Operating system, self-moving device and powered trailer

Abstract

The application provides a work system, a self-moving device and a power trailer; and is applied to the technical field of robots; the work system comprises the self-moving device, the power trailer and a functional module; the power trailer is detachably connected with the self-moving device and detachably carries the functional module; wherein, the self-moving device comprises a first interface; the power trailer comprises a second interface and a third interface; the second interface of the power trailer is detachably connected with the first interface of the self-moving device; and the third interface of the power trailer is used for being detachably connected with any one of a plurality of functional modules.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to an operating system, self-moving equipment, and powered trailer. Background Technology

[0002] In recent years, with the development of automation and intelligent technologies, self-moving devices have been widely used in home and commercial settings. Especially in the field of yard care, intelligent lawnmowers are gradually evolving from single-function lawnmowers to multi-functional operating systems to meet diverse user needs.

[0003] In related technologies, multiple functional modules are directly installed on the self-moving device itself. However, when functional modules are integrated into the self-moving device, it is often difficult to adapt to multiple types of functional modules due to limitations in device capacity and structural design. Summary of the Invention

[0004] This application provides an embodiment of an operating system, a self-moving device, and a powered trailer.

[0005] The technical solution of this application is implemented as follows:

[0006] The powered trailer is detachably connected to the self-moving device and can be detachably loaded with functional modules.

[0007] The self-moving device includes a first interface; the powered trailer includes a second interface and a third interface; the second interface of the powered trailer and the first interface of the self-moving device are detachably connected; the third interface of the powered trailer is used to detachably connect with any one of the various functional modules.

[0008] In the above scheme, the operating modes of the operating system include: a first mode and a second mode; wherein,

[0009] In the first mode, the powered trailer and the self-moving device form a multi-drive system, and the powered trailer carries any one of the functional modules. The working system controls the functional module to perform operations, or controls the functional module and the self-moving device to perform operations.

[0010] In the second mode, the powered trailer and the self-moving device form a multi-drive system, and the powered trailer does not carry the functional module. The powered trailer is used to provide power and / or electrical energy to the self-moving device, and the operating system controls the self-moving device to perform operations.

[0011] In the above scheme, the self-moving device further includes a first walking component and a working component, wherein the working component performs a different working task than any of the multiple functional modules.

[0012] The powered trailer includes a second traveling assembly and a load-bearing section, the load-bearing section being detachably capable of carrying the functional modules.

[0013] In the above scheme, the first interface includes a first signal interface, the second interface includes a second signal interface, and the third interface includes a third signal interface;

[0014] The first signal interface and the second signal interface are detachably connected, and the third signal interface and the functional module are detachably connected.

[0015] The self-moving device controls the powered trailer and the functional module through the first signal interface, the second signal interface, and the third signal interface.

[0016] In the above scheme, the self-moving device includes a first control component, the powered trailer includes a second control component, and the functional module includes a third control component;

[0017] The first control component is connected to the first signal interface, the second control component is connected to the second signal interface and the third signal interface, and the third control component is connected to the third signal interface.

[0018] In the above scheme, the self-moving device includes a first power component; the powered trailer includes a second power component; and the functional module includes a third power component.

[0019] The first power component is used to drive one or more wheels of the self-moving device to rotate or steer;

[0020] The second power unit is used to drive one or more wheels of the powered trailer to rotate and / or steer;

[0021] The third power component is used to drive the functional module to perform the work task.

[0022] In the above scheme,

[0023] The self-moving device includes a first battery, and the powered trailer includes a second battery;

[0024] The first battery powers the self-moving device, and the second battery powers the powered trailer and the functional modules; or...

[0025] The self-moving device, the powered trailer, and the functional module share the first battery and the second battery.

[0026] In the above scheme, the second battery is detachably mounted on the power trailer; the second battery includes: a first power interface and a second power interface;

[0027] The first power interface is used to connect to the first battery, various components of the powered trailer, and various components of the functional module, respectively.

[0028] The second power interface is used to connect to an external power source.

[0029] In the above scheme, the first interface includes a third power interface, the second interface includes a fourth power interface, and the third interface includes a fifth power interface.

[0030] The first battery is connected to the third power interface; the fourth power interface and the fifth power interface are respectively connected to the first power interface of the second battery;

[0031] The operating system shares the power of the first battery and the second battery through the third power interface and the fourth power interface.

[0032] This application embodiment also provides a powered trailer, which is detachably connected to a self-moving device and detachably carries a functional module;

[0033] The powered trailer includes a second interface and a third interface; the self-moving device includes a first interface; the second interface of the powered trailer and the first interface of the self-moving device are detachably connected; the third interface of the powered trailer is used to detachably connect with any one of a variety of functional modules.

[0034] This application embodiment also provides a self-moving device, which is detachably connected to a powered trailer;

[0035] The self-moving device includes a first interface, and the powered trailer includes a second interface and a third interface; the second interface of the powered trailer and the first interface of the self-moving device are detachably connected; the third interface of the powered trailer is used to detachably connect with any one of a variety of functional modules.

[0036] This application provides a working system comprising: a powered trailer and a self-moving device detachably connected, and detachably carrying functional modules; wherein the self-moving device includes a first interface; the powered trailer includes a second interface and a third interface; the second interface of the powered trailer and the first interface of the self-moving device are detachably connected; the third interface of the powered trailer is used for detachable connection with any one of a variety of functional modules. Thus, by detachably connecting the powered trailer and the self-moving device to form a multi-drive system, different functional modules can be flexibly adapted, thereby expanding its working capabilities and improving the system's practicality. Simultaneously, because the powered trailer has auxiliary power, it can enhance the overall system's ability to overcome obstacles and its maneuverability when carrying functional modules, without affecting its original mobility, thus improving practicality in complex working environments. Attached Figure Description

[0037] Figure 1 Schematic diagram of the operating system provided in the embodiments of this application Figure 1 ;

[0038] Figure 2 Schematic diagram of the operating system provided in the embodiments of this application Figure 2 ;

[0039] Figure 3 Schematic diagram of the operating system provided in the embodiments of this application Figure 3 ;

[0040] Figure 4 Schematic diagram of the operating system provided in the embodiments of this application Figure 4 ;

[0041] Figure 5 A schematic diagram of the client interface provided in an embodiment of this application;

[0042] Figure 6 Schematic diagram of the operating system provided in the embodiments of this application Figure 5 ;

[0043] Figure 7 Schematic diagram of the operating system provided in the embodiments of this application Figure 6 ;

[0044] Figure 8 Schematic diagram of the operating system provided in the embodiments of this application Figure 7 ;

[0045] Figure 9 Schematic diagram of the operating system provided in the embodiments of this application Figure 8 ;

[0046] Figure 10 Schematic diagram of the operating system provided in the embodiments of this application Figure 9 ;

[0047] Figure 11 Schematic diagram of the operating system provided in the embodiments of this application Figure 10 ;

[0048] Figure 12 This is a schematic diagram of the structure of the self-moving device and the powered trailer provided in the embodiments of this application. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application are further described in detail below with reference to the accompanying drawings and embodiments. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0050] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0051] If the application documents contain similar descriptions such as "first / second", the following explanation shall be added: In the following description, the terms "first / second / third" are used only to distinguish similar objects and do not represent a specific order of objects. It is understood that "first / second / third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0052] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0053] Among related technologies, intelligent lawn mowing robots are rapidly penetrating the global market thanks to rapid technological development. At the same time, their product form is gradually expanding from a single lawn mowing function to a multi-functional robot that can perform more garden care functions, helping users solve other needs besides lawn mowing, such as leaf collection, fertilization and sowing, and further freeing up users' hands.

[0054] Currently, solutions for expanding lawn care through lawn mowing robots typically take the following form: functional modules are directly installed on the robot body.

[0055] Disadvantages of this solution:

[0056] ① The robot body has limited load-bearing capacity, which will significantly limit the weight of other functional modules; and the installation location needs to be strictly limited to certain areas to ensure the balance of the vehicle body and prevent it from tipping over.

[0057] ② The functional module solutions of different types vary greatly, and the robot cannot meet the diverse needs for accessory installation and adaptation.

[0058] To address the aforementioned issues, this application proposes an operating system that incorporates a detachable powered trailer and various functional modules to construct a multi-drive system, enabling flexible combination and collaborative operation. This system can expand various lawn maintenance functions while maintaining its original mobility and endurance, and improve energy utilization through a power-sharing mechanism. Furthermore, when not equipped with functional modules, the powered trailer enhances the robot's ability to overcome obstacles and its endurance, significantly improving the system's versatility and practicality.

[0059] In this embodiment of the application, the self-moving device in the working system is connected to the powered trailer in a detachable manner. Figure 1 This is a schematic diagram of the operating system provided in the embodiments of this application. The specification will be combined with... Figure 1 The structure of the operating system is described in detail.

[0060] This application provides an operating system 400, including: a self-moving device 100, a powered trailer 200, and a functional module 300; the powered trailer 200 is detachably connected to the self-moving device 100 and detachably carries the functional module 300;

[0061] The self-moving device 100 includes a first interface 101; the powered trailer 200 includes a second interface 201 and a third interface 202; the second interface 201 of the powered trailer 200 and the first interface 101 of the self-moving device 100 are detachably connected; the third interface 202 of the powered trailer 200 is used to detachably connect with any one of the multiple functional modules 300.

[0062] The self-moving device 100 refers to an intelligent robot body with autonomous mobility, such as a lawnmower robot. The self-moving device 100 can plan its path and avoid obstacles based on environmental information, and control its operational components to perform tasks. The self-moving device 100 may include core components such as a control board, battery, sensors, and a primary power unit, responsible for the operation scheduling and task execution of the multi-drive system. For example, the self-moving device 100 could be a lawnmower robot, a snowplow robot, a fertilizer robot, or a leaf-collecting robot.

[0063] The powered trailer 200 is a detachable power auxiliary device connected to the self-moving device 100, forming a multi-drive system with the self-moving device 100. The powered trailer 200 possesses certain driving and control capabilities, enhancing the mobility of the self-moving device 100 (such as climbing hills and getting out of trouble), and serving as a platform and power supply center for the functional module 300. The powered trailer 200 includes components such as a second power unit, a control board, and a battery, providing auxiliary power without relying on the traction of the self-moving device 100, thereby improving the stability and operational efficiency of the multi-drive system.

[0064] The multi-drive system is a composite drive system consisting of a self-moving device 100 and a powered trailer 200, which work together to achieve synchronized or cooperative movement. The multi-drive system improves the mobility and operational stability of the self-moving device 100. For example, in complex terrain, the second power unit of the powered trailer 200 can work in conjunction with the self-moving device 100 to prevent slippage or imbalance, thus ensuring stable operation of the multi-drive system. For instance, the drive system of the powered trailer 200 may include a servo motor.

[0065] Functional module 300 is a detachable extension unit mounted on the powered trailer 200, used to perform specific tasks, such as leaf collection, fertilization, weeding, and sowing for lawn maintenance. The tasks performed by this functional module 300 differ from those performed by the work modules on the self-moving device 100. Each functional module 300 may have an independent control board module (e.g., a control board), a third power component, and a task drive component. Functional module 300 does not have its own walking mechanism and relies on the powered trailer 200 for mobility support. By replacing different functional modules 300, the operating system can flexibly expand various operational functions without changing the self-moving device 100 itself, significantly improving the product's versatility and market adaptability. It should be understood that functional module 300 may also be equipped with a fourth interface (not shown in the figure) adapted to the third interface.

[0066] The detachable interface types corresponding to the first interface 101, second interface 201, third interface 202, and fourth interface mainly include mechanical interfaces, power interfaces, and signal interfaces. These designs aim to achieve rapid maintenance, functional expansion, and reliable operation. The mechanical interface is used to connect two detachably connected devices. For example, the mechanical interfaces in the first interface 101 and second interface 201 are used to detachably connect the self-moving device 100 and the powered trailer 200. The power interface is used to transmit electrical energy. The signal interface is used to transmit data signals. For example, the signal interface is used to transmit status information of the powered trailer 200 and / or the functional module 300. This status information includes one or more of the following: power information, size information, operating status information, device-related information, and collected information.

[0067] In this embodiment of the application, by setting a detachable connection between the first interface 101 and the second interface 201, and a detachable connection between the third interface 202 and the functional module 300, flexible combination and coordinated control between the self-moving device 100, the powered trailer 200 and the functional module 300 are realized.

[0068] The operating system 400 provided in this embodiment includes: a self-moving device 100, a powered trailer 200, and functional modules; the self-moving device 100 includes a first interface 101; the powered trailer 200 includes a second interface 201 and a third interface 202; the second interface 201 of the powered trailer 200 and the first interface 101 of the self-moving device 100 are detachably connected; the third interface 202 of the powered trailer 200 is used to detachably connect with any one of the various functional modules 300; the powered trailer 200 and the self-moving device 100 form a multi-drive system, and can detachably carry any one of the functional modules 300; the self-moving device 100 is used to control the operation of the powered trailer 200 and the functional modules 300 to achieve different functions. Thus, by detachably connecting the powered trailer 200 and the self-moving device 100 to form a multi-drive system, the self-moving device 100 does not need to carry functional modules, thereby flexibly adapting to different functional modules 300, expanding its operating capabilities, and improving the system's practicality. Meanwhile, since the power trailer 200 has auxiliary power, it can enhance the overall system's ability to get out of trouble and its maneuverability when equipped with the functional module 300, without affecting the original walking ability, thus improving its practicality when facing complex working environments.

[0069] In this embodiment of the application, the operating modes of the operating system include: a first mode and a second mode;

[0070] Combination Figure 1 This is a schematic diagram of the operating system provided in the embodiments of this application, which will be combined with... Figure 1 Explanation:

[0071] In the first mode, the powered trailer 200 and the self-moving device 100 form a multi-drive system, and the powered trailer 200 carries any one of the functional modules 300; and supplies power to any one of the carried functional modules 300; the operating system controls the functional modules 300 to perform operations, or controls the functional modules 300 and the self-moving device 100 to perform operations.

[0072] In this embodiment of the application, the functional module 300 carried by the power trailer 200 may include any one of the following: leaf collection module, fertilization module, weeding module, robotic arm, sweeping module, blowing module, edge trimming module, and soil testing module.

[0073] It should be understood that the functional modules may also include other functional modules for outdoor courtyard and garden maintenance, but this application embodiment does not limit this.

[0074] In this embodiment, the powered trailer 200 not only provides auxiliary driving capability but also supplies power to the functional module 300, ensuring its normal operation. The powered trailer 200 can also serve as a communication relay station, feeding back the status information of the functional module 300 to the self-moving device 100 for centralized management and user interaction. The self-moving device 100 can control the movement of the powered trailer 200, control the operation of the functional module 300 carried by the powered trailer 200, or control the operation of the functional module 300 and the self-moving device 100, thereby achieving capability expansion.

[0075] Combination Figure 2 This is a schematic diagram of the operating system provided in the embodiments of this application, which will be combined with... Figure 2 Explanation:

[0076] In the second mode, the powered trailer 200 and the self-moving device 100 form a multi-drive system, and the powered trailer 200 does not carry the functional module 300. The powered trailer 200 is used to provide power and / or electrical energy to the self-moving device 100, and the working system controls the self-moving device 100 to perform operations.

[0077] In this embodiment, the second mode refers to the self-moving device 100 and the powered trailer 200 working collaboratively, but the powered trailer 200 does not carry any additional functional modules. In the second mode, the powered trailer 200 provides additional power to the self-moving device 100, enhancing its mobility, such as improving its climbing ability and ability to get out of trouble. Simultaneously, the powered trailer 200 can be equipped with a battery to power the self-moving device 100 itself, thereby extending its battery life. In the second mode, the control board of the self-moving device 100 is responsible for unified control of path planning, obstacle avoidance, positioning, and other functions. The second mode is suitable when only the functions of the self-moving device 100's own built-in operating modules need to be executed, and can also be used to improve the basic performance of the self-moving device itself.

[0078] Combination Figure 3 This is a schematic diagram of the operating system provided in the embodiments of this application, which will be combined with... Figure 3 Explanation:

[0079] In this embodiment of the application, the self-moving device 100 further includes a first walking component 102 and a work component 103, wherein the work component 103 performs a different work task than any of the multiple functional modules 300.

[0080] The powered trailer 200 includes a second walking assembly 203 and a load-bearing part 204, the load-bearing part 204 being detachably capable of carrying the functional module 300.

[0081] The operation component 103 can be any one of the following: a lawn mowing component, a snow sweeping component, a fertilizing component, or a leaf collection component.

[0082] The first walking component 102 refers to the component in the self-moving device 100 used to realize the walking function of such device, such as drive wheels; the second walking component 203 refers to the component on the powered trailer 200 used to assist walking.

[0083] The support unit 204 is used to support the detachably connected functional module 300. The shape of the support unit 204 matches the shape of the functional module 300 on the side closest to the powered trailer. The support unit 204 may also be provided with a fixing component for securing the functional module 300. After the functional module 300 is connected to the powered trailer 200, the user can manually adjust the fixing component to secure the functional module 300 to the powered trailer 200.

[0084] In this embodiment, the task performed by the task component 103 is different from that performed by any of the various functional modules 300. Thus, during operation of the task system, the self-moving device 100 and the functional modules can work together to execute two different tasks simultaneously, saving time spent performing multiple tasks on a single functional module for a given task area, thereby improving the efficiency of the task area.

[0085] Combination Figure 4 This is a schematic diagram of the operating system provided in the embodiments of this application, which will be combined with... Figure 4 Explanation:

[0086] In this embodiment of the application, the first interface 101 includes a first signal interface 1011, the second interface 201 includes a second signal interface 2011, and the third interface 202 includes a third signal interface 2021.

[0087] The first signal interface 1011 and the second signal interface 2011 are detachably connected, and the third signal interface 2021 and the functional module 300 are detachably connected;

[0088] The self-moving device 100 controls the powered trailer 200 and the functional module 300 through the first signal interface 1011, the second signal interface 2011 and the third signal interface 2021.

[0089] The self-moving device 100 is used to acquire status information corresponding to the powered trailer 200 and / or the functional module 300 respectively through the first signal interface 1011, the second signal interface 2011, and the third signal interface 2021, and to control the powered trailer 200 and the functional module 300 in response to the status information. The status information includes one or more of the following: power information, size information, working status information, equipment-related information, and collected information corresponding to the powered trailer 200 and the functional module 300 respectively. Specifically, the power information indicates the amount of power of the corresponding device (either the powered trailer 200 or the functional module 300). The working status information indicates whether the corresponding device is malfunctioning, its working duration, and its working log. The equipment-related information includes the device model, device category, and center of gravity of the corresponding device. The collected information can represent image information, environmental information, etc., collected by the corresponding device through its respective sensors (such as vision sensors, lidar, ultrasonic radar, millimeter-wave radar, etc.).

[0090] In this embodiment, the self-moving device 100 controls the powered trailer 200 and the functional module 300 through the first signal interface 1011, the second signal interface 2011, and the third signal interface 2021. This hierarchical communication and collaboration-based structured control method not only improves the system's controllability but also provides a solid foundation for future functional expansion and technological upgrades.

[0091] Combination Figure 4 This is a block diagram of the operating system provided in the embodiments of this application, which will be combined with... Figure 4 Explanation:

[0092] In this embodiment of the application, the status information may further include: first status information corresponding to the self-moving device 100, second status information corresponding to the powered trailer 200, and third status information corresponding to the functional module 300; the self-moving device 100 includes a first control component 104, the powered trailer 200 includes a second control component 205, and the functional module 300 includes a third control component 301.

[0093] The first control component 104 is connected to the first signal interface 1011, the second control component 205 is connected to the second signal interface 2012 and the third signal interface 2021, and the third control component 301 is connected to the third signal interface 2021.

[0094] The third control component 301 is used to send the acquired third state information to the second control component 205 through the third signal interface 2021;

[0095] The second control component 205 is used to send the acquired second status information and the third status information to the first control component 104 through the first signal interface 1011 and the second signal interface 2011;

[0096] The first control component 104 is used to acquire the second state information and the third state information, and adjust the operation planning path to obtain walking information in response to the first state information, the second state information, and the third state information, and interact with the client to obtain task information; wherein, the walking information is used to characterize one or more of the following: walking path, walking speed, turning position, turning direction, turning radius, and obstacle avoidance distance of the self-moving device 100 and the powered trailer 200. The task information is used to characterize one or more of the following: task area, task duration, and task frequency corresponding to the functional module 300.

[0097] The first control component 104 is used to send the walking information and task information to the second control component 205 through the first signal interface 1011 and the second signal interface 2011, so that the second control component 205 can control the power trailer 200 to move according to the walking information.

[0098] The second control component 205 is used to send the task information to the third control component 301 through the third signal interface 2021, so that the third control component 301 can control the operation of the functional module 300 according to the task information.

[0099] The first state information refers to the state information of the self-moving device 100 (such as a lawnmower robot) acquired by the first control component 104, including one or more of the self-moving device's battery level, size, operating status, equipment-related information, and collected information. The second state information is the state information of the powered trailer 200 acquired by the second control component 205, including one or more of the powered trailer 200's battery level, size, operating status, equipment-related information, and collected information. The third state information is the state information of the functional module 300 acquired by the third control component 301, including one or more of the functional module 300's battery level, size, operating status, equipment-related information, and collected information. The first, second, and third state information together constitute the basic data for the overall operating status of the work system, used for subsequent work planning and collaborative control. By integrating the first, second, and third state information, the first control component 102 can achieve global perception and intelligent scheduling of the entire work system.

[0100] The first control component 104 refers to any one of the main control board, control board, processor, or control chip of the self-moving device 100, and is responsible for coordinating the movement, obstacle avoidance, and path planning functions of the self-moving device 100. The second control component 205 is any one of the main control board, control board, processor, or control chip on the powered trailer 200, and mainly controls the drive, steering, and communication with other modules of the powered trailer 200. The third control component 301 is any one of the main control board, control board, processor, or control chip of the functional module 300, and is used to control the functional module 300 to perform specific tasks, such as fertilizing, weeding, sweeping, blowing, soil testing, and edge trimming (i.e., cutting grass at the boundary). The three control components are located in different physical units, but are linked together through a unified signal interface protocol and communication mechanism to build a distributed control system, thereby improving the flexibility and scalability of the entire system.

[0101] In this embodiment, the client refers to an application (APP) installed and run by the user through a mobile terminal (such as a smartphone, tablet, smartwatch, etc.). The APP can display the real-time status information of the self-moving device 100, the powered trailer 200, and the functional module 300, and allows the user to set and adjust the tasks of the functional module 300. Combined with... Figure 5 Users can see in the APP that the power trailer 200 is currently connected to the fertilization module and understand the current working status of the fertilization module (such as fertilizer balance, working time, etc.). Then, users can choose to start the fertilization function and set parameters such as fertilization area, fertilization frequency, and fertilization duration to obtain task information, and send the task information to the self-moving device 100.

[0102] The self-mobile device 100 can interact with the client through one or more wireless communication technologies such as Bluetooth, Wi-Fi, Near Field Communication (NFC), and infrared (IR), or through mobile communication networks (such as 3G, 4G, 5G, etc.). This application embodiment does not limit this.

[0103] The first control component 104 is also used to adjust the operation planning path according to the size information corresponding to the power trailer 200 and the functional module 300 respectively, so as to obtain the travel information;

[0104] The travel information is obtained by the first control component 104 after adjusting the default work planning path based on the dimensions of the powered trailer 200 and the functional module 300, respectively. For example, when the self-moving device 100 connects to the powered trailer 200 and the fertilization module, the overall size of the work system changes. At this time, the first control component 104 will automatically adjust the default work planning path to adapt to the motion characteristics of the work system, ensuring that the self-moving device 100 can smoothly execute new tasks while maintaining its original performance.

[0105] The travel information can also be that the first control component 104 automatically adjusts the default size parameters of the self-moving device 100 to the actual size of the self-moving device 100 plus the powered trailer 200 plus the functional module 300, and adaptively adjusts the default work planning path of the self-moving device 100 according to the actual size. When the self-moving device 100 is connected to the powered trailer 200 and the functional module 300, the overall size of the combined self-moving device 100 and the functional module 300 changes compared to the original self-moving device, such as an increase in length or a shift in the center of gravity. At this time, the first control component 104 will automatically identify the current connection status and recalculate the work planning path originally set based on the default size of the self-moving device 100 to travel information suitable for the current combination. For example, if the self-moving device 100 originally supports a minimum turning radius of 1.2 meters, after connecting to the powered trailer 200, the first control component 104 may automatically adjust the minimum turning radius to 1.6 meters to accommodate the greater turning space requirements, thereby ensuring the safety and feasibility of the path planning.

[0106] In this embodiment, the first control component 104 of the self-moving device 100 acquires the status information of the powered trailer 200 and the functional module 300 through the first signal interface 1011. The first control component 104 then obtains walking information and task information based on the acquired status information, and transmits the walking information and task information to the second control component 205 of the powered trailer 200 and the third control component 301 of the functional module 300. The third control component 301 of the functional module 300 ultimately completes the specific operation. This hierarchical communication and collaboration-based structured control method not only improves the system's controllability but also provides a solid foundation for future functional expansion and technological upgrades.

[0107] Combination Figure 6 This is a block diagram of the operating system provided in the embodiments of this application, which will be combined with... Figure 6 Explanation:

[0108] In this embodiment of the application, the self-moving device 100 includes a first power component 105; the powered trailer 200 includes a second power component 206; the functional module 300 includes a third power component 302; the first power component 105 is connected to a first control component 104, the second power component 206 is connected to a second control component 205; and the second power component 302 is connected to a third control component 301.

[0109] The first power component 105 is used to drive one or more wheels of the self-moving device 100 to rotate or steer;

[0110] The second power unit 205 is used to drive one or more wheels of the powered trailer 200 to rotate and / or steer;

[0111] The third power component 302 is used to drive the functional module 300 to perform work tasks.

[0112] The first control component 104 is used to control the first walking component 103 to walk using the corresponding first power component 105 based on the walking information.

[0113] The second control component 205 is used to control the second walking component 204 to walk using the corresponding second power component 206 based on the walking information;

[0114] The third control component 301 is used to control the function module to perform operations based on the functional parameters represented by the task information using the corresponding third power component 302.

[0115] In this embodiment, the first power component 105 is used to drive one or more wheels of the self-moving device to rotate or steer; the second power component 206 is used to drive one or more wheels of the powered trailer to rotate and / or steer; and the third power component 302 is used to drive the functional module to perform the work task. The self-moving device, powered trailer, and functional module share and coordinate control through walking and task information, enabling the entire operating system to have higher efficiency and reliability when performing complex tasks.

[0116] Combination Figure 7 This is a block diagram of the operating system provided in the embodiments of this application, which will be combined with... Figure 7 Explanation:

[0117] In this embodiment of the application, the self-moving device includes a first battery 106, and the powered trailer includes a second battery 207;

[0118] The first battery 106 is used to power the self-moving device 100, and the second battery 207 is used to power the powered trailer 200 and the functional module 300; or...

[0119] The self-moving device 100, the powered trailer 200, and the functional module 300 share the first battery 106 and the second battery 207.

[0120] The first battery 106 refers to the power unit integrated inside the self-moving device 100, which provides energy support for its own operation and can also serve as a backup power source for the entire operating system. The second battery 207 refers to an external power unit installed on the powered trailer 200, such as an external battery for the powered trailer. The second battery 207 not only provides driving power to the powered trailer 200, but can also serve as a backup power source for the entire operating system.

[0121] In this embodiment, under normal operating conditions, the self-moving device 100 is primarily powered by its first battery 106, while the powered trailer 200 and functional module 300 are powered by the second battery 207 of the powered trailer 200. When any battery is depleted, the self-moving device automatically activates a power-sharing mechanism and uses the other battery as the main power source for the operating system to power the self-moving device 100, the powered trailer 200, and the functional module 300.

[0122] In this embodiment, power sharing refers to establishing a bidirectional power supply mechanism between the self-moving device 100 and the powered trailer 200, enabling these two types of devices to dynamically switch power sources according to power demand during operation. For example, when the first battery 106 of the self-moving device 100 is low on power, the second battery 207 of the powered trailer 200 can provide temporary or continuous power support for the entire operating system consisting of the self-moving device 100, the powered trailer 200, and the functional module 300; when the second battery 207 of the powered trailer 200 is low on power, the first battery 106 of the self-moving device 100 can charge the second battery 207 of the powered trailer 200. Through this design, the system paralysis problem caused by the failure of a single power source, which affects the self-moving device 100, the powered trailer 200, and the extended functional module 300, is effectively avoided.

[0123] Combination Figure 7 This is a block diagram of the operating system provided in the embodiments of this application, which will be combined with... Figure 7 Explanation:

[0124] In this embodiment of the application, the second battery 207 is detachably mounted on the power trailer 200; the second battery includes: a first power interface 2071 and a second power interface 2072;

[0125] The first power interface 2071 is used to connect to the first battery 106, various components of the powered trailer 200, and various components of the functional module 300 respectively.

[0126] The second power interface 2072 is used to connect to an external power source.

[0127] In this embodiment, when the second battery 207 is mounted on the powered trailer, the first battery 106 of the self-moving device 100 is charged via the charging station of the self-moving device 100. The second battery 207 receives electrical energy transmitted from the first battery 106 of the self-moving device 100 for charging via the first power interface 2071.

[0128] In this embodiment of the application, when the second battery 207 is removed from the power trailer, it can be charged by connecting an external power source through the second power interface 2072.

[0129] In this embodiment, under normal operating conditions, the self-moving device 100 primarily relies on its first battery 106 for power, while the powered trailer 200 and functional module 300 are powered by the second battery 207 through the first power interface 2071 to their respective components. When any battery is depleted, the self-moving device 100 automatically activates a power sharing mechanism, using the other battery as the main power source for the operating system to power the self-moving device 100, powered trailer 200, and functional module 300. For example, when the first battery 106 is depleted, the self-moving device activates the automatic power sharing mechanism, transferring power from the second battery 207 to the first battery 106 via the first power interface 2071, and also transferring power from the second battery 207 to the functional module 300 and the various components of the powered trailer 200 via the first power interface 2071. At this time, the second battery 207 powers the self-moving device 100, powered trailer 200, and functional module 300.

[0130] In this embodiment, the first power interface 2071 is used to connect to the first battery 106, various components of the powered trailer 200, and various components of the functional module 300, respectively. This allows the first power interface 2071 to share the power of the first battery 106 and the second battery 207. This dual-battery collaborative power supply mechanism effectively addresses situations where a single battery is insufficient, thereby ensuring the continuous operation of the self-moving device 100, the powered trailer 200, and the functional module 300, and ultimately improving the reliability and adaptability of the overall operating system.

[0131] Combination Figure 8 This is a block diagram of the operating system provided in the embodiments of this application, which will be combined with... Figure 8 Explanation:

[0132] In this embodiment of the application, the first interface includes a third power interface 1012, the second interface includes a fourth power interface 2012, and the third interface includes a fifth power interface 2022.

[0133] The first battery 106 is connected to the third power interface 1012; the fourth power interface 2012 and the fifth power interface 2022 are respectively connected to the first power interface 2071 of the second battery 207;

[0134] The operating system shares the power of the first battery 106 and the second battery 207 through the third power interface 1012 and the fourth power interface 2012.

[0135] In this embodiment, the third power interface 1012 and the fourth power interface 2012 are detachably connected. Under normal operating conditions, the self-moving device 100 primarily relies on its first battery 106 for power, while the powered trailer 200 is powered by the second battery 207 through the first power interface 2071. The electrical energy from the second battery 207 flows through the first power interface 2071 and the fifth power interface 2022 to the various components of the functional module 300, thereby powering the components of the functional module 300. When any battery is depleted, the self-moving device 100 automatically activates a power sharing mechanism, using the other battery as the main power source for the operating system to power the self-moving device 100, the powered trailer 200, and the functional module 300. For example, when the first battery 106 is depleted, the self-moving device 100 activates the power sharing mechanism. The power of the second battery 207 is supplied to the first battery 106 through the third power interface 1012 and the fourth power interface 2012. The power of the second battery 207 is supplied to the various components of the powered trailer 200 through the first power interface 2071. The power of the second battery 207 is supplied to the various components of the functional module 300 through the first power interface 2071 and the fifth power interface 2022. At this time, the second battery 207 supplies power to the self-moving device 100, the powered trailer 200 and the functional module 300.

[0136] In this embodiment of the application, when charging using a charging pile, the first battery 106 and the second battery 205 are charged according to a preset priority order. When the battery with higher charging priority has a charge level greater than a preset threshold, the battery with lower charging priority begins to charge.

[0137] In this embodiment, when the first battery 106 has a high charging priority, the charging pile's power is preferentially used to charge the first battery 106. When the battery capacity of the first battery 106 exceeds a preset threshold, the charging pile's power is supplied to the second battery 207 for charging through the third power interface 1012, the fourth power interface 2012, and the first power interface 2071. When the second battery 207 has a high charging priority, the charging pile's power is preferentially supplied to the second battery 207 for charging through the third power interface 1012, the fourth power interface 2012, and the first power interface 2071. When the battery capacity of the second battery 207 exceeds a preset threshold, the charging pile directly charges the first battery 106.

[0138] The preset priority order refers to a charging management strategy set by the user according to actual needs, which determines which battery should be charged first when charging the first battery 106 and the second battery 207 using a charging station. For example, the user can choose to fully charge the first battery 106 first and then charge the second battery 207, or vice versa. The user can configure this preset priority order through the APP interface or control panel and save the priority setting to the system to ensure that each charging operation is performed according to the user's settings. The preset priority order can also be flexibly adjusted according to different usage scenarios. For example, in daily lawn mowing tasks, the user may pay more attention to the power reserve of the first battery 106 of the self-moving device 100, so the first battery 106 is set to be charged first; while when performing multi-functional tasks for a long time (such as fertilizing and mowing), the user may pay more attention to the power supply capacity of the motor trailer 200 and the functional module 300, so the second battery 207 is set to be charged first.

[0139] The preset threshold is a user-configurable battery percentage parameter, for example, between 50% and 90%. For instance, when the first battery 106 is a high-priority charging battery, the self-mobile device 100 determines whether the battery level of the first battery 106 exceeds the preset threshold based on the acquired first status information. If it does, the self-mobile device 100 can transfer power to charge the second battery 207 through the third power interface 1012, the fourth power interface 2012, and the first power interface 2071. This control mechanism not only improves energy utilization efficiency but also avoids prematurely allocating power to the second battery 207 when the first battery 106 has a low battery level, thereby extending the overall system's battery life.

[0140] In this embodiment, by setting the first battery 106 and the second battery 207 to charge according to a preset priority order, the personalized charging needs of users in different application scenarios can be met, thereby optimizing the overall system's energy management efficiency and improving the continuous working capability and user experience of the operating system. Furthermore, when the charge level of a high-priority battery is detected to be greater than a preset threshold, charging of the low-priority battery will be initiated. This operation method enables the rational allocation of electrical resources, ensuring that high-priority batteries are always in good working condition, further improving the stability and battery life of the entire system.

[0141] It should be noted that the preset priority order can be set by the user, by staff in the background, or by the device at the factory.

[0142] The operating system of this application will now be described with reference to a specific embodiment.

[0143] like Figure 9As shown, the operating system includes a self-moving device 100, a powered trailer 200 detachably connected to the self-moving device 100, and several replaceable functional modules (e.g., 14 is a leaf sweeping module, 15 is a fertilizing module, and 16 is a weeding module). Users can replace the functional modules on the powered trailer 200 according to their own needs to meet different lawn maintenance tasks.

[0144] Combination Figure 9 104 is the first control component of the self-moving device 100, responsible for controlling the movement, charging, and power supply management of the entire device; 106 is the first battery of the self-moving device 100, which supplies power to the entire device; 203 is the second walking component installed on the powered trailer 200, which has active steering and walking functions, provides auxiliary power to the powered trailer, and is controlled by the second control component 205; 207 is the second battery on the powered trailer 200, which supplies power to the powered trailer 200 and the functional modules; 205 is the second control component of the powered trailer, which is responsible for controlling the operation of all components on the powered trailer 200; 10 is the task drive component (motor 1 and motor 2) mounted on the A functional module 14, which is used to perform specific tasks, such as a leaf roller brush motor or a leaf crushing motor; 11 is the control board (third control component) of the A functional module, which is used to control all components in the A functional module 14; 12 are various sensors on the functional module, such as a leaf dust box capacity detection sensor, etc.

[0145] The system has two operating modes:

[0146] Mode 1: such as Figure 10 As shown, the self-moving device works in conjunction with the powered trailer and functional modules;

[0147] Mode 2: such as Figure 11 As shown, the system only uses self-moving equipment and powered trailers, and the system does not carry a third functional module.

[0148] Combination Figure 10 In the first mode of operation, the primary function of the powered trailer 200 is as a load platform for the functional modules, and it also undertakes the tasks of communication relay, control, and power supply support. Specifically:

[0149] Communication Logic: The control board 11 of functional module A 14 acquires its own status information and transmits it to the second control component 205 of the powered trailer 200 via the third interface 202. The second control component 205 of the powered trailer 200 collects the status information of the powered trailer body and sends the status information of the powered trailer 200 body and functional module A 14 together to the first control component 104 of the self-moving device 100 via the first interface 101 and the second interface 201, thereby realizing real-time communication and data transmission between the control board 11 of functional module A 14, the second control component 205 of the powered trailer, and the first control component 104 of the self-moving device.

[0150] Display and Setting Logic: The first control component 104 of the self-moving device 100 receives and processes status information from the powered trailer 200 and the A-function module 14, and sends this status information to the APP for display in the APP interface. Simultaneously, the APP adds parameter setting and task configuration options for the powered trailer 200 and the A-function module 14. Furthermore, the first control component 104 of the self-moving device 100 adjusts the default size parameters according to the overall size of the self-moving device 100, the powered trailer 200, and the A-function module 14, and adaptively optimizes the work planning path based on this actual size.

[0151] Work control logic: The first control component 104 of the self-moving device 100 is responsible for the positioning, obstacle avoidance, and path planning of the entire system, and transmits relevant control commands (walking information and task information) to the second control component 205 of the powered trailer 200 through the first interface 101 and the second interface 201. The second control component 205 of the powered trailer 200 then forwards the commands to the control board 11 of the A function module 14. The second walking component 203 of the powered trailer 200 and the self-moving device 100 together form a multi-drive system, which is uniformly controlled by the first control component 104 of the self-moving device 100. Because the second walking component 203 of the powered trailer 200 has strong power, the self-moving device 100 will not be affected by the original movement performance of the self-moving device 100 after being equipped with the powered trailer 200; on the contrary, it enhances the system's ability to get out of trouble. The second control component 205 of the powered trailer 200 is responsible for managing the second battery 207 and other electronic devices of the powered trailer 200; the control board 11 of the A function module 14 is responsible for controlling the motor 10 of the A function module 14 to perform operations.

[0152] Power Management Logic: The system is equipped with two batteries: a first battery 106 for the self-moving device 100 and a second battery 207 for the powered trailer 200. Under normal operating conditions, the first battery 106 of the self-moving device 100 primarily powers the self-moving device 100, while the second battery 207 of the powered trailer 200 primarily powers the powered trailer 200 and the A-function module 14. When either the first battery 106 of the self-moving device 100 or the second battery 207 of the powered trailer 200 is low on power, the self-moving device can replenish power via an interface. For example, if the first battery 106 of the self-moving device 100 is depleted, the self-moving device immediately switches to using the second battery 207 of the powered trailer 200 to simultaneously power the self-moving device 100, the powered trailer 200, and the A-function module 14. During the charging phase, the first battery 106 of the self-moving device 100 can be automatically charged via its built-in charging station; while the second battery 207 of the powered trailer 200 can be manually removed by the user and charged using a separate charger, or it can remain on the powered trailer 200 and be charged by the charging station. Users can also set the charging priority and maximum charging capacity of the first battery 106 of the self-moving device 100 and the second battery 207 of the powered trailer 200 through the APP.

[0153] Combination Figure 11 In the second mode, the system consists only of the self-moving device 100 and the powered trailer 200, without any additional functional modules. In this mode, the main function of the powered trailer 200 is to enhance the mobility of the self-moving device 100, such as its climbing ability and ability to get out of trouble, and to provide additional power to the self-moving device through the second battery 205 on the powered trailer 200, thereby extending the overall battery life of the system.

[0154] The communication logic is defined by the system designer: the second control component 203 of the powered trailer 200 obtains the status information of the powered trailer 200 body and transmits this status information to the first control component 104 of the self-moving device 100 through the first interface 101 and the second interface 201.

[0155] The first control component 104 of the self-moving device 100 receives the status information of the powered trailer 200 and sends the status information of the powered trailer 200 to the APP, which displays it on the APP interface. Simultaneously, the APP adds parameter setting items for the powered trailer 200. The first control component 104 of the self-moving device 100 also automatically adjusts the default size parameters based on the actual combined dimensions of the self-moving device 100 and the powered trailer 200, and optimizes the work planning path based on the default size parameters.

[0156] Operational Control Logic: The first control component 104 of the self-moving device 100 is responsible for the overall positioning, obstacle avoidance, and path planning of the system, and sends control commands (walking information and task information) to the second control component 205 of the powered trailer 200 through the first interface 101 and the second interface 201. The second walking component 203 of the powered trailer 200 and the self-moving device 100 together form a multi-drive system, with the walking behavior uniformly controlled by the first control component 104 of the self-moving device 100. Due to the strong power of the second walking component 203 of the powered trailer 200, the self-moving device 100, after being equipped with the powered trailer 200, not only does not have its original movement performance affected, but also improves the overall system's ability to get out of trouble. The second control component 203 of the powered trailer 200 is responsible for controlling the power supply and other components of the powered trailer 200.

[0157] Power Management Logic: The system still includes two batteries: a first battery 106 for the self-moving device 100 and a second battery 207 for the powered trailer 200. During normal operation, the first battery 106 primarily powers the self-moving device 100, while the second battery 207 powers the powered trailer 200. When either battery in the system is low on power, the system can replenish power through the first interface 101 and the second interface 201. For example, if the first battery 106 is depleted, the self-moving device 100 will set the second battery 207 as the power source for both the self-moving device 100 and the powered trailer 200. During the charging phase, the first battery 106 of the self-moving device 100 is automatically charged via its built-in charging station; the second battery 207 of the powered trailer 200 can be manually removed by the user and charged with a separate charger, or it can remain on the powered trailer 200 and be charged by the charging station. Users can set the charging priority and charging capacity of the first battery 106 and the second battery 207 via an app.

[0158] In summary, this application, by introducing a universal power trailer and expandable functional modules, achieves diversified expansion of the functions of the self-moving device, while ensuring that the original motion performance of the self-moving device is not affected, and significantly improves the system's range and applicability.

[0159] The beneficial effects are summarized as follows:

[0160] 1. Enable flexible expansion of self-moving device functions to meet diverse lawn maintenance needs;

[0161] 2. The design of the universal power trailer gives the self-moving equipment better passability, traction, and range.

[0162] 3. Standardized interfaces are used between functional modules to facilitate quick replacement and upgrades by users;

[0163] 4. The intelligent collaboration and dynamic switching mechanism of multiple batteries ensures continuous and stable system operation;

[0164] 5. The overall control system is highly integrated, enabling seamless communication and collaborative operation between modules.

[0165] Combination Figure 12 This is a structural schematic diagram of the self-moving device and the powered trailer provided in the embodiments of this application.

[0166] In this embodiment of the application, the powered trailer 200 is detachably connected to the self-moving device 100 and detachably carries the functional module 300.

[0167] The powered trailer 200 includes a second interface 201 and a third interface 202; the self-moving device 100 includes a first interface 101; the second interface 201 of the powered trailer 200 and the first interface 101 of the self-moving device 100 are detachably connected; the third interface 202 of the powered trailer 200 is used to detachably connect with any one of the multiple functional modules 300.

[0168] Combination Figure 12 This is a structural schematic diagram of the self-moving device and the powered trailer provided in the embodiments of this application.

[0169] In this embodiment of the application, the self-moving device 100 is detachably connected to the powered trailer 200;

[0170] The self-moving device 100 includes a first interface 101, and the powered trailer 200 includes a second interface 201 and a third interface 202; the second interface 201 of the powered trailer 200 and the first interface 101 of the self-moving device 100 are detachably connected; the third interface 202 of the powered trailer 200 is used to detachably connect with any one of the multiple functional modules 300.

[0171] The above description is merely an embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes 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.

Claims

1. An operating system, characterized in that, include: Self-moving equipment, powered trailers, and functional modules; The powered trailer is detachably connected to the self-moving device and can be detachably loaded with functional modules. The self-moving device includes a first interface; the powered trailer includes a second interface and a third interface; the second interface of the powered trailer and the first interface of the self-moving device are detachably connected; the third interface of the powered trailer is used to detachably connect with any one of the various functional modules.

2. The operating system according to claim 1, characterized in that, The operating system includes two operating modes: a first mode and a second mode; wherein... In the first mode, the powered trailer and the self-moving device form a multi-drive system, and the powered trailer carries any one of the functional modules. The working system controls the functional module to perform operations, or controls the functional module and the self-moving device to perform operations. In the second mode, the powered trailer and the self-moving device form a multi-drive system, and the powered trailer does not carry the functional module. The powered trailer is used to provide power and / or electrical energy to the self-moving device, and the operating system controls the self-moving device to perform operations.

3. The operating system according to claim 1, characterized in that, The self-moving device further includes a first walking component and a working component, wherein the working component performs a different working task than any of the multiple functional modules. The powered trailer includes a second traveling assembly and a load-bearing section, the load-bearing section being detachably capable of carrying the functional modules.

4. The operating system according to claim 1, characterized in that, The first interface includes a first signal interface, the second interface includes a second signal interface, and the third interface includes a third signal interface; The first signal interface and the second signal interface are detachably connected, and the third signal interface and the functional module are detachably connected. The self-moving device controls the powered trailer and the functional modules through the first signal interface, the second signal interface, and the third signal interface.

5. The operating system according to claim 4, characterized in that, The self-moving device includes a first control component, the powered trailer includes a second control component, and the functional module includes a third control component; The first control component is connected to the first signal interface, the second control component is connected to the second signal interface and the third signal interface, and the third control component is connected to the third signal interface.

6. The operating system according to any one of claims 1 to 5, characterized in that, The self-moving device includes a first power component; the powered trailer includes a second power component; the functional module includes a third power component. The first power component is used to drive one or more wheels of the self-moving device to rotate or steer; The second power unit is used to drive one or more wheels of the powered trailer to rotate and / or steer; The third power component is used to drive the functional module to perform the work task.

7. The operating system according to any one of claims 1 to 5, characterized in that, The self-moving device includes a first battery, and the powered trailer includes a second battery; The first battery powers the self-moving device, and the second battery powers the powered trailer and the functional modules; or... The self-moving device, the powered trailer, and the functional module share the first battery and the second battery.

8. The operating system according to claim 7, characterized in that, The second battery is detachably mounted on the powered trailer; the second battery includes: a first power interface and a second power interface; The first power interface is used to connect to the first battery, various components of the powered trailer, and various components of the functional module, respectively. The second power interface is used to connect to an external power source.

9. The operating system according to claim 8, characterized in that, The first interface includes a third power interface, the second interface includes a fourth power interface, and the third interface includes a fifth power interface; The first battery is connected to the third power interface; the fourth power interface and the fifth power interface are respectively connected to the first power interface of the second battery; The operating system shares the power of the first battery and the second battery through the third power interface and the fourth power interface.

10. A powered trailer, characterized in that, The powered trailer is detachably connected to the self-moving device and can be detachably loaded with functional modules. The powered trailer includes a second interface and a third interface; the self-moving device includes a first interface; the second interface of the powered trailer and the first interface of the self-moving device are detachably connected; the third interface of the powered trailer is used to detachably connect with any one of a variety of functional modules.

11. A self-moving device, characterized in that, The self-moving device can be detachably connected to a powered trailer; The self-moving device includes a first interface, and the powered trailer includes a second interface and a third interface; the second interface of the powered trailer and the first interface of the self-moving device are detachably connected; the third interface of the powered trailer is used to detachably connect with any one of a variety of functional modules.

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