipment 100 include: Please refer to Figure 1 Path 1 - The subject to be driven climbs from the front walking wheel assembly 21 (e.g., casters) and the bottom of the self-propelled working device 100 to a position near the bottom of the peripheral side of the self-propelled working device 100 (see...). Figure 1 (As indicated by the arrow in ①); please refer to Figure 3 Route 2 - The subject to be driven climbs onto rocks, steps, or walls near the self-propelled working equipment 100 to a position near the top of the self-propelled working equipment 100 (see...). Figure 3 (As indicated by arrow ② in the middle); please refer to Figure 3 Path 3 - The main body to be driven over climbs to the periphery of the self-propelled working equipment 100 near the top via the walking wheels 222 (see...) Figure 3 (As indicated by arrow ③ in the middle); please refer to Figure 2 and Figure 3 Path 4 - The subject to be driven climbs to the periphery of the self-propelled working device 100 near the top via the connection structure between the walking wheels and the body shell 11 (first connection structure 212 or second connection structure 222) (see Figure 2 and Figure 3 (As indicated by arrow ④ in the middle).

[0065] Please see Figures 4-7 The protective device 40 is disposed around the side of the fuselage body 10. In other words, the protective device 40 is located at least on the side of the fuselage body 10.

[0066] The area formed by the protective device 40 surrounding the surface of the main body 10 is the protective area 13. It should be noted that the side of the main body 10 can be the circumferential side of the aforementioned self-propelled working device 100.

[0067] In the first alternative implementation, please refer to Figure 1 and Figure 4The protective device 40 is disposed around the peripheral side of the fuselage body 10 and near the bottom. In other words, the protective device 40 is located at least along the peripheral side of the fuselage body 10 and near the bottom. For example... Figure 4 The position indicated by S1 in the diagram.

[0068] The area formed by the protective device 40 surrounding the surface of the main body 10 is the protective area 13. It should be noted that the peripheral side of the main body 10 can be the peripheral side of the aforementioned self-propelled working device 100; the bottom of the main body 10 can be the bottom of the aforementioned self-propelled working device 100.

[0069] This embodiment effectively avoids a subject that is crawling along path 1 (from the front wheel assembly 21, the bottom of the self-propelled working device 100 to the bottom of the peripheral side of the self-propelled working device 100) by surrounding the protective device 40 on the periphery of the main body 10 and near the bottom. When the subject crawls along path 1 to the bottom of the peripheral side of the self-propelled working device 100, it encounters the protective device 40. The protective device 40 provides electrical stimulation by releasing a small current or by physical stimulation by setting spikes to block the subject from continuing to move forward. This causes the subject to change its direction of movement when it comes into contact with the protective device 40, preventing it from entering the protected area 13. This also prevents the protected component 12 from being blocked by the subject or affected by the mucus secreted by the subject, giving the self-propelled working device 100 better avoidance and self-protection functions and improving the reliability of the self-propelled working device 100.

[0070] Optionally, when the subject to be avoided climbs along path 2 (the subject to be avoided climbs onto the periphery of the self-propelled working device 100 near the top via stones, steps, or walls near the self-propelled working device 100), along path 3 (the subject to be avoided climbs onto the periphery of the self-propelled working device 100 near the top via the rear wheels 221), or along path 4 (the subject to be avoided climbs onto the periphery of the self-propelled working device 100 near the top via the first connecting structure 212 or the second connecting structure 222), it may directly cross the protective device 40 provided in the first optional embodiment. Based on this, this application also provides the following layout position of the protective device 40.

[0071] In the second alternative implementation, please refer to Figure 2 , Figure 3 and Figure 5The protective device 40 is positioned around the side of the main body 10 and above the aforementioned first connecting structure 212 and second connecting structure 222. When the object to be avoided climbs along the first connecting structure 212 or the second connecting structure 222 (path 4) to the periphery of the self-propelled working device 100, it will encounter the protective device 40. The protective device 40 provides electrical stimulation by releasing a small current or by physical stimulation by setting spikes, etc., to block the object to be avoided from continuing to move forward. This causes the object to be avoided to change its direction of movement when it comes into contact with the protective device 40, preventing it from entering the protected area 13. This prevents the protected component 12 from being blocked by the object to be avoided or affected by the mucus secreted by the object to be avoided, thus giving the self-propelled working device 100 better avoidance and self-protection functions and improving the reliability of the self-propelled working device 100.

[0072] Further optional information can be found in [link to relevant documentation]. Figure 5 The protective device 40 is located on the side of the main body 10 and is higher than the aforementioned front and rear wheels 211 and 221. When the body being avoided climbs along the rear wheel 221 (path 3) to the periphery of the nearby self-propelled work equipment 100, it will encounter the protective device 40. The protective device 40 provides electrical stimulation by releasing a small current or by physical stimulation such as setting spikes to block the body being avoided from continuing to move forward. This causes the body being avoided to change its direction of movement when it comes into contact with the protective device 40, preventing it from entering the protected area 13. This also prevents the protected component 12 from being blocked by the body being avoided or affected by the mucus secreted by the body being avoided, thus giving the self-propelled work equipment 100 better avoidance and self-protection functions and improving the reliability of the self-propelled work equipment 100.

[0073] Since the protective device 40 in this embodiment is arranged around the periphery of the main body 10, when the subject to be avoided climbs along path 2 (the subject to be avoided passes through rocks, steps or walls near the self-propelled working device 100) to the periphery of the self-propelled working device 100, it will encounter the protective device 40. The protective device 40 provides electrical stimulation by releasing a small current or by setting up physical stimulation such as spikes to block the subject to be avoided from continuing to move forward. This causes the subject to be avoided to change its direction of movement when it comes into contact with the protective device 40, preventing the subject to be avoided from entering the protected area 13. This also prevents the protected component 12 from being blocked by the subject to be avoided or affected by the mucus secreted by the subject to be avoided. This gives the self-propelled working device 100 a better avoidance function and self-protection function, improving the reliability of the self-propelled working device 100.

[0074] Further optional information can be found in [link to relevant documentation]. Figure 6 and Figure 7The protective device 40 can be positioned around the periphery of the main body 10 and near the top. Thus, the protective device 40 is positioned relatively high, and the protective area 13 formed by the protective device 40 is close to the top of the main body 10 (i.e., the top of the self-propelled working device 100). When the subject being avoided climbs along path 2 (passing over rocks, steps, or walls near the self-propelled working device 100) to the periphery of the self-propelled working device 100, even if the rocks, steps, or walls are high, the subject will not enter the protective area 13 formed by the protective device 40.

[0075] Please see Figure 2 and Figure 3 The protective device 40 can also be disposed around the top of the fuselage body 10, and the top of the fuselage body 10 is provided with the component 12 to be protected. By disposing of the protective device 40 around the top of the fuselage body 10, the component 12 to be protected on the top can be protected.

[0076] Optionally, the protective device 40 can also be disposed around the top and sides of the main body 10. This embodiment provides double protection for the top component 12 by providing one protective device 40 around the side of the main body 10 and another protective device 40 around the top of the main body 10. This effectively protects snails that climb onto the main body 10 via the aforementioned paths 1, 2, 3, and 4.

[0077] The following embodiments of this application provide specific examples illustrating the structure of the component to be protected 12 and the location of the protective device 40.

[0078] Optional, please refer to Figure 1 and Figure 2 At least one component 12 to be protected includes a sensor module 123. The protective device 40 surrounds the periphery of the sensor module 123. The sensor module 123 includes, but is not limited to, a sensing module 121. The sensing module 121 includes, but is not limited to, at least one of a visual sensor, an ultrasonic sensor, a lidar, a rain detector, and a humidity sensor.

[0079] This embodiment sets up a protective device 40 around the sensor module 123, so that the sensor module 123 is located within the protective area 13, preventing the subject to be driven from entering the protective area 13. This avoids the sensor module 123 being blocked by the subject to be driven or affected by the mucus secreted by the subject, thus preventing inaccurate detection and improving the detection accuracy and reliability of the self-propelled working device 100.

[0080] Optionally, the sensor module 123 is located at the top of the fuselage body 10 and / or the rear of the fuselage body 10. Specifically, the following embodiments are included:

[0081] Please see Figure 2 The sensor module 123 is located on the top of the main body 10. The sensor module 123 includes at least one of a vision sensor, an ultrasonic sensor, a lidar, a rain detector, and a humidity detector. The protective device 40 is disposed around the top of the main body 10 and surrounds the periphery of at least one of the sensor modules 123, such as the vision sensor, ultrasonic sensor, lidar, rain detector, and humidity detector, to effectively protect at least one of the vision sensor, ultrasonic sensor, lidar, rain detector, and humidity detector from being blocked by the subject to be avoided or affected by the mucus secreted by the subject to be avoided.

[0082] Please see Figure 1 The sensor module 123 is located at the rear of the main body 10, and includes an infrared sensor, etc. A protective device 40 is disposed around the rear of the main body 10 and surrounds the sensor module 123, including the infrared sensor, to effectively protect the infrared sensor and prevent at least one of them from being blocked by the subject to be avoided or affected by the mucus secreted by the subject to be avoided.

[0083] Please see Figure 1 and Figure 2 The sensor module 123 is located at the top and rear of the main body 10. The sensor module 123 includes at least one of a visual sensor, an ultrasonic sensor, a lidar, a rain detector, a humidity detector, and an infrared sensor. The protective device 40 is disposed around the top and rear of the main body 10 and surrounds the sensor module 123, including the visual sensor, ultrasonic sensor, lidar, rain detector, humidity detector, and infrared sensor, to effectively protect the visual sensor, ultrasonic sensor, lidar, rain detector, humidity detector, and infrared sensor from being blocked by the subject to be avoided or affected by the mucus secreted by the subject to be avoided.

[0084] Optional, please refer to Figure 1The at least one component 12 to be protected includes a charging assembly 122. The protective device 40 is disposed around the periphery of the charging assembly 122. The charging assembly 122 includes, but is not limited to, a charging interface, charging electrodes, or charging terminals.

[0085] This embodiment sets up a protective device 40 around the charging components 122, such as the charging interface, charging electrodes, or charging terminals, so that the charging components 122 are located within the protective area 13. This prevents the subject to be driven from entering the protective area 13, thereby preventing the charging components 122 from being blocked by the subject to be driven or affected by the mucus secreted by the subject, which could lead to problems such as low charging efficiency, inability to charge, or short circuits. This improves the charging protection capability of the self-propelled working device 100.

[0086] Optionally, the charging component 122 is located at the rear, front, or side of the main body 10. Specifically, the following embodiments are included:

[0087] Charging components 122, such as charging interfaces, charging electrodes, or charging terminals, are located at the rear of the main body 10. A protective device 40 surrounds the rear of the main body 10 and encloses the charging components 122, such as charging interfaces, charging electrodes, or charging terminals, to effectively protect them from being blocked by the target body or corroded by the secretions of the target body, thereby improving the charging protection capability of the self-propelled working device 100.

[0088] Charging components 122, such as charging interfaces, charging contacts, or charging terminals, are located at the front end of the main body 10. A protective device 40 surrounds the front end of the main body 10 and encloses the charging components 122, such as charging interfaces, charging contacts, or charging terminals, to effectively protect them from being blocked by the target body or corroded by the secretions of the target body, thereby improving the charging protection capability of the self-propelled working device 100.

[0089] Charging components 122, such as charging interfaces, charging electrodes, or charging terminals, are located on the sides of the main body 10 (including the first side and / or the second side). A protective device 40 is disposed around the sides of the main body 10 and surrounds the charging components 122, such as charging interfaces, charging electrodes, or charging terminals, to effectively protect them from being blocked by the target body or corroded by the secretions of the target body, thereby improving the charging protection capability of the self-propelled working device 100.

[0090] Optional, please refer to Figure 8 The protective device 40 includes a metal electrode 41. The metal electrode 41 is a copper foil, copper layer, or copper sheet surrounding the component 12 to be protected. For example, the metal electrode 41 is a closed ring, a near-ring curve, or a multi-segment arc shape. Generally, the gap between adjacent arc shapes is less than or equal to 5 mm to prevent snails from crawling into the protected area 13 through the gaps between adjacent arc shapes. Alternatively, the metal electrode 41 can be in a dot matrix pattern. The gap between the dot matrix patterns is less than or equal to 5 mm to prevent snails from crawling into the protected area 13 through the gaps between the dot matrix patterns.

[0091] For example, the metal electrode 41 is a copper foil, copper layer, or copper sheet.

[0092] Optionally, the copper foil has double-sided adhesive and can be directly pasted to the rear of the main body 10 and surrounded around the charging assembly 122. Further optionally, the metal electrode 41 can also be detachably connected to the main body 10 via a mounting part using magnetic attraction, snap-fit, or other means.

[0093] When a snail crawls onto the surface of a copper foil, its mucus acts as a conductive medium, creating a simple electrochemical battery between the copper foil and its environment.

[0094] When the snail's mucus comes into contact with the copper foil surface, the metal atoms in the copper release electrons and are oxidized into copper ions (Cu2+). This process reacts with the snail's mucus, creating a weak electric current. The specific anode reaction of the galvanic cell (copper oxidation) is as follows:

[0095] Cu→Cu 2+ +2e -

[0096] The specific cathode reaction formula of the galvanic cell is as follows:

[0097] O 2- +4H + +4e - →2H2O

[0098] These reactions, aided by the mucus, form a closed circuit, resulting in the generation of a tiny electric current. This current stimulates the snail's body, causing it to change its crawling direction and move away from the protective area 13. Furthermore, the generated copper ions (Cu2+) also prompt the snail to avoid the copper foil surface, further driving it away from the protective area 13.

[0099] The protective device 40 provided in this embodiment does not require a power supply and is a passive protective device 40, which saves energy; moreover, it does not require electrical control and will not pose a risk to the user.

[0100] Optionally, the protective device 40 includes two metal electrodes 41 with different activities. The two metal electrodes 41 are respectively disposed around the periphery of the component 12 to be protected and are spaced apart. One type of metal electrode 41 is located on the side closer to the component 12 to be protected, and the other type of metal electrode 41 is located on the side farther away from the component 12 to be protected.

[0101] Both metal electrodes 41 are highly active. When the snail is simultaneously in contact with these two metal electrodes, they act as the positive and negative electrodes of the battery, respectively. The mucus secreted by the snail acts as an electrolyte, thus forming a current between the two metal electrodes. This current is the repulsion current. The repulsion current stimulates the snail's body, causing it to change its crawling direction and move away from the protected area 13.

[0102] Please see Figure 9 These two metal electrodes with different activities are defined as a first metal electrode 411 and a second metal electrode 412, respectively. The first metal electrode 411 includes, but is not limited to, one of an aluminum electrode, a copper electrode, an iron electrode, a zinc electrode, and a magnesium electrode, while the second sub-metal trace layer includes another of an aluminum electrode, a copper electrode, an iron electrode, a zinc electrode, and a magnesium electrode. Further optionally, the valence state of the first metal electrode 411 is different from that of the second metal electrode 412. For example, the first metal electrode 411 is a divalent metal, and the second metal electrode 412 is a trivalent metal, to facilitate the formation of the positive and negative electrodes of the battery. As a further example, the first metal electrode 411 is a copper electrode, and the second metal electrode 412 is an iron electrode.

[0103] Optionally, the first metal electrode 411 is at least one of the following: straight line, bent line, curved line, sawtooth line, arc, ring, line array, dot array, etc. Optionally, the second metal electrode 412 is at least one of the following: straight line, bent line, sawtooth line, curved line, arc, ring, line array, dot array, etc.

[0104] Optionally, the number of first metal electrodes 411 may be one or more. The number of second metal electrodes 412 may be one or more.

[0105] Optionally, the distance between the first metal electrode 411 and the second metal electrode 412 is greater than or equal to a first preset distance and less than or equal to a second preset distance.

[0106] For example, the first preset spacing is 0.1cm, and the second preset spacing is 1cm. If the spacing between the first metal electrode 411 and the second metal electrode 412 is too large, some small snails may not be able to contact the first metal electrode 411 and the second metal electrode 412 at the same time, which will result in the first metal electrode 411 and the second metal electrode 412 not forming a conductive circuit. Some small snails will not generate a repellent current when passing through the protective device 40, which will prevent the protective device 40 from blocking the protected component 12 or causing the secreted mucus to affect the protected component 12.

[0107] For example, the first preset spacing is 0.1cm, and the second preset spacing is 0.5cm. Generally, the width of a snail is about 0.6cm. By setting the spacing between the first metal electrode 411 and the second metal electrode 412 to be greater than or equal to 0.1cm and less than or equal to 0.5cm, the snail will still come into contact with both the first metal electrode 411 and the second metal electrode 412 even if it crawls along the gap between them. This prevents the snail from crawling along the gap and allows it to be driven away from the protective device 40 as early as possible, further reducing the probability of the snail entering the protective area 13 and improving the snail avoidance rate.

[0108] When there is only one type of metal electrode 41, there are multiple metal electrodes 41, and the distance between two adjacent metal electrodes 41 is less than or equal to the second preset distance.

[0109] When there are multiple first metal electrodes 411 and multiple second metal electrodes 412, the multiple first metal electrodes 411 and multiple second metal electrodes 412 are arranged alternately in sequence to form multiple electrical stimulation protective walls.

[0110] For another example, please refer to Figure 10 The first metal electrode 411 and the second metal electrode 412 are arranged in a crisscross pattern and are electrically isolated from each other.

[0111] Optionally, each metal electrode may be in the form of, but is not limited to, a metal layer, a metal sheet, a metal film, a metal wire, or a metal mesh.

[0112] For example, please see Figure 9 The first metal electrode 411 is annular and is arranged around the periphery of the component 12 to be protected, and the second metal electrode 412 is annular and is arranged around the periphery of the component 12 to be protected.

[0113] Further, please refer to Figure 8 and Figure 11 The first metal electrode 411 or the second metal electrode 412 has a solid annular structure or an annular mesh structure. The first metal electrode 411 includes one of an aluminum electrode, a copper electrode, an iron electrode, a zinc electrode, and a magnesium electrode, and the second metal electrode 412 includes another of an aluminum electrode, a copper electrode, an iron electrode, a zinc electrode, and a magnesium electrode.

[0114] Further optional information can be found in [link to relevant documentation]. Figure 9 The second metal electrode 412 comprises an aluminum electrode or an iron electrode, and the first metal electrode 411 comprises a copper electrode, a magnesium electrode, or a zinc electrode; alternatively, the second metal electrode 412 comprises a copper electrode or a magnesium electrode, and the first metal electrode 411 comprises a zinc electrode. The first metal electrode 411 has higher metal activity than the second metal electrode 412. Thus, as the snail approaches the component 12 to be protected, metal activity increases, the reaction between the snail and the metal electrode becomes stronger, and the repulsion current is greater. Even if some large snails cross the outer metal electrode, they will be stimulated by the repulsion current generated by the inner metal electrode, thereby repelling snails of different sizes.

[0115] This application does not specify the manner in which the protective device 40 is located on the fuselage body 10.

[0116] Optionally, the protective device 40 may be coated or printed on the main body 10.

[0117] Optionally, the protective device 40 can be attached to the main body 10 of the machine body by means of an adhesive layer.

[0118] Optionally, the protective device 40 is detachably connected to the main body 10. More specifically, the protective device 40 can be detachably connected to the main body 10 by means of magnetic attraction, insertion, snap-fit, etc.

[0119] Further optional information can be found in [link to relevant documentation]. Figure 12 The surface of the fuselage body 10 is provided with a receiving groove 102. The receiving groove 102 is generally annular. The protective device 40 includes a mounting part 104. The mounting part 104 is embedded in the receiving groove 102 and at least partially protrudes from the surface of the fuselage body 10.

[0120] The mounting portion 104 includes, but is not limited to, an insulating plate, and the protective device 40 is made of a conductive material, such as a first metal electrode 411 and a second metal electrode 412. The protective device 40 is disposed on the insulating plate and is mounted to the receiving groove 102 via the insulating plate.

[0121] This embodiment provides a receiving groove 102 to facilitate the installation of the protective device 40.

[0122] In other embodiments, the surface of the main body 10 may not have the receiving groove 102.

[0123] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application, and such improvements and refinements are also considered to be within the protection scope of this application.

Claims

1. A self-propelled working device, characterized in that, include: The fuselage body has at least one component to be protected on its surface. A walking device is located at the bottom of the main body of the machine and is used to drive the self-propelled working equipment to move. The working device is mounted on the main body of the machine and is used to perform preset tasks; and A protective device includes at least one metal electrode disposed on the main body of the device. When the subject to be avoided comes into contact with the metal electrode, the subject to be avoided and the metal electrode form a galvanic cell to apply electrical stimulation to the subject to be avoided.

2. The self-propelled working device according to claim 1, characterized in that, The protective device is located on the side of the main body of the fuselage.

3. The self-propelled working device according to claim 1, characterized in that, The protective device is located on the top of the fuselage body.

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

5. The self-propelled working device according to claim 4, characterized in that, The sensor module is located at the top of the fuselage body and / or the rear of the fuselage body.

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

7. The self-propelled working device according to claim 6, characterized in that, The charging component is located at the rear or side of the main body of the device.

8. The self-propelled working device according to claim 1, characterized in that, The protective device includes a metal electrode, which is a copper foil, copper layer, or copper sheet surrounding the component to be protected.

9. The self-propelled working device according to claim 1, characterized in that, The protective device includes two metal electrodes with different activities. The two metal electrodes are respectively arranged around the periphery of the component to be protected and are spaced apart. One of the metal electrodes is located on the side closer to the component to be protected, and the other metal electrode is located on the side farther away from the component to be protected.

10. The self-propelled working device according to claim 1, characterized in that, The protective device is detachably connected to the main body of the fuselage.

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