Self-walking device, operational robot, and charging system

Abstract

A self-walking device (340), an operational robot (30), and a charging system (10). The self-walking device (340) is adapted to be charged by means of a charging pile (20); the self-walking device (340) comprises a body (3410), a walking mechanism (3420), a storage battery (3430), and a charging module (3440), wherein the walking mechanism (3420) is arranged at the bottom of the body (3410) and is configured to drive the body (3410) to move for operation; the storage battery (3430) is mounted on the body (3410); and the charging module (3440) is configured to couple to the charging pile (20) so as to receive electric energy from the charging pile (20) to charge the storage battery (3430), the charging module (3440) being arranged at the bottom of the body (3410). Thus, the operational robot (30) and the charging pile (20) form a bottom-up charging structure; the whole body (3410) can function to cover the charging module (3440) disposed at the bottom of the body (3410), so that when the operational robot (30) works outdoors on snowy days, the body (3410) can prevent snow from falling onto the surface of the charging module (3440), thereby solving the problem of the charging difficulty caused by accumulated snow or snow blocks on the surface of the charging module (3440), and ensuring that the operational robot (30) can smoothly complete a charging task.

Description

Self-propelled equipment, working robots and charging systems

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application with application number CN202310725079.3 and title “Snow-clearing robot and snow-clearing system” filed with the China Patent Office on June 16, 2023, the entire contents of which are incorporated by reference into this application.

[0003] This application claims priority to the Chinese patent application with application number CN202322118614.7 and title “Mobile robot with wireless charging function” filed with the China Patent Office on August 8, 2023, the entire contents of which are incorporated by reference into this application. Technical Field

[0004] The present application relates to the field of robotics technology, and more specifically, to a self-propelled device, a working robot, and a charging system. Background Art

[0005] With the rapid development of robotics, household robots (such as snowplows) have become ubiquitous in everyday life. These robots consist of a snowplow and a vehicle that pulls the device around the house. The vehicle is typically wheeled or tracked, and the snowplow primarily consists of a snow-rolling mechanism and a snow-throwing mechanism. The snow-rolling mechanism gathers snow from the ground into a snow-rolling chamber, which is then thrown into a designated direction by the snow-throwing mechanism.

[0006] In pursuit of low-carbon, environmentally friendly, energy-saving, and emission-reduction strategies, traditional fuel-powered snowplow robots are gradually being phased out. Current developments are primarily focused on battery-powered electric structures. Existing charging modules are typically located on the side of the robot. The robot's movement brings the module closer to the charging station, establishing an electrical connection.

[0007] Since snow-clearing robots usually perform snow-clearing work while snow is falling, the body of the snow-clearing robot is easily covered by snowflakes or hard snow blocks form on the surface of the body, which makes it extremely difficult to charge the snow-clearing robot.

[0008] Summary of the Invention

[0009] Embodiments of the present application provide a self-propelled device, a working robot, and a charging system.

[0010] According to a first aspect of the present application, embodiments of the present application provide a self-propelled device suitable for charging via a charging station. The self-propelled device includes a vehicle body, a running mechanism, a battery, and a charging module. The running mechanism is disposed at the bottom of the vehicle body and is used to drive the vehicle body for movement, and the battery is mounted on the vehicle body. The charging module is configured to couple with the charging station to receive electrical energy from the charging station to charge the battery. The charging module is disposed at the bottom of the vehicle body.

[0011] According to the second aspect of the present application, an embodiment of the present application further provides a working robot, which includes a working device and the above-mentioned self-propelled equipment, and the working device is connected to the body of the self-propelled equipment.

[0012] According to a third aspect of the present application, embodiments of the present application further provide a charging system comprising the aforementioned working robot and a charging station. The charging station comprises a base and a power module, the power module being disposed on the base and adapted to mate with the charging module of the working robot. The base is used to dock the working robot, and when the working robot is docked on the base for charging, the power module is located below the charging module. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0014] FIG1 is a schematic structural diagram of a charging system provided in an embodiment of the present application.

[0015] FIG2 is a schematic structural diagram of a charging pile in the charging system shown in FIG1 .

[0016] FIG3 is a schematic structural diagram of an operating device in the charging system shown in FIG1 .

[0017] FIG4 is a schematic structural diagram of a self-propelled device in the charging system shown in FIG1 .

[0018] FIG5 is a schematic cross-sectional view of the self-propelled device shown in FIG4 .

[0019] FIG6 is a schematic diagram of the exploded structure of the charging module in the self-propelled device shown in FIG4 .

[0020] FIG7 is a schematic structural diagram of the charging module in the self-propelled device shown in FIG4 in an installed state.

[0021] FIG8 is a schematic structural diagram of the charging module in the self-propelled device shown in FIG4 in a disassembled state.

[0022] FIG9 is a schematic structural diagram of the vehicle body, charging module and locking assembly in the self-propelled device shown in FIG4 .

[0023] FIG10 is a schematic diagram of the exploded structure of the lock assembly shown in FIG9 .

[0024] FIG11 is a schematic cross-sectional view of the lock assembly shown in FIG9 .

[0025] Explanation of reference numerals: 10, charging system; 20, charging pile; 210, base; 230, power module; 2320, transmitting coil; 30, working robot; 320, working device; 3200, snow sweeping device; 3201, outer shell; 3210, snow rolling mechanism; 3212, snow rolling chamber; 3214, snow rolling blade; 3216, snow rolling output shaft; 3230, snow throwing mechanism; 3232, snow throwing Cabin; 340, self-propelled device; 3410, vehicle body; 3412, bottom surface; 3414, accommodating cavity; 3416, inner wall; 3418, snap-in hole; 3420, walking mechanism; 3421, crawler track; 3430, battery; 3490, baffle mechanism; 3492, baffle; 3460, driving member; 3440, charging module; 3441, receiving coil; 3443, coil positioning sensor ; 3445, inductor; 3447, charging circuit board; 2340, marking coil; 3470, control module; 3450, housing; 3451, charging surface; 3454, upper housing; 3455, lower housing; 3456, seal; 3480, limiting mechanism; 3481, first limiting portion; 3482, second limiting portion; 3483, limiting boss; 3484, limiting groove; 3500, lock Components; 3510, shell; 3512, base; 3514, cover; 3516, through hole; 3520, lock tongue; 3521, clamping part; 3530, elastic member; 3532, spring; 3540, guide column; 3518, guide platform; 3523, guide groove; 3453, fixing platform; 3550, lug; 3552, through hole; 3560, fastener; 3234, snow bucket. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0027] Please refer to Figures 1 and 2. In this embodiment, a charging system 10 is disclosed. The charging system 10 may include a charging pile 20 and a working robot 30, wherein the working robot 30 is suitable for being electrically connected to the charging pile 20 so that the charging pile 20 charges the working robot 30.

[0028] In this embodiment, the charging station 20 may include a base 210 and a power module 230, wherein the base 210 is used to dock the working robot 30. The power module 230 is disposed on the base 210, and the base 210 can also serve to secure and protect the power module 230. Specifically, the power module 230 is compatible with the charging module 3440 of the working robot 30. For example, the power module 230 may include a transmitting coil 2320, and the charging module 3440 may include a receiving coil 3441 coupled to the transmitting coil 2320. The receiving coil 3441 can receive electromagnetic waves emitted by the transmitting coil 2320 to achieve wireless charging between the charging station 20 and the working robot 30. For another example, the power module 230 may include a plug (e.g., a plug with pins), and the charging module 3440 may include a socket compatible with the plug, for example, the socket may be a conductive disk. When the plug contacts the conductive disk via the pin, wired charging can be achieved between the charging pile 20 and the working robot 30 .

[0029] In some possible embodiments, when the power module 230 includes a transmitting coil 2320, the power module 230 may also include a frequency converter (not shown). The transmitting coil 2320 is connected to the power supply of the charging station 20 via the frequency converter, and the frequency converter adjusts the frequency of the input voltage. If the input voltage is AC, the frequency converter adjusts the frequency of the AC voltage to control the charging efficiency of the working robot 30. If the input voltage is DC, the power module 230 may also include an oscillation circuit (not shown) that filters the input DC power to form pulsating DC power. The frequency converter then changes the frequency of the pulsating DC power to control the charging efficiency of the working robot 30. Specifically, the frequency converter may include a rectifier unit, a filter unit, an inverter unit, a brake unit, a microprocessor unit, etc. The oscillation circuit may be an LC oscillator circuit. This embodiment does not limit the specific implementation of the frequency converter and oscillation circuit.

[0030] In this embodiment, the working robot 30 may include a working device 320 and a self-propelled device 340, wherein the working device 320 is connected to the body 3410 of the self-propelled device 340, and the working device 320 is used to implement different functions corresponding to the working robot 30. For example, if the working robot 30 is a snow-clearing robot, the working device 320 may be a snow-clearing mechanism, a snow-pushing mechanism, etc.; for another example, if the working robot 30 is a lawn mowing robot, the working device 320 may be a lawn mowing mechanism, a grass-cutting mechanism, etc. Specifically, the working device 320 may be a snow-clearing mechanism, a snow-rolling mechanism, a snow-throwing mechanism, a lawn mowing mechanism, a leaf-blowing mechanism, a salt-spreading mechanism, a roller brush mechanism, a snow-pushing mechanism, etc. This embodiment does not limit the specific implementation method of the working device 320. The self-propelled device 340 is used to tow the working device 320 to perform work. The self-propelled device 340 is provided with the above-mentioned charging module 3440, so that the self-propelled device 340 is suitable for charging through the charging pile 20.

[0031] In some possible embodiments, the operating device 320 may be a snowplow 3200, which is used to clear snow from a road surface. In this embodiment, the snowplow 3200 may include a snow rolling mechanism 3210 and a snow throwing mechanism 3230. The snow rolling mechanism 3210 includes a snow rolling chamber 3212, which contains snow rolling blades 3214 for collecting snow. The snow throwing mechanism 3230 includes a snow throwing chamber 3232 connected to the snow rolling chamber 3212, which contains snow throwing blades (not shown) for throwing snow from the snow rolling chamber 3212. The snow throwing chamber 3232 is located on the central axis of the snow rolling chamber 3212, and the snow rolling blades 3214 are fixed to a snow rolling output shaft 3216. Two groups of snow rolling blades 3214 are symmetrically arranged about the central axis of the snow rolling chamber 3212. The spiral guides of each set of snow-rolling blades 3214 are oriented toward the central axis of the snow-rolling chamber 3212. Therefore, when the snow-rolling output shaft 3216 rotates, it drives both sets of snow-rolling blades 3214 to simultaneously gather the accumulated snow in the snow-rolling chamber 3212 toward the center of the chamber 3212. As the working robot 30 continues to advance, the snow accumulated in the center of the snow-rolling chamber 3212 is pushed deeper into the chamber 3212 by the continuous influx of new snow. Specifically, the snow is pushed toward the snow-throwing chamber 3232 connected to the snow-rolling chamber 3212. The snow is then ejected through the snow-throwing bucket 3234 by the work of the snow-throwing blades.

[0032] Specifically, in the embodiment shown in FIG3 , the snow rolling chamber 3212 is semi-enclosed and open toward the front. As the working robot 30 advances, the snow rolling chamber 3212 collects oncoming snow. A snow throwing chamber 3232 is located on the side of the snow rolling chamber 3212 facing away from the opening. A snow throwing bucket 3234 is located outside the snow removal device 3200 and communicates with the snow throwing chamber 3232. The interior of the snow rolling chamber 3212 is a curved cavity, the cross-section of which gradually decreases from the opening to the snow throwing chamber 3232. The passing snow rolling blades 3214 gather the snow in the snow rolling chamber 3212. As the working robot 30 advances, the snow accumulated in the snow rolling chamber 3212 is gathered by the gradually decreasing cross-section walls of the snow rolling chamber 3212 and flows toward the snow throwing chamber 3232. The snow is then thrown out of the snow throwing bucket 3234 by the snow throwing blades of the snow throwing chamber 3232.

[0033] In some possible embodiments, the snow removal device 3200 may further include a drive element (not shown) for driving the snow rolling blades 3214 and the snow throwing blades. For example, the drive element may be a motor. The motor is powered by a battery 3430 disposed within the self-propelled device 340. This allows the drive system of the working robot 30 disclosed in this embodiment to be smaller than that of conventional fuel-powered snow removal robots, thereby achieving a miniaturized design for the working robot 30.

[0034] Furthermore, the base of the snow throwing bucket 3234 is fixedly connected to the outer shell 3201 of the snow sweeping device 3200. The snow throwing bucket 3234 is arc-shaped, and its end extends in the vertical direction while gradually bending in the horizontal direction. In order to achieve the longest snow throwing lift under limited energy consumption, the central angle of the center line of the snow throwing bucket 3234 in this embodiment is 45°, that is, the angle between the velocity direction of the snow at the moment it leaves the snow throwing port and the horizontal direction is 45°. Since the same mass of snow has the same initial velocity, the distance thrown horizontally is the longest when it is thrown at an angle of 45°. Therefore, by adopting such a structural design, under the premise of unchanged energy consumption (that is, the initial velocity of the snow when it leaves the snow throwing port remains unchanged), the maximum snow throwing lift can be obtained, the snow can be thrown farther, the snow throwing efficiency of the working robot 30 is improved, and the energy consumption of the working robot 30 is reduced.

[0035] Referring to Figure 4 , the self-propelled device 340 may include a vehicle body 3410, a travel mechanism 3420, a battery 3430, and a charging module 3440. The travel mechanism 3420 is located at the bottom of the vehicle body 3410 and is used to drive the vehicle body 3410 for movement. The battery 3430 is mounted on the vehicle body 3410. The charging module 3440 is coupled to the charging station 20 to receive power from the charging station 20 to charge the battery 3430. The charging module 3440 is located at the bottom of the vehicle body 3410.

[0036] Because the charging module 3440 is located at the bottom of the vehicle body 3410, when the working robot 30 is docked at the base 210 of the charging pile 20 for charging, the power module 230 is located below the charging module 3440. Therefore, the present application adopts a bottom-up charging structure in which the power module 230 and the charging module 3440 are connected. The entire vehicle body 3410 can serve as a shield for the charging module 3440 located at the bottom of the vehicle body 3410. When the working robot 30 is working outdoors on a snowy day, the vehicle body 3410 can prevent snowflakes from falling onto the surface of the charging module 3440, thereby resolving the problem of snow accumulation or caking on the surface of the charging module 3440 causing difficulties in charging, and ensuring that the working robot 30 can successfully complete its charging task.

[0037] The structure of the self-propelled device 340 is described in detail below.

[0038] In this embodiment, the vehicle body 3410 is used to secure and support the battery 3430 and the charging module 3440. Referring to FIG5 , the vehicle body 3410 may be provided with a receiving cavity 3414 located substantially at the bottom of the vehicle body 3410. The battery 3430 and the charging module 3440 may be disposed within the receiving cavity 3414 to provide protection for the battery 3430 and the charging module 3440.

[0039] In this embodiment, a battery 3430 is mounted on the vehicle body 3410. On one hand, the battery 3430 is electrically connected to the traveling mechanism 3420, providing the power required for the autonomous traveling device 340 to travel. On the other hand, the battery 3430 is also electrically connected to the working device 320, providing the power required to operate the working device 320. Specifically, the battery 3430 can be a lead-acid battery, a nickel-metal hydride battery, a nickel-metal hydride battery, a lithium-ion battery, or the like, although this embodiment does not impose any specific limitations thereon.

[0040] In this embodiment, the walking mechanism 3420 is disposed at the bottom of the vehicle body 3410 and is used to drive the vehicle body 3410 for movement. Specifically, the walking mechanism 3420 is disposed at the bottom of the vehicle body 3410 and supports the vehicle body 3410 so that the bottom of the vehicle body 3410 is spaced from the surface of the walking scene, and the charging module 3440 is exposed at the bottom of the vehicle body 3410. Therefore, when the working robot 30 travels above the charging pile 20, the charging module 3440 located at the bottom of the vehicle body 3410 and the charging pile 20 can maintain a certain distance to prevent collision between the charging module 3440 and the charging pile 20.

[0041] In some possible embodiments, referring again to FIG. 4 , the traveling mechanism 3420 may include two tracks 3421 located on the left and right sides of the vehicle body 3410 in the direction of travel, with the charging module 3440 exposed in the space between the two tracks 3421. Therefore, during the movement of the vehicle body 3410, the two tracks 3421 located on either side of the vehicle body 3410 can, to a certain extent, prevent snow from flowing under the vehicle body 3410 from the left and right sides, thereby preventing snow from coming into contact with the charging module 3440. This reduces the probability of the charging module 3440 being covered by snow or ice due to accumulated snow on the ground, thereby ensuring that the self-propelled device 340 can be charged smoothly. In other possible embodiments, the traveling mechanism 3420 may include multiple drive wheels, which may be disposed on the bottom of the vehicle body 3410 to drive the vehicle body 3410 for movement. This embodiment does not specifically limit the implementation of the traveling mechanism 3420.

[0042] In some possible embodiments, the self-propelled device 340 further includes a baffle mechanism 3490, which includes two baffles 3492. The two baffles 3492 are respectively arranged on the sides of the two tracks 3421 and block the space between the two tracks 3421. Therefore, when the vehicle body 3410 travels in the snow, the two baffles 3492 and the two tracks 3421 can further prevent snow on the ground from flowing into the bottom of the vehicle body 3410 from the bottom of both sides. In addition, the working device 320 located in front of the vehicle body 3410 can also prevent the snow on the ground from flowing into the bottom of the vehicle from the front of the vehicle body 3410, so that the baffle 3492, the track 3421 and the working device 320 form a three-sided encirclement structure for the bottom of the vehicle body 3410. Even if the self-propelled device 340 travels on snow with a certain thickness, the snow cannot flow into the bottom of the vehicle through the sides and front of the vehicle body 3410, thereby avoiding the contact between the snow from the ground and the charging module 3440, reducing the probability of the surface of the charging module 3440 being covered by snow or ice due to the snow on the ground, so as to ensure that the self-propelled device 340 can be charged smoothly.

[0043] Furthermore, when encountering snowstorms, since the baffles 3492, tracks 3421 and working devices 320 can completely cover the two sides and the front of the bottom of the vehicle body 3410, the snow blown by the wind is difficult to enter the bottom of the vehicle. In this way, the snow from the sky and the ground cannot come into contact with the charging module 3440, which facilitates the automatic charging of the self-propelled equipment 340.

[0044] In this embodiment, the charging module 3440 is configured to couple with the charging station 20 to receive electrical energy from the charging station 20 to charge the battery 3430. Referring to Figure 6 , the charging module 3440 may include a housing 3450 and a receiving coil 3441. The housing 3450 is mounted on the bottom of the vehicle body 3410. The receiving coil 3441 is configured to couple with the transmitting coil 2320 located on the charging station 20. The receiving coil 3441 is disposed within the housing 3450 and is electrically connected to the battery 3430.

[0045] Therefore, the charging pile 20 and the working robot 30 in this embodiment are charged by wireless charging. Compared with traditional wired connections, such as the contact connection between the pin and the conductive disk, the use of wireless charging can avoid problems such as poor contact caused by rust, dust, dirt, and wear of electrical contacts (such as plugs and sockets). In addition, compared with direct plug-in charging, since there is no plug, no manual intervention is required. The working robot 30 can be wirelessly charged by driving to the corresponding position of the charging pile 20, eliminating the step of manually inserting the charging connector, so that the charging process can be automated.

[0046] In some possible embodiments, the charging module 3440 may further include a charging circuit board 3447, through which the receiving coil 3441 is electrically connected to the battery 3430. Specifically, the charging circuit board 3447 may integrate circuit structures such as a rectifier circuit, a filter circuit, and a voltage regulator circuit, so that the receiving coil 3441 rectifies, filters, and stabilizes the voltage induced by the charging circuit board 3447 before charging the battery 3430, ensuring a smooth charging process.

[0047] In this embodiment, the housing 3450 provides a well-sealed space, protecting internal components (e.g., the receiving coil 3441) from environmental erosion, such as rain, snow, wind, sand, and moisture. Specifically, the housing 3450 may include an upper housing 3454 and a lower housing 3455 that are interconnected. The upper and lower housings 3454 and 3455 interlock to form a sealed space for accommodating the receiving coil 3441 and the charging circuit board 3447.

[0048] Since the receiving coil 3441 and the charging circuit board 3447 inside the charging module 3440 are prone to heat generation, the charging module 3440 requires good heat dissipation. To solve the above problem, one of the upper shell 3454 and the lower shell 3455 includes a plastic material, and the other includes a metal material. Among them, the metal shell has high thermal conductivity and can quickly dissipate the heat inside the charging module 3440; the plastic shell can avoid the metal blocking the charging module 3440 when receiving the magnetic field, so that the receiving coil 3441 can work normally. The shell 3450 in this embodiment adopts a combination of metal and plastic. While having good receiving ability, it also has heat dissipation, so that the components inside it can work in a stable environment, extending the service life of the internal components.

[0049] Specifically, the upper shell 3454 is located on the side of the outer shell 3450 facing the charging pile 20, and the upper shell 3454 is made of plastic (for example, thermoplastic plastic, thermosetting plastic, etc.). The lower shell 3455 is located on the side of the outer shell 3450 away from the charging pile 20, and the lower shell 3455 is made of metal (for example, alloy, stainless steel, etc.). Therefore, when the working robot 30 is charging, the upper shell 3454 is located between the charging pile 20 and the receiving coil 3441, and there will be no problem of the magnetic field generated by the receiving coil 3441 being blocked by the upper shell 3454 made of plastic. The lower shell 3455 is located on the side of the receiving coil 3441 away from the charging pile 20, which can quickly dissipate the heat generated by the electromagnetic induction of the receiving coil 3441, thereby ensuring the smooth operation of the charging module 3440.

[0050] In some possible embodiments, housing 3450 may further include a seal 3456, which seals upper housing 3454 and lower housing 3455. Seal 3456 can improve the sealing effect of housing 3450, preventing rain, snow, wind, sand, moisture, etc. from entering the interior of housing 3450, further ensuring the stability of the operating environment of components within housing 3450. Specifically, seal 3456 can be a sealing ring or a sealing strip.

[0051] In some possible embodiments, the charging module 3440 may further include a coil positioning sensor 3443, which is disposed within the housing 3450 and is used to detect the position of the charging module 3440 relative to the charging pile 20. In this embodiment, the coil positioning sensor 3443 detects changes in the magnetic field of the charging pile 20 to determine the distance and angle of the charging module 3440 relative to the charging pile 20, thereby identifying whether the working robot 30 has entered the charging area and further determining whether to activate or deactivate the receiving coil 3441 of the working robot 30.

[0052] The charging module 3440 of this embodiment, by providing a coil positioning sensor 3443, can solve the problem of poor positioning of the charging module 3440 during use, resulting in low charging efficiency or even no charge. Furthermore, the charging module 3440 of this embodiment integrates positioning and wireless charging reception functions, offering advantages such as high integration, compact structure, and easy installation.

[0053] Specifically, please refer to Figures 2 and 6 respectively. The charging pile 20 may also include a marking coil 2340, and the coil positioning sensor 3443 may include a pair of inductors 3445 (for example, coil inductance, plug inductance, etc.). The pair of inductors 3445 is used to detect the magnetic field strength of the marking coil 2340 to determine the position of the charging module 3440 relative to the charging pile 20. It is not difficult to understand here that the marking coil 2340 in the charging pile 20 is in a normally open state to form a marking magnetic field at the location of the charging pile 20. In this embodiment, the distance and angle of the charging module 3440 relative to the charging pile 20 can be determined by the numerical difference of the marking magnetic field obtained by the pair of inductors 3445. If it is recognized that the working robot 30 has traveled to the area above the charging pile 20, the transmitting coil 2320 of the charging pile 20 and the receiving coil 3441 of the working robot 30 are activated to realize wireless charging of the working robot 30. In some other possible embodiments, the coil positioning sensor 3443 can also be an LC resonant circuit composed of an inductor and a capacitor.

[0054] In some possible embodiments, the self-propelled device 340 may further include a control module 3470. The control module 3470 is mounted within the accommodating cavity 3414 and is used to control the motion state of the working robot 30 and control the movement of the working robot 30. Specifically, the control module 3470 may be a controller, such as a microcontroller unit (MCU). In some possible embodiments, the control module 3470 may further include a signal amplification circuit (not shown) that is used to amplify received signals (e.g., electromagnetic waves) to facilitate subsequent signal processing.

[0055] In this embodiment, the control module 3470 is electrically connected to the coil positioning sensor 3443 and is configured to obtain electromagnetic waves received by the coil positioning sensor 3443, process the received electromagnetic waves to obtain electromagnetic wave intensity distribution information, and determine the position of the charging module 3440 relative to the charging pile 20 based on the electromagnetic wave intensity distribution information. The electromagnetic wave intensity distribution information may include electromagnetic wave intensity information and electromagnetic wave range distribution information at the current location of the working robot 30.

[0056] In some possible embodiments, the control module 3470 can determine the position offset of the working robot 30 based on the determined position of the charging module 3440 relative to the charging pile 20 and the current motion state of the working robot 30, and correct the motion state of the working robot 30 based on the position offset, so that the working robot 30 can move smoothly to the location of the charging pile 20, thereby effectively avoiding the problem that the working robot 30 cannot accurately find the charging pile 20 when charging is needed, and effectively improving the charging efficiency of the working robot 30.

[0057] The connection between the housing 3450 and the vehicle body 3410 is described below.

[0058] In some possible embodiments, the housing 3450 can be fixedly connected to the bottom of the vehicle body 3410. Referring again to Figure 4, the housing 3450 can have a charging surface 3451 corresponding to the transmitting coil 2320. The charging surface 3451 protrudes relative to the bottom surface 3412 of the vehicle body 3410. This allows the charging surface 3451 to be closer to the top surface of the charging pile 20 when the working robot 30 travels over the charging pile 20, thereby improving the electromagnetic coupling efficiency with the transmitting coil 2320 in the charging pile 20 and improving the charging efficiency of the working robot 30. Specifically, the "charging surface 3451" herein may be the surface of the housing 3450 facing the charging pile 20. In one embodiment, a portion of the housing 3450 (e.g., either the upper housing 3454 or the lower housing 3455) and the vehicle body 3410 can be integrally formed to improve the reliability of the connection between the vehicle body 3410 and the charging module 3440.

[0059] In other possible embodiments, the self-propelled device 340 may further include a driving member 3460, which is disposed in the accommodating cavity 3414 and is in transmission connection with the housing 3450. The driving member 3460 is used to drive the housing 3450 to move in the accommodating cavity 3414 to switch between the extended position and the stored position. Specifically, the driving member 3460 can be a linear driving member (for example, a linear motor, a cylinder, etc.), which can directly drive the housing 3450 to rise and fall in a specified direction. The specified direction refers to a direction perpendicular to the plane where the bottom surface 3412 of the vehicle body 3410 is located.

[0060] Specifically, the housing 3450 is provided with a charging surface 3451 corresponding to the transmitting coil 2320. When the charging module 3440 is in the extended position, the charging surface 3451 protrudes from or is flush with the bottom surface 3412 of the vehicle body 3410. When the charging module 3440 is in the stowed position, the charging surface 3451 is recessed within the accommodating cavity 3414. When the charging module 3440 is in the extended position, the charging module 3440 is not charging, and the charging surface 3451 extends out of the accommodating cavity 3414. When the charging module 3440 is in the stowed position, the charging module 3440 is charging, and the charging surface 3451 retracts into the accommodating cavity 3414.

[0061] With this mechanical design, the housing 3450 is in the extended position when not charging. When clumps (such as frost, snow, or ice) form on the charging surface 3451, the housing 3450 retracts upward into the accommodating cavity 3414 during the charging state. Consequently, the clumps (such as frost, snow, or ice) on the charging surface 3451 are subjected to the positive stress created by the chassis of the vehicle body 3410, causing them to be squeezed together, broken apart, and separated from the housing 3450. This ensures that when the working robot 30 travels over the charging station 20, there are no clumps or other debris between the charging surface 3451 and the charging station 20, ensuring smooth wireless charging of the working robot 30 and realizing the intelligent working robot 30. Specifically, the working robot 30 is capable of automatically charging when the battery is low, thereby maximizing automation and eliminating the need for manual charging operations.

[0062] In some other possible embodiments, the housing 3450 is detachably disposed within the accommodating cavity 3414. Please refer to Figures 7 and 8, respectively, wherein the housing 3450 in Figure 7 is in an installed state, and the housing 3450 in Figure 8 is in a disassembled state. In this embodiment, the self-propelled device 340 may further include a limiting mechanism 3480, which is connected between the housing 3450 and the vehicle body 3410 so that the housing 3450 is detachably connected to the vehicle body 3410. Therefore, when the working robot 30 experiences charging abnormalities, the user or maintenance personnel can quickly remove the charging module 3440 from the vehicle body 3410, thereby improving the convenience of inspection and maintenance.

[0063] As an embodiment, referring to FIG. 9 , the limiting mechanism 3480 may include a first limiting portion 3481 and a second limiting portion 3482, which are pluggable and engage with each other to position the housing 3450. The first limiting portion 3481 is disposed at one end of the accommodating cavity 3414 and connected to the vehicle body 3410, while the second limiting portion 3482 is disposed on the housing 3450 and is limited to the first limiting portion 3481 to secure the installation position of the housing 3450 relative to the vehicle body 3410. Specifically, one of the first limiting portion 3481 and the second limiting portion 3482 is a limiting boss 3483, and the other is a limiting groove 3484, with the limiting boss 3483 pluggably engaging with the limiting groove 3484.

[0064] In the embodiment shown in Figure 9, the first limiting portion 3481 is a limiting boss 3483, and the second limiting portion 3482 is a limiting groove 3484. Specifically, the limiting boss 3483 is generally elongated and located at the bottom of the vehicle body 3410 and at one end of the accommodating cavity 3414. The limiting groove 3484 is provided at one end of the housing 3450, and the shape and size of the limiting groove 3484 match the limiting boss 3483 to stably hold one end of the housing 3450. Of course, in other possible embodiments, the first limiting portion 3481 is a limiting groove 3484, and the second limiting portion 3482 is a limiting boss 3483, and this application does not specifically limit this.

[0065] In the embodiment shown in FIG9 , engaging holes 3418 may be provided on both sides of the inner wall 3416 of the accommodating cavity 3414. The limiting mechanism 3480 may further include a latch assembly 3500. The latch assembly 3500 is fixed to both sides of the housing 3450 and elastically engages with the engaging holes 3418 on both sides of the accommodating cavity 3414. The "inner wall 3416 of the accommodating cavity 3414" herein may be the sidewalls of the vehicle body 3410 located on both sides in the direction of travel. Specifically, the aforementioned second limiting portion 3482 may be provided at one end of the housing 3450, and two latch assemblies 3500 may be fixed on either side of the other end of the housing 3450.

[0066] Therefore, when the charging module 3440 in this embodiment needs to be installed with the vehicle body 3410, the first end of the charging module 3440 is first positioned by plugging and engaging the first limiting portion 3481 and the second limiting portion 3482. Then, the other end of the charging module 3440 is locked to the vehicle body 3410 by engaging the locking assembly 3500 with the locking hole 3418, completing the rapid installation of the two and improving the installation efficiency of the charging module 3440. When the charging module 3440 needs to be removed from the vehicle body 3410, the locking assembly 3500 on both sides is pressed simultaneously to unlock it, facilitating the subsequent disassembly, inspection, and maintenance of the charging module 3440. Compared with the traditional locking method using multiple screws, the charging module 3440 in this embodiment is fixed by a locking assembly 3500, which can reduce the installation and disassembly steps, improve the disassembly and assembly efficiency of the charging module 3440, and avoid the loosening of screws due to the vibration of the vehicle body 3410 during the walking of the working robot 30, thereby improving the stability of the connection of the charging module 3440.

[0067] Here, the specific structure of the locking assembly 3500 and the connection method between the locking assembly 3500 and the housing 3450 are described.

[0068] 10 and 11 , the latch assembly 3500 may include a housing 3510, a locking tongue 3520, and an elastic member 3530. The housing 3510 is mounted on the outside of the housing 3450. The locking tongue 3520 is slidably mounted within the housing 3510 and is capable of protruding relative to the housing 3510 to engage with the engaging hole 3418. The elastic member 3530 is disposed between the housing 3510 and the locking tongue 3520. Because the elastic member 3530 in this embodiment is held between the housing 3510 and the locking tongue 3520, the locking tongue 3520 can move in the direction of deformation of the elastic member 3530 to engage with the engaging hole 3418.

[0069] Specifically, the housing 3510 may include a base 3512 and a cover 3514. The cover 3514 is connected to the outer shell 3450 and fixedly connected to the base 3512 to form a chamber for accommodating the lock tongue 3520 and the elastic member 3530. For example, the cover 3514 and the base 3512 may be engaged with each other to form the aforementioned chamber. The cover 3514 is provided with a through hole 3516 extending through opposite sides of the cover 3514. The lock tongue 3520 is provided with a snap-fit ​​portion 3521. The snap-fit ​​portion 3521 can pass through the through hole 3516 and movably protrude from the exterior of the housing 3510 to snap-fit ​​with the snap-fit ​​hole 3418.

[0070] As the charging module 3440 is pressed into the vehicle body 3410, the locking tongue 3520 of the locking assembly 3500 is in a compressed state. When the locking tongue 3520 reaches the engaging hole 3418, the locking tongue 3520 is ejected by the elastic member 3530 and engages with the engaging hole 3418, thereby locking the charging module 3440 to the vehicle body 3410. To disassemble the charging module 3440, the locking tongues 3520 of the locking assembly 3500 on both sides of the vehicle body 3410 are simultaneously pressed to compress the elastic member 3530, disengaging the locking tongue 3520 from the engaging hole 3418. The locking assembly 3500 is then separated from the engaging hole 3418. The charging module 3440 can then be lifted to complete disassembly.

[0071] In some possible embodiments, the elastic member 3530 may be a spring 3532, and the latch assembly 3500 further includes a guide post 3540 disposed within the housing 3510. The guide post 3540 may be disposed on the side of the base 3512 facing the cover 3514 and fixedly connected to the base 3512. For example, the guide post 3540 and the base 3512 may be integrally formed. Part of the structure of the spring 3532 is sleeved around the outer periphery of the guide post 3540. The guide post 3540 may limit the spring 3532 and prevent the spring 3532 from bending, thereby increasing the service life of the spring 3532.

[0072] In some possible embodiments, one of the housing 3510 and the lock tongue 3520 is provided with a guide platform 3518, and the other is provided with a guide groove 3523. The guide platform 3518 and the guide groove 3523 are movably nested and matched, which can improve the smoothness and sliding precision of the lock tongue 3520 sliding within the housing 3510. In the embodiment shown in Figure 10, the guide groove 3523 is provided on the lock tongue 3520, and the guide platform 3518 is provided on the cover 3514. The number of guide grooves 3523 and guide platforms 3518 can be multiple to better limit the movement direction of the lock tongue 3520.

[0073] Referring again to FIG. 9 , the charging module 3440 may further include a fixing platform 3453 disposed on the housing 3450 , and the locking assembly 3500 may further include a lug 3550 disposed on the shell 3510 , with the shell 3510 connected to the fixing platform 3453 via the lug 3550 . Specifically, each locking assembly 3500 may include two lugs 3550 , with the two lugs 3550 located on opposite sides of the main body of the housing 3514 . Two fixing platforms 3453 corresponding to the two lugs 3550 may be connected to one side of the housing 3450 , wherein at least a portion of the structure of the two fixing platforms 3453 and the housing 3450 may be an integrally formed structure, and the two lugs 3550 and the main body of the housing 3514 may be an integrally formed structure.

[0074] In one embodiment, the lug 3550 is snap-fitted or bonded to the corresponding fixing platform 3453. In another embodiment, the latch assembly 3500 may further include a fastener 3560, through which the lug 3550 is connected to the fixing platform 3453. For example, the lug 3550 may be provided with a through-hole 3552, through which the fastener 3560 is passed and then connected to the fixing platform 3453. Specifically, the fastener 3560 may be a pin or a screw.

[0075] This embodiment provides a self-propelled device 340, a working robot 30 and a charging system 10. The self-propelled device 340 is suitable for charging through a charging pile 20. The self-propelled device 340 may include a body 3410, a walking mechanism 3420, a battery 3430 and a charging module 3440. The walking mechanism 3420 is arranged at the bottom of the body 3410 and is used to drive the body 3410 to perform mobile operations. The battery 3430 is installed on the body 3410. The charging module 3440 is used to couple with the charging pile 20 to receive electrical energy from the charging pile 20 to charge the battery 3430. The charging module 3440 is arranged at the bottom of the body 3410.

[0076] Because the charging module 3440 is located at the bottom of the vehicle body 3410, when the working robot 30 is docked at the base 210 of the charging pile 20 for charging, the power module 230 is located below the charging module 3440. Therefore, the present application adopts a bottom-up charging structure in which the power module 230 and the charging module 3440 are connected. The entire vehicle body 3410 can serve as a shield for the charging module 3440 located at the bottom of the vehicle body 3410. When the working robot 30 is working outdoors on a snowy day, the vehicle body 3410 can prevent snowflakes from falling onto the surface of the charging module 3440, thereby resolving the problem of snow accumulation or caking on the surface of the charging module 3440 causing difficulties in charging, and ensuring that the working robot 30 can successfully complete its charging task.

[0077] In the specification of this application, certain words are used to refer to specific components in the specification and claims. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. The specification and claims do not use the difference in name as a way to distinguish components, but use the difference in function of the components as the criterion for distinction. For example, "including" mentioned throughout the specification and claims is an open term and should be interpreted as "including but not limited to"; "substantially" means that those skilled in the art can solve the technical problem within a certain error range and basically achieve the technical effect.

[0078] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "inside", etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are only used to simplify the description for the convenience of describing this application, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on this application.

[0079] In this application, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be interpreted broadly. For example, these terms may refer to fixed, removable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; internal communication between two components; or mere surface contact. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0080] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0081] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0082] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A self-propelled device, characterized in that: Suitable for charging through a charging pile; the self-propelled device includes: Car body; A walking mechanism, arranged at the bottom of the vehicle body and used to drive the vehicle body to move; a battery mounted on the vehicle body; and A charging module, the charging module is used to couple with the charging pile to receive electrical energy from the charging pile to charge the battery, and the charging module is arranged at the bottom of the vehicle body.

2. The self-propelled device according to claim 1, characterized in that: The charging pile includes a transmitting coil; the charging module includes a shell and a receiving coil, the shell is installed at the bottom of the vehicle body, the receiving coil is used to couple with the transmitting coil, and the receiving coil is arranged in the shell and electrically connected to the battery.

3. The self-propelled device according to claim 2, characterized in that: The shell is fixedly connected to the bottom of the vehicle body; the shell is provided with a charging surface corresponding to the transmitting coil, and the charging surface protrudes relative to the bottom surface of the vehicle body.

4. The self-propelled device according to claim 2, characterized in that: The self-propelled device also includes a driving member; The bottom of the vehicle body is provided with a receiving cavity, and the driving member and the housing are arranged in the receiving cavity; the driving member and the housing are in transmission connection, and are used to drive the housing to move in the receiving cavity, so as to switch between an extended position and a stored position; The shell is provided with a charging surface corresponding to the transmitting coil; when the charging module is in the extended position, the charging surface protrudes relative to the bottom surface of the vehicle body; when the charging module is in the storage position, the charging surface is hidden in the accommodating cavity.

5. The self-propelled device according to claim 2, characterized in that: The bottom of the vehicle body is provided with a receiving cavity, and the shell is detachably arranged in the receiving cavity.

6. The self-propelled device according to claim 5, characterized in that: The self-propelled device further comprises a limiting mechanism, wherein the limiting mechanism is connected between the shell and the vehicle body so that the shell can be detachably connected to the vehicle body.

7. The self-propelled device according to claim 6, characterized in that: The limiting mechanism includes a first limiting portion and a second limiting portion, the first limiting portion is arranged at one end of the accommodating cavity and connected to the vehicle body, the second limiting portion is arranged on the outer shell, and the second limiting portion is limited to the first limiting portion to fix the installation position of the outer shell relative to the vehicle body.

8. The self-propelled device according to claim 7, characterized in that: One of the first limiting portion and the second limiting portion is a limiting boss, and the other is a limiting groove, and the limiting boss is inserted and embedded in the limiting groove.

9. The self-propelled device according to any one of claims 6 to 8, characterized in that: The inner wall of the accommodating cavity is provided with clamping holes on both sides; The limiting mechanism also includes a locking assembly, which is fixed to two sides of the shell and elastically engaged with the engaging holes on two sides of the accommodating cavity.

10. The self-propelled device according to claim 9, characterized in that: The lock assembly includes a shell, a lock tongue and an elastic member. The shell is installed on the outside of the shell. The lock tongue is slidably installed in the shell and can protrude relative to the shell to be engaged with the engaging hole. The elastic member is arranged between the shell and the lock tongue.

11. The self-propelled device according to claim 10, characterized in that: The shell includes a base and a cover shell, the cover shell is connected to the outer shell, the cover shell is fixedly connected to the base, a through hole is opened on the cover shell, and the locking tongue is provided with a clamping portion that can pass through the through hole; the clamping portion can movably protrude from the outside of the shell and be clamped with the clamping hole.

12. The self-propelled device according to claim 10 or 11, characterized in that: The elastic member is a spring, and the locking assembly further comprises a guide column arranged in the shell, and the spring is sleeved on the guide column.

13. The self-propelled device according to any one of claims 10 to 12, characterized in that: One of the housing and the locking tongue is provided with a guide platform, and the other is provided with a guide groove, and the guide platform and the guide groove are movably nested and matched.

14. The self-propelled device according to any one of claims 10 to 13, characterized in that: The charging module also includes a fixing platform arranged on the shell, and the locking assembly also includes a lug arranged on the shell, and the shell is connected to the fixing platform through the lug.

15. The self-propelled device according to claim 14, characterized in that: The lug is snap-fitted or bonded to the fixing platform, or The locking assembly further comprises a fastener, and the lug is connected to the fixing platform via the fastener.

16. The self-propelled device according to any one of claims 2 to 15, characterized in that: The housing comprises an upper shell and a lower shell connected to each other, one of the upper shell and the lower shell comprises a plastic material, and the other comprises a metal material.

17. The self-propelled device according to claim 16, characterized in that: The housing further comprises a sealing member, and the upper housing and the lower housing are sealed by the sealing member.

18. The self-propelled device according to any one of claims 2 to 17, characterized in that: The charging module also includes a coil positioning sensor, which is disposed in the housing and is used to detect the position of the charging module relative to the charging pile.

19. The self-propelled device according to claim 18, characterized in that: The charging pile also includes a marking coil, and the coil positioning sensor includes a pair of inductors, which are used to detect the magnetic field strength of the marking coil to determine the position of the charging module relative to the charging pile.

20. The self-propelled device according to claim 18 or 19, characterized in that: The self-propelled device also includes a control module, which is electrically connected to the coil positioning sensor and is used to obtain the electromagnetic waves received by the coil positioning sensor, process the received electromagnetic waves to obtain electromagnetic wave intensity distribution information, and determine the position of the charging module relative to the charging pile based on the electromagnetic wave intensity distribution information.

21. The self-propelled device according to any one of claims 1 to 20, characterized in that: The walking mechanism is arranged at the bottom of the vehicle body and supports the vehicle body so that the bottom of the vehicle body is spaced apart from the table surface of the walking scene, and the charging module is exposed at the bottom of the vehicle body.

22. The self-propelled device according to claim 21, characterized in that: The walking mechanism includes two tracks, and the two tracks are located on the left and right sides of the vehicle body in the moving direction, and the charging module is exposed in the space between the two tracks.

23. The self-propelled device according to claim 22, characterized in that: The self-propelled equipment further comprises a baffle mechanism, wherein the baffle mechanism comprises two baffles, and the two baffles are respectively arranged on the sides of the two crawlers and shield the space between the two crawlers.

24. A working robot, characterized in that: include: Operating equipment; as well as The self-propelled device according to any one of claims 1 to 23, wherein the working device is connected to the body of the self-propelled device.

25. The working robot according to claim 24, characterized in that: The operating device includes at least one of a snow removal mechanism, a snow rolling mechanism, a snow throwing mechanism, a weeding mechanism, a grass cutting mechanism, a leaf blowing mechanism, a salt spreading mechanism, a rolling brush mechanism and a snow pushing mechanism.

26. A charging system, characterized in that: include: The working robot according to claim 24 or 25; as well as A charging pile, the charging pile comprising a base and a power module, the power module being arranged on the base and being adapted to the charging module of the working robot; The base is used for the working robot to park. When the working robot is parked on the base for charging, the power module is located below the charging module.

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