Autonomous mobile device

Abstract

The application discloses an autonomous mobile device, comprising: a machine body; a walking module configured to drive the machine body to move; a first power supply module fixed in the machine body and configured to supply power to the autonomous mobile device; and a multiplexing module configured to selectively connect a charging device or a second power supply module; wherein the charging device is configured to charge the first power supply module, and the second power supply module is configured to supply power to the autonomous mobile device. With the scheme, not only is the internal wiring redundancy and space waste caused by setting multiple independent interfaces in the traditional scheme reduced, the whole machine structure is more compact and has a higher integration, but also the user operation is simplified, the use convenience and maintenance efficiency are improved, and the flexible switching requirement in different power supply scenes can be met.

Description

Technical Field

[0001] This utility model relates to the field of autonomous mobile device technology, and in particular to an autonomous mobile device. Background Technology

[0002] With the development of smart homes and automated garden maintenance, modern lawnmowers have evolved from traditional mechanical models to intelligent and multifunctional ones. Currently, electric lawnmowers rely mainly on two power supply methods: battery pack power (such as lithium battery packs) and power cabinet power (such as fixed charging stations or solar energy storage systems). However, this diversification of power supply methods usually requires the simultaneous configuration of battery pack interfaces and power cabinet interfaces, which not only increases manufacturing costs but also complicates the equipment structure. Utility Model Content

[0003] The purpose of this application is to provide an autonomous mobile device to at least solve the problems in the related art.

[0004] To achieve the above objectives:

[0005] In a first aspect, embodiments of this application provide an autonomous mobile device, including:

[0006] body;

[0007] The walking module is configured to move the fuselage;

[0008] The first power supply module is fixed inside the body and is configured to supply power to the autonomous mobile device.

[0009] The multiplexing module is configured to selectively connect to a charging device or a second power supply module; wherein the charging device is configured to charge the first power supply module, and the second power supply module is configured to power the autonomous mobile device.

[0010] In one embodiment, the multiplexing module includes an identification module configured to determine means connected to the multiplexing module;

[0011] The autonomous mobile device also includes:

[0012] The control module, electrically connected to the identification module, is configured to, when it is determined that the device connected to the multiplexing module is a charging device, control the circuit of the charging device to charge the first power supply module; and is further configured to, when it is determined that the device connected to the multiplexing module is a second power supply module, control the circuit of the second power supply module to supply power to the autonomous mobile device.

[0013] In one embodiment, the identification module includes an interface circuit, and the means for determining the connection to the multiplexing module includes:

[0014] The device connected to the multiplexing module is determined based on the chip select voltage at the target location in the interface circuit.

[0015] In one embodiment, determining the device connected to the multiplexing module based on the chip select voltage at a target location in the interface circuit includes:

[0016] When the autonomous mobile device is powered on, if the chip select voltage at the target location is 5V, then the device connected to the multiplexing module is determined to be a charging device.

[0017] When the autonomous mobile device is powered off, if the chip select voltage at the target location is 2.7V, then the device connected to the multiplexing module is determined to be a charging device.

[0018] If the chip select voltage at the target location is less than 1V, then the device connected to the multiplexing module is determined to be the second power supply module.

[0019] In one embodiment, the autonomous mobile device further includes a whole-machine control switch, which is connected to the interface circuit;

[0020] When the autonomous mobile device is in a powered-off state, the overall control switch is activated in response to the chip select voltage of 2.7V, so as to power on the autonomous mobile device.

[0021] In one embodiment, when it is determined that the device connected to the multiplexing module is a charging device, the control module is further configured to:

[0022] The self-moving device is controlled to communicate with the charging device. When the communication is confirmed to be successful, the chip select voltage is adjusted to 1.4V.

[0023] When the battery management system performs a test and confirms that the test data meets the first preset requirement, the chip select voltage is reduced to 1.2V and the first switch is turned on; the first switch is used to turn on or off the circuit of the charging device charging the first power supply module.

[0024] The charging device is controlled to charge the first power supply module.

[0025] In one embodiment, upon confirming successful communication or upon confirming that the detection data meets a first preset requirement, the control module is further configured to:

[0026] The system detects whether a pause charging command has been received from the mobile device. If so, it adjusts the chip select voltage to the power supply voltage to keep the autonomous mobile device in standby mode.

[0027] In one embodiment, when it is determined that the device connected to the multiplexing module is a second power supply module, the control module is further configured to:

[0028] The self-moving device is controlled to communicate with the second power supply module. When the communication is confirmed to be successful, the chip select voltage is adjusted to 1.4V.

[0029] When the battery management system performs a test and confirms that the test data meets the second preset requirement, the chip select voltage is reduced to between 0.8V and 0.9V and the second switch is turned on; the second switch is used to turn on or off the circuit of the second power supply module supplying power to the autonomous mobile device.

[0030] The second power supply module is controlled to supply power to the autonomous mobile device.

[0031] In one embodiment, the multiplexing module includes:

[0032] A power harness that connects the charging device to form a charging circuit or connects the second power supply module to form a power supply circuit;

[0033] A communication harness that interacts with the charging device or the second power supply module;

[0034] Control harness connected to the control module.

[0035] In one embodiment, the first power supply module is a built-in battery pack; the charging device is an energy cabinet or charger; and the second power supply module is a backup battery pack.

[0036] The autonomous mobile device provided in this application embodiment achieves a unified interface design for power supply and charging paths through a reused module. This not only reduces the internal wiring redundancy and space waste caused by setting multiple independent interfaces in traditional solutions, making the overall structure more compact and highly integrated, but also simplifies user operation, improves ease of use and maintenance efficiency, and can meet the flexible switching needs under different power supply scenarios. Furthermore, based on the first power supply module fixed inside the device, a charging device or a second power supply module can be selectively connected to enhance the machine's battery life. This allows the autonomous mobile device to be used in environments with different areas or different operating durations, such as urban lawns, football fields, and golf courses, thereby enhancing the machine's compatibility and intelligence level in multiple scenarios. Attached Figure Description

[0037] Figure 1 A schematic diagram of a hardware module for an autonomous mobile device provided in an embodiment of this application;

[0038] Figure 2 This is a schematic diagram of a scenario for an autonomous working system provided in an embodiment of this application;

[0039] Figure 3 A system block diagram of an autonomous mobile device connected to three different external modules is provided for embodiments of this application;

[0040] Figure 4 A circuit diagram of an external charger for an autonomous mobile device provided in an embodiment of this application;

[0041] Figure 5 A circuit diagram of an external power cabinet for an autonomous mobile device provided in an embodiment of this application;

[0042] Figure 6 This is a circuit diagram of an external battery pack for an autonomous mobile device, provided as an embodiment of this application. Detailed Implementation

[0043] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. The specific embodiments described herein are merely illustrative of this application and are not intended to limit it. The technical features of the embodiments described below can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described; however, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0044] In the following description, when referring to the accompanying drawings, the same numbers in different drawings denote the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0045] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, components, features, and elements with the same names in different embodiments of this application may have the same meaning or different meanings, the specific meaning of which must be determined by its interpretation in that specific embodiment or further in conjunction with the context of that specific embodiment.

[0046] Although the terms first, second, third, etc., may be used herein to describe various information, this information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this document, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if," as used herein, may be interpreted as "when," "when," or "in response to determination." Furthermore, as used herein, the singular forms "a," "an," and "the" are intended to also include the plural forms unless the context indicates otherwise. It should be further understood that the terms "comprising," "including," indicate the presence of the stated feature, step, operation, element, component, item, kind, and / or group, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms "or" and "and / or" as used herein are to be interpreted inclusively, or mean any one or any combination thereof. Therefore, "A, B, or C" or "A, B, and / or C" means "any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C." Exceptions to this definition only occur when combinations of elements, functions, steps, or operations are inherently mutually exclusive in some way. Furthermore, terms such as "connected" or "linked" are not limited to physical or mechanical connections but can include electrical connections, whether direct or indirect. Terms like "up," "down," "left," and "right" are used only to indicate relative positional relationships; these relative positions may change accordingly when the absolute position of the described objects changes.

[0047] With the continuous development of smart home and garden automation technologies, lawnmowers, as an important tool for landscaping and home lawn management, are gradually evolving towards intelligence, electrification, and automation. In particular, electric lawnmowers have been widely used in the market due to their advantages such as ease of operation, low noise, and environmental friendliness.

[0048] Currently, electric lawnmowers primarily rely on electric power, with common power supply methods including battery pack power (such as lithium battery packs) and power cabinet power (such as fixed charging stations and solar energy storage systems). Battery pack power offers advantages such as high mobility and suitability for small to medium-sized areas; while power cabinet power is better suited for long-term operation and continuous mowing needs of large lawns. As users increasingly demand intelligence and adaptability to various scenarios in their lawnmowers, more and more electric lawnmowers are beginning to incorporate both power supply methods to enhance equipment flexibility and adaptability.

[0049] However, to achieve dual power supply support, traditional solutions typically require two separate interfaces on the lawnmower—one for connecting the battery pack and the other for connecting the power cabinet. This design may have the following problems in practical applications: (1) Complex structure: The dual-interface design significantly increases the complexity of internal electrical connections, control logic, and wiring, affecting the overall compactness and reliability of the equipment; (2) Increased manufacturing costs: The addition of dual interfaces and supporting circuits leads to higher manufacturing and assembly costs; (3) Inconvenient to use: Users need to identify different interface types when operating and switching power supply methods, increasing the user burden; (4) High maintenance difficulty: The multi-interface design is more prone to problems such as poor contact and electrical faults during long-term use, increasing the difficulty of later maintenance.

[0050] Based on the above problems, this application provides an autonomous mobile device. For example... Figure 1 As shown, the autonomous mobile device 100 includes a body 110; a walking module 120 configured to move the body 110; a first power supply module 130 fixed inside the body 110 and configured to supply power to the autonomous mobile device 100; and a multiplexing module 140 configured to selectively connect to a charging device 150 or a second power supply module 160; wherein the charging device 150 is configured to charge the first power supply module 130, and the second power supply module 160 is configured to supply power to the autonomous mobile device 100.

[0051] In this context, the autonomous mobile device 100 refers to a device that can move autonomously according to a map of its work area without requiring manual power. For example, the autonomous mobile device 100 can be an autonomous lawnmower, autonomous watering machine, autonomous snow blower, sweeper, electric vehicle, robot, unmanned logistics vehicle, etc. In other cases, the autonomous mobile device 100 can also be an automatic navigation platform, configured with corresponding functional components according to actual needs. In this application, the autonomous mobile device 100 is described as an autonomous lawnmower (also referred to herein as a "machine," "robot," or "lawnmower") in the embodiments, but these configurations are merely illustrative, and the solutions described herein can also be applied to other autonomous machines. The term "autonomous lawnmower" indicates that it has a lawnmowing function, but does not limit it to potentially having other functions, such as watering or pest control. Figure 2As shown, the autonomous lawnmower 10 is part of an autonomous working system. The autonomous working system may include other components such as a charging station 20, a server 30, and a boundary 1. The autonomous lawnmower 10 moves within the area enclosed by boundary 1. In some implementation scenarios, the autonomous lawnmower 10 can connect to the server 30 via a network. The autonomous lawnmower 10 transmits one or more of the following to the server 30: device status information (including battery level, component operating status, network connection status, current working mode, etc.) and device operation data (including task completion status, working time statistics, fault diagnosis data, etc.). Based on default configuration, manufacturer settings, or user preferences, the server 30 can push the data to the user, manufacturer, or maintenance personnel. It is understood that the server 30 can also transmit one or more of the following to the machine: configuration management information (including user preferences, software update data, etc.) and control commands (including task scheduling, start / stop commands, working mode switching, etc.). This data can be calculated by the server 30 according to existing algorithms or obtained according to user commands. In some implementation scenarios, the server 30 is a cloud server 30.

[0052] The body 110 can be used to install and support the various functional modules of the autonomous lawnmower, and is the structural foundation of the entire machine.

[0053] The walking module 120, also referred to as the moving component, includes a ground support component and a drive component. In some embodiments, the ground support component includes one or more rear wheels and one or more front wheels for supporting the body 110 on the ground (grass) surface. The front wheels support the front end of the body 110, and the rear wheels support the rear end. The rear wheels can be driven by a drive component (e.g., including one or more drive motors) to move the autonomous lawnmower on the ground surface. In other embodiments, the front wheels can freely steer relative to the body 110 (e.g., around a vertical axis). It is understood that the configuration of the front and rear wheels can be interchanged, or the front and rear wheels can be the same configuration, specifically selected according to the needs of the autonomous lawnmower. Drive motors, etc., can be configured to the front or rear wheels as needed.

[0054] The first power supply module 130 is fixedly installed inside the body 110 and is used to power the entire autonomous mobile device 100, such as the walking module 120, the lawnmower assembly, the control module, and the battery management system. In this embodiment, the first power supply module 130 is a built-in battery pack. Typically, the built-in battery pack is fixed inside the body and cannot be removed.

[0055] The multiplexing module 140 is disposed on the body 110 and electrically connected to the first power supply module 130. It is configured to selectively connect to the charging device 150 or the second power supply module 160 to achieve multiplexing of the power supply path or the charging path. In this embodiment, the multiplexing module 140 adopts a single electrical interface design, which enables intelligent switching between the charging device and the second power supply module.

[0056] The charging device 150 can be an energy cabinet, charger, charging pile, solar energy storage terminal, etc., used to charge the first power supply module 130 through the multiplexing module 140. In some implementation scenarios, the charging device 150 can charge the built-in battery pack when certain conditions are met. For example, when the built-in battery pack's charge is below a first preset threshold, it can be charged by connecting to an energy cabinet or charger through the multiplexing module.

[0057] The second power supply module 160 is an externally detachable power supply module, such as an independent battery pack or a power bank. Preferably, in this embodiment, the second power supply module 160 is a backup battery pack.

[0058] In some implementation scenarios, the backup battery pack can power the autonomous lawnmower when preset conditions are met. For example, when the built-in battery pack's charge is below a second preset threshold, a backup battery pack can be connected via a reuse module to directly power the autonomous lawnmower, thereby improving the machine's endurance and scene adaptability. Alternatively, when the built-in battery pack's temperature is detected to be too high, or when the machine is climbing a slope requiring more energy, or when the machine is factory-configured or user-preset, the backup battery pack can be used first for power supply, or both the built-in and backup battery packs can be controlled to power the machine simultaneously, as long as a connection to the backup battery pack is detected. The aforementioned conditions, preset conditions, first preset threshold, and second preset threshold can be set according to the actual scenario, and this application does not impose any limitations on them.

[0059] The autonomous mobile device provided in this application achieves a unified interface design for both power supply and charging paths through a reused module. This not only reduces the internal wiring redundancy and space waste caused by setting up multiple independent interfaces in traditional solutions, making the overall structure more compact and highly integrated, but also simplifies user operation, improves ease of use and maintenance efficiency, and can meet the flexible switching needs under different power supply scenarios. Furthermore, in addition to fixing the first power supply module inside the device, a charging device or a second power supply module can be selectively connected to enhance the machine's battery life. This allows the autonomous mobile device to be used in environments with different areas or different operating durations, such as urban lawns, football fields, and golf courses, thereby enhancing the machine's compatibility and intelligence level in multiple scenarios.

[0060] In one possible implementation, the multiplexing module includes an identification module 1401 configured to determine means connected to the multiplexing module;

[0061] The autonomous mobile device also includes:

[0062] The control module 150, electrically connected to the identification module 1401, is configured to, when it is determined that the device connected to the multiplexing module 140 is the charging device 150, control the circuit of the charging device 150 to charge the first power supply module 130 to be turned on; and is further configured to, when it is determined that the device connected to the multiplexing module 140 is the second power supply module 160, control the circuit of the second power supply module 160 to supply power to the autonomous mobile device 100 to be turned on.

[0063] It is understandable that when the multiplexing module is connected to a charging device, the control module can control the opening of a first switch to connect the charging device to the first power supply module, thus enabling the charging device to charge the first power supply module. In other implementations, when the multiplexing module is connected to a second power supply module, the control module can control the opening of a second switch to connect the second power supply module to the autonomous mobile device, thus enabling the second power supply module to supply power to the autonomous mobile device. The first switch is used to connect or disconnect the charging device's circuit to the first power supply module. The second switch is used to connect or disconnect the second power supply module's circuit to the autonomous mobile device. Both the first and second switches can be relays. Relays can be used to control the connection or disconnection of different circuits.

[0064] In one possible implementation, the identification module includes interface circuitry. Accordingly, the identification module determines the means connected to the multiplexing module, including:

[0065] Based on the chip select voltage at the target location in the interface circuit, determine the device connected to the multiplexing module.

[0066] It is understandable that when connecting different devices to an autonomous mobile device, the chip select voltage at the target location in the interface circuit is different. Thus, the device connected to the multiplexing module can be identified based on the chip select voltage.

[0067] In one possible implementation, determining the device connected to the multiplexing module based on the chip select voltage at the target location in the interface circuit includes:

[0068] When the autonomous mobile device is powered on, if the chip select voltage at the target location is 5V, then the device connected to the multiplexing module is determined to be a charging device.

[0069] When the autonomous mobile device is powered off, if the chip select voltage at the target location is 2.7V, then the device connected to the multiplexing module is determined to be a charging device.

[0070] If the chip select voltage at the target location is less than 1V, then the device connected to the multiplexing module is determined to be the second power supply module.

[0071] It is understood that the multiplexing module includes an identification module, which has an interface circuit. This circuit is used to identify which external device (such as a charger, power cabinet, or backup battery pack) is currently connected to the multiplexing module, and sends the identification result to the control module so that the control module can control the circuit to be turned on according to the identification result.

[0072] In some implementation scenarios, the identification module can identify the connected device by the chip select voltage in the interface circuit. Different devices have different chip select voltages at the target location, and the identification module can distinguish different device types, such as charging devices or power supply modules, by detecting the chip select voltage at the target location. Here, the target location represents the voltage divider point.

[0073] In some implementation scenarios, the interface circuit may include: a pull-up resistor unit, a pull-down resistor unit, and a sampling unit. The pull-up resistor in the pull-up resistor unit can have a fixed value. The pull-down resistor unit is for chip select control and is configured to select the appropriate pull-down resistor value based on the device connected to the multiplexing module. The sampling unit is connected to the pull-up and pull-down resistor units and is configured to detect the chip select voltage at the voltage divider point. The aforementioned target location represents the voltage divider point, i.e., the connection point between the pull-up and pull-down resistors.

[0074] In some implementation scenarios, when the autonomous mobile device is powered on or in standby mode, if the chip select voltage at the target location is detected to be 5V, it is determined that the device connected to the multiplexing module is a power supply cabinet or charger. When the autonomous mobile device is powered off or in sleep mode, if the chip select voltage at the target location is 2.7V, it is determined that the device connected to the multiplexing module is a power supply cabinet or charger. If the chip select voltage at the target location is less than 1V, it is determined that the device connected to the multiplexing module is a backup battery pack. If the chip select voltage at the target location is 3V to 4V, it is determined that the device connected to the multiplexing module is a faulty battery pack (also known as an abnormal battery pack).

[0075] It is understood that in other implementation scenarios, the identification module can identify the connected device in other ways, and this application does not limit this. For example, the connected device can be identified by resistance identification (resistance value identification), ID pin identification, etc. Among them, resistance identification mainly identifies the connected device by reading the resistance value between a specific pin on the connected device and ground. ID pin identification mainly identifies the connected device by having a dedicated ID (Identification Pin) pin in the interface.

[0076] Furthermore, after the identification module identifies the device connected to the multiplexing module, the control module can control the conduction of the charging or discharging path based on the identification result. Specifically, when the identification module determines that the currently connected device is a charging device, the control module controls the charging path between the first power supply module and the charging device to be connected, thereby enabling the charging device to charge the first power supply module. When the identification module determines that the currently connected device is a second power supply module, the control module controls the discharging path between the second power supply module and the overall circuitry to be connected, enabling the second power supply module to directly power the entire autonomous mobile device.

[0077] In this embodiment, the multiplexing module adopts a single interface design, which automatically distinguishes the connected object (charging device or second power supply module) through circuit identification mechanism or physical switching mechanism. It is not only compatible with different power supply methods, but also can complete the automatic switching of power supply mode without manual operation of multiple interfaces, which greatly improves the intelligence and ease of use of the device and significantly reduces the complexity of electrical connection.

[0078] In one possible implementation, the autonomous mobile device also includes a whole-machine control switch, which is connected to the interface circuit.

[0079] When the autonomous mobile device is powered off, the whole device control switch is activated in response to a chip select voltage of 2.7V, so as to power on the autonomous mobile device.

[0080] The overall control switch, also known as the overall activation switch, can be activated when the autonomous mobile device is in a powered-off or sleep state, in response to a preset chip select voltage, thereby powering on the device and putting it into an on-state. In this embodiment, the overall control switch is activated only when the chip select voltage is 2.7V. Of course, in other implementation scenarios, the above preset value can be set according to the actual scenario, and this application does not limit it in this way.

[0081] In one possible implementation, when it is determined that the device connected to the multiplexing module is a charging device, the control module is further configured to:

[0082] Control the self-moving device to communicate with the charging device. When the communication is confirmed to be successful, adjust the chip select voltage to 1.4V.

[0083] The battery management system is controlled to perform detection. When the detection data is confirmed to meet the first preset requirement, the chip select voltage is reduced to 1.2V and the first switch is turned on. The first switch is used to turn on or off the circuit for the charging device to charge the first power supply module.

[0084] The charging device is controlled to charge the first power supply module.

[0085] The detection data may include self-test data of the entire device, such as the overall device status assessment results, overall device temperature, battery status, current, voltage, etc., and may also include interaction data with the battery pack BMS, such as handshake data, mutual verification data, etc. The first preset requirement can be set according to the actual scenario based on the detection data, and this application does not limit it in this regard. The first switch is used to connect or disconnect the circuit for the charging device to charge the first power supply module. The first switch can be a relay.

[0086] In some implementation scenarios, when the device is powered on, the identification module detects a charging device connected and immediately pulls the chip select voltage high, inputting this voltage value to the control module (i.e., the machine chip). Upon receiving a 5V chip select voltage, the control module considers the connected module a legitimate charging device and initiates communication with it. After successful communication, the control module lowers the chip select voltage to 1.4V, indicating that the initial identification of the charging device is complete. Next, the control module controls the device's software BMS to perform a self-check of the device's current status (including overall status assessment, temperature / battery status / current / voltage, etc.), and simultaneously initiates communication with the built-in battery pack BMS. Once both BMSs have completed their handshake and mutually verified the data, the control module maintains the chip select voltage at 1.2V and drives the relay to conduct (i.e., the relay closes), completing the charging circuit closure and officially beginning charging of the built-in battery pack.

[0087] In other implementation scenarios, the entire device is in a powered-off state. In this scenario, before initiating communication with the charging device, the device's control switch can be activated by adjusting the chip select voltage to power on the device. Specifically, when the device is powered off, the identification module detects a charging device connected and immediately pulls the chip select voltage up to 2.7V. Only when the chip select voltage is 2.7V is the hardware circuit logic switch turned on, thereby driving the device's control switch to turn on. After the device's control switch is turned on, the device's power supply is turned on, and the control module also powers on and begins to work. After the device is powered on, the control module, based on the received 2.7V chip select voltage, immediately initiates the communication process with the charging device. The subsequent control process is similar to the implementation scenario where the device is powered on, and can be referred to accordingly, so it will not be elaborated further. During charging, the chip select voltage value is continuously monitored. If the chip select voltage value is higher than 2.5V, it is considered that the connected module has been unloaded, charging stops, and the device returns to a powered-off state. The BMS (Battery Management System) is an electronic system used to monitor and manage the safety, performance, and lifespan of the battery pack. The overall system's software BMS acts as the upper-level controller for the battery pack BMS, responsible for coordinating the overall battery system with other modules of the machine. The battery pack BMS is typically integrated within the battery modules, managing individual battery cells, monitoring battery status in real time, and protecting battery safety.

[0088] In one possible implementation, upon confirming successful communication or upon confirming that the detection data meets a first preset requirement, the control module is further configured to:

[0089] It detects whether a pause charging command has been received from the mobile device. If so, it adjusts the chip select voltage to the power supply voltage to keep the autonomous mobile device in standby mode.

[0090] In some implementation scenarios, autonomous mobile devices can interact with mobile terminals, thereby facilitating user control of the autonomous mobile devices. These mobile terminals can include user apps, mobile phones, computers, etc.

[0091] It is understandable that the control module of the autonomous mobile device can monitor in real time whether it receives a no-charging command from the mobile terminal. If a no-charging command is received from the mobile terminal after confirming successful communication or confirming that the detection data meets the first preset requirements, the chip select voltage can be adjusted back to the power supply voltage to keep the autonomous mobile device in standby mode.

[0092] In one possible implementation, when it is determined that the device connected to the multiplexing module is a second power supply module, the control module is further configured to:

[0093] Control the self-moving device to communicate with the second power supply module. When the communication is confirmed to be successful, adjust the chip select voltage to 1.4V.

[0094] When the battery management system performs a test and confirms that the test data meets the second preset requirement, the chip select voltage is reduced to between 0.8V and 0.9V and the second switch is turned on; the second switch is used to turn on or off the circuit of the second power supply module to supply power to the autonomous mobile device.

[0095] The second power supply module controls the supply of power to the autonomous mobile device.

[0096] The detection data may include self-test data of the entire device, such as the overall device status assessment results, overall device temperature, battery status, current, voltage, etc., and may also include interaction data with the battery pack BMS, such as handshake data, mutual verification data, etc. The second preset requirement can be set based on the detection data and the actual scenario; this application does not limit it in this regard. The second switch is used to connect or disconnect the circuit from which the second power supply module supplies power to the autonomous mobile device. Similarly, the second switch can be a relay. A relay can be used to control the connection or disconnection of different circuits.

[0097] In some implementation scenarios, when the identification module detects a power supply module (such as a backup battery pack) connected, it inputs a 5V chip select voltage to the control module (i.e., the machine chip). Upon receiving this, the control module considers the connected module a legitimate power supply module and then initiates a communication process with it. After successful communication, the control module lowers the chip select voltage to 1.4V, indicating that the initial communication handshake has been completed and the system is ready to enter the system status detection phase. Next, the control module controls the system's software BMS to perform a self-check of the system's current status (including system status assessment, system temperature / battery status / current / voltage, etc.), and simultaneously initiates bidirectional handshake and status verification with the backup battery pack BMS to ensure that the backup battery is stable and its parameters are normal. When both BMSs have completed the handshake and mutually verified that the data is correct, it indicates that the backup battery pack meets the discharge conditions. At this point, the control module maintains the chip select voltage between 0.8V and 0.9V and drives the relay to conduct (i.e., the relay closes) to complete the closing of the discharge circuit and begin supplying power from the backup battery.

[0098] In this embodiment, compared to traditional module identification methods, the use of single-channel chip select voltage identification and communication interaction significantly reduces costs and the complexity of identification logic. Devices that automatically identify and connect to autonomous mobile devices based on chip select voltage require no user intervention, improving ease of use and maintenance efficiency. Employing multi-stage voltage control for layered execution of charging or power supply processes, along with dual verification through communication and self-testing, enhances charging and discharging safety.

[0099] In one possible implementation, the reuse module includes:

[0100] A power harness that connects to a charging device to form a charging circuit or connects to a second power supply module to form a power supply circuit;

[0101] Communication harness for interacting with the charging device or the second power supply module;

[0102] Control harness connected to the control module.

[0103] The power supply harness can be further subdivided by voltage, including high-voltage power supply harnesses and low-voltage power supply harnesses. Communication harnesses can be subdivided by protocol, including communication harnesses used for communication such as CAN bus, I2C bus, and RS485 harnesses. Control harnesses may include chip select voltage harnesses.

[0104] In some implementation scenarios, the power harness includes two cables, the communication harness includes two cables, and the control harness includes one cable.

[0105] In this embodiment, only two channels of three signal circuits (or three channels of five wires if power supply wires are included) are needed to reuse different modules on one external socket. This not only reduces the internal wiring redundancy and space waste caused by setting up multiple independent interfaces in traditional solutions, but also makes the overall structure more compact and more integrated.

[0106] For ease of understanding, based on the description of the foregoing embodiments, this application provides a system block diagram of an autonomous mobile device with three different external modules, as follows: Figure 3 As shown, only a portion of the interface circuit in the multiplexing module (labeled as machine-to-machine interface in the figure) and the modules connected to the autonomous mobile device are schematically marked. The interface circuit includes pull-up resistor units (R3, R4, R5) and pull-down resistor units (R1 and R2). The pull-up voltage is uniformly set to 5V. The pull-down resistor units are chip-select controlled, and different pull-down resistor values ​​can be selected according to different connected modules. In addition, the multiplexing module externally includes a high-voltage harness, a communication harness (labeled as communication in the figure), and a chip select voltage harness (labeled as chip select voltage in the figure). External modules include a backup battery pack, a power cabinet, and a charger. Only one of the three external modules can be placed in use at a time.

[0107] When an external module is connected to the machine, the multiplexing module acquires the chip select voltage and identifies the connected module based on the voltage value. If the chip select voltage is less than 1V, it is considered a normal battery pack. If the chip select voltage is between 3V and 4V, it is considered an abnormal battery pack. If the chip select voltage is 5V, it is considered that a charging module (charger and power cabinet) is connected in the standby state. If the chip select voltage is 2.7V, it is considered that a charging module (charger and power cabinet) is connected in the powered-off state, and the machine needs to be automatically activated first. It should be noted that when a charging module (charger and power cabinet) is connected in the powered-off state, the machine enters a charging preparation state and automatically activates. After automatic activation, charging begins, the chip select voltage changes to 1.4V, and the communication pair harness is connected. During charging, the chip select voltage is continuously monitored. If the chip select voltage is higher than 2.5V, it is considered that the connected module has been unloaded, charging stops, and the machine returns to the powered-off state.

[0108] If the machine is connected to a normal backup battery pack, this backup battery pack will be connected to the machine's internal circuitry via a dedicated wiring harness. Next, the external battery pack and the machine's internal modules use synchronous voltage sampling to simultaneously collect voltage data from both ends. Furthermore, the machine performs a handshake communication with the external battery pack via a communication harness (CAN / I2C, etc.), exchanging voltage sampling data to confirm pairing based on the voltage data comparison results. Only after the handshake and voltage matching are successful will the external battery pack be put into use; that is, the external battery pack will discharge to the machine through the high-voltage wiring harness.

[0109] If the machine is connected to an external AC module (including but not limited to power cabinets, chargers, etc.), a passive pull-up voltage method is used to pull the signal line to a high level for internal machine recognition. Specifically, this is manifested as follows: Figure 3 Pull-up resistors R3, R4, and R5 are configured on the AC module's chip select voltage harness. Next, the machine monitors the voltage status on the signal lines to determine if the AC module is successfully connected. If connected successfully, the machine attempts a heartbeat-style communication handshake pairing with the AC module. Upon successful pairing, the machine activates its internal power supply module and outputs a fixed voltage demand signal through the high-voltage harness. Upon receiving this fixed voltage demand signal, the AC module enters the activated state and begins normal power supply, providing the corresponding energy service.

[0110] In this embodiment, the device can use chip select voltage to meet the needs of connecting different modules during operation. By using a single interface and single communication identification, and with controllable communication, the cost of components can be greatly reduced.

[0111] In this embodiment, the wiring harness design on the machine side is simplified to retain only two main circuit harnesses, namely the communication pair harness (such as CAN bus, I2C bus and other communication lines) and the chip select voltage harness (Chip_Select harness), and no other redundant circuit harnesses (except for the high voltage harness) are retained. This can reduce cable complexity and improve the modular flexibility of the system.

[0112] like Figure 4 As shown in the diagram, this application provides a circuit diagram of an external charger for an autonomous mobile device. It only schematically illustrates a portion of the interface circuit in the multiplexing module and the part of the circuit that uses the charger to charge the battery pack inside the device; it does not limit other circuits within the device or charger. Specifically, in Figure 4 In this diagram, the +5V current, along with R1, R2, and SW, represents a simplified circuit for the chip select in the interface circuit. This indicates that in the following scenario, only 5V and pull-up resistor R2 are used on the charger side, and only pull-down resistor R1 is used on the machine side. The +5V voltage source comes from the DC-DC converter output inside the charger module; R2 is a pull-up resistor located on the charger side, used to pull up the Chip Select voltage and maintain it at a high level (+5V); R1 is a pull-down resistor on the machine side, dividing the Chip Select voltage to appropriately lower it; SW is a hardware switch controlled by the chip select, controlled by the machine-side chip, and its output path (floating, intermediate resistance, ground) can be set via software, serving as a voltage switching and signal output path control function; Q1 represents the power-on activation switch (i.e., the overall control switch); the relay controls the physical connection between the battery pack and the AC high voltage, acting as the physical switch for actual charging. Pins 1-5 represent some pins of the chip, and communication Tx and communication Rx represent the communication harness.

[0113] This circuit implements a Chip Select identification mechanism based on a +5V power supply, pull-up / pull-down resistors, and switch SW. Combined with Q1 and a relay, it completes system activation and high-voltage output closure control. Based on practical scenarios, it can be divided into two types: connecting the charger when the machine is off and connecting the charger when the machine is on. The specific implementation process is as follows.

[0114] With the entire device powered off and AC power connected, the AC power is converted to +5V by the charger's internal DC-DC converter. Then, a voltage of approximately 2.7V is generated on the Chip Select pin (pin 2) through pull-up resistor R2 and pull-down resistor R1 on the device side. This voltage is fed back to the device chip via the SW hardware switch. When the device chip detects a 2.7V Chip Select voltage, it confirms the presence of the external module. At this point, the hardware automatically turns on the SW, turning on Q1, powering on the entire device, and the chip begins initialization and power-on. Further, the chip establishes communication with the charger chip via pins 3 and 4. After successful communication, the device software adjusts the Chip Select voltage to 1.4V. Next, the BMS software performs a self-check of the device's status and interacts with the battery pack. When both BMSs have completed their handshake and mutually verified the data, the software controls the Chip Select voltage to change to 1.2V and outputs a control signal to close the relay. The closed relay connects the high-voltage charging circuit, and the charger begins charging the battery pack.

[0115] When the device is powered on and connected to AC power, the AC power is output as +5V via the charger's internal DC-DC converter. Then, a voltage is formed on the Chip Select pin (pin 2) through pull-up resistor R2 and pull-down resistor R1 on the device side. Since the device is powered on and the chip is powered, the Chip Select voltage remains at approximately 5V (high level). The chip reads this voltage to determine if a valid module has been inserted. Further, the chip establishes communication with the charger chip via pins 3 and 4. After successful communication, the device software adjusts the Chip Select voltage to 1.4V. Next, the BMS software performs a self-check of the device's status and interacts with the battery pack. When both BMSs have completed their handshake and mutually verified the data, the software controls the Chip Select voltage to change to 1.2V and outputs a control signal to close the relay. The closed relay connects the high-voltage charging circuit, and the charger begins charging the battery pack.

[0116] It should be noted that the main difference between connecting the entire device to AC power when it is powered off and connecting it to AC power when it is powered on is that the entire device needs to be powered on first, and then the chip needs to be powered on. Furthermore, the chip select voltage value will be continuously monitored during charging. If the chip select voltage value is higher than 2.5V, it is considered that the connected module has been unloaded, charging will stop, and the device will return to the powered-off state.

[0117] like Figure 5 As shown in the figure, this application provides a circuit diagram of an external power cabinet for autonomous mobile devices. The main difference between this and connecting to a charger is that the power cabinet is powered by a battery (DC power supply). Other processes are similar and will not be described in detail.

[0118] like Figure 6As shown in the diagram, this application provides a circuit diagram for connecting an external battery pack to an autonomous mobile device. After the device is connected to the external battery pack, the Chip Select is in a 5V standby state. This voltage is fed back to the machine chip via the SW hardware switch. The machine chip detects that the Chip Select is 5V and considers the external battery module to be connected. Next, the machine chip establishes communication with the external battery pack chip via pins 3 and 4. After normal communication, the machine software adjusts the Chip Select voltage to 1.4V. Furthermore, the software BMS performs a self-check of the device's status and interacts with the battery pack. When both BMSs have completed a handshake and mutually verified the data, the software controls the Chip Select voltage to be maintained between 0.8V and 0.9V and outputs a control signal to close the relay. The closed relay connects the discharge circuit, allowing the external battery pack to power the machine's motor.

[0119] It should be noted that the above embodiments are illustrated using a single machine with three external modules as an example, and do not constitute a limitation on other implementation scenarios. Furthermore, the accompanying drawings only schematically illustrate the charging and discharging circuitry, and do not limit the other components within the machine, charger / energy cabinet / external battery pack.

[0120] In the above embodiments, the entire machine can use only one external interface to connect and use different modules, and this interface only requires three channels and five wires to identify different modules. Compared with traditional multiple external ports, the solution not only occupies less machine area and can pair different modules, but also reduces the number of wiring harnesses at the circuit level, thereby reducing costs and the complexity of the robot's internal wiring harnesses.

[0121] It should be noted that the above is only a simplified description of the structure of the autonomous mobile device based on the content involved in the implementation process. Of course, the structure of the autonomous mobile device in this application is not limited to the modules described above. For example, taking an autonomous lawnmower as an example, the autonomous lawnmower also includes a cutting module, which includes cutting elements and cutting drive components. In addition, the autonomous lawnmower may also include some sensors. For example, position sensors, such as inertial measurement unit (IMU) modules, ranging modules, satellite positioning sensors, RTK positioning modules, etc. Obstacle detection sensors, including contact sensing and non-contact sensing. For example, contact sensing and non-contact sensing can be enabled simultaneously, or one sensing method can be used depending on the state of the autonomous lawnmower (e.g., moving within an area or between areas). An example of contact sensing includes the use of a contact bumper protruding from the housing to detect when the autonomous lawnmower comes into contact with an obstacle. Non-contact sensors may use sound waves or light waves to detect obstacles (e.g., using infrared, radar, lidar, etc.), which are arranged to detect whether there are any obstacles near the autonomous lawnmower to help the autonomous lawnmower avoid these obstacles or circle around them. Vision-based sensors include one or more cameras for capturing or recording images for use by a vision system. The cameras may detect one or both of visible light and non-visible light (e.g., infrared light). In some embodiments, satellite positioning sensors and vision-based sensors may coexist, both used for positioning or for different functions. In addition to the sensors mentioned above, autonomous lawnmowers also include basic sensors such as rain sensors, lift-up detection sensors, etc., and other currently known or future-developed sensors can be integrated into the autonomous lawnmower.

[0122] The autonomous mobile device provided in this application achieves a unified interface design for both power supply and charging paths through a reused module. This not only reduces the internal wiring redundancy and space waste caused by setting up multiple independent interfaces in traditional solutions, making the overall structure more compact and highly integrated, but also simplifies user operation, improves ease of use and maintenance efficiency, and can meet the flexible switching needs under different power supply scenarios. Furthermore, in addition to fixing the first power supply module inside the device, a charging device or a second power supply module can be selectively connected to enhance the machine's battery life. This allows the autonomous mobile device to be used in environments with different areas or different operating durations, such as urban lawns, football fields, and golf courses, thereby enhancing the machine's compatibility and intelligence level in multiple scenarios.

[0123] It should be noted that some embodiments of this application have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in a different order than that in the above embodiments and still achieve the desired result. In addition, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown to achieve the desired result.

[0124] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this application (including the claims) is limited to these examples; under the concept of this application, the above embodiments or technical features of different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this application as described above, which are not provided in detail for the sake of brevity.

[0125] The embodiments described herein are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments described herein should be included within the protection scope of this application.

[0126] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0127] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An autonomous mobile device, characterized in that, include: body; The walking module is configured to move the fuselage; The first power supply module is fixed inside the body and is configured to supply power to the autonomous mobile device. The multiplexing module is configured to selectively connect to a charging device or a second power supply module; wherein the charging device is configured to charge the first power supply module, and the second power supply module is configured to power the autonomous mobile device.

2. The device according to claim 1, characterized in that, The multiplexing module includes an identification module configured to determine devices connected to the multiplexing module; The autonomous mobile device also includes: The control module, electrically connected to the identification module, is configured to, when it is determined that the device connected to the multiplexing module is a charging device, control the circuit of the charging device to charge the first power supply module; and is further configured to, when it is determined that the device connected to the multiplexing module is a second power supply module, control the circuit of the second power supply module to supply power to the autonomous mobile device.

3. The device according to claim 2, characterized in that, The identification module includes an interface circuit, and the device for determining the connection to the multiplexing module includes: The device connected to the multiplexing module is determined based on the chip select voltage at the target location in the interface circuit.

4. The device according to claim 3, characterized in that, Based on the chip select voltage at the target location in the interface circuit, the device connected to the multiplexing module is determined, including: When the autonomous mobile device is powered on, if the chip select voltage at the target location is 5V, then the device connected to the multiplexing module is determined to be a charging device. When the autonomous mobile device is powered off, if the chip select voltage at the target location is 2.7V, then the device connected to the multiplexing module is determined to be a charging device. If the chip select voltage at the target location is less than 1V, then the device connected to the multiplexing module is determined to be the second power supply module.

5. The device according to claim 3 or 4, characterized in that, The autonomous mobile device also includes a whole-machine control switch, which is connected to the interface circuit. When the autonomous mobile device is in a powered-off state, the overall control switch is activated in response to the chip select voltage of 2.7V, so as to power on the autonomous mobile device.

6. The device according to claim 3 or 4, characterized in that, When it is determined that the device connected to the multiplexing module is a charging device, the control module is further configured to: The autonomous mobile device is controlled to communicate with the charging device. When the communication is confirmed to be successful, the chip select voltage is adjusted to 1.4V. When the battery management system performs a test and confirms that the test data meets the first preset requirement, the chip select voltage is reduced to 1.2V and the first switch is turned on; the first switch is used to turn on or off the circuit of the charging device charging the first power supply module. The charging device is controlled to charge the first power supply module.

7. The device according to claim 6, characterized in that, Upon confirming successful communication or upon confirming that the detection data meets the first preset requirement, the control module is further configured to: The system detects whether a pause charging command has been received from the mobile device. If so, it adjusts the chip select voltage to the power supply voltage to keep the autonomous mobile device in standby mode.

8. The device according to claim 3 or 4, characterized in that, When it is determined that the device connected to the multiplexing module is a second power supply module, the control module is further configured to: The autonomous mobile device is controlled to communicate with the second power supply module. When the communication is confirmed to be successful, the chip select voltage is adjusted to 1.4V. When the battery management system performs a test and confirms that the test data meets the second preset requirement, the chip select voltage is reduced to between 0.8V and 0.9V and the second switch is turned on; the second switch is used to turn on or off the circuit of the second power supply module supplying power to the autonomous mobile device. The second power supply module is controlled to supply power to the autonomous mobile device.

9. The device according to claim 2, characterized in that, The multiplexing module includes: A power harness that connects the charging device to form a charging circuit or connects the second power supply module to form a power supply circuit; A communication harness that interacts with the charging device or the second power supply module; Control harness connected to the control module.

10. The device according to claim 1, characterized in that, The first power supply module is a built-in battery pack; the charging device is an energy cabinet or charger; and the second power supply module is a backup battery pack.

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