Self-propelled working device

Abstract

The present application relates to the field of robots, and in particular to a self-propelled working device. The self-propelled working device comprises a main body; an accommodating recess is provided at the top of the main body; a safety key is at least partially located in the accommodating recess; two ends of the safety key are rotatably connected to two side walls of the accommodating recess, respectively; the safety key has a first position in which the safety key is horizontally placed in the accommodating recess and a second position in which the safety key is vertically placed in the accommodating recess; in the first position, the self-propelled working device can operate normally; when the safety key changes from the first position to the second position, the self-propelled working device can quickly stop operating, so as to perform emergency braking in scenarios where the self-propelled working device encounters an obstacle or is located at a dangerous position. Two ends of the safety key are rotatably connected to two side walls of the accommodating recess, respectively, and the safety key does not need to be removed upon completion of the use of the self-propelled working device, thereby effectively avoiding the problem that the safety key is prone to loss; in addition, the safety key is detachably connected to the accommodating recess, thereby meeting the requirements of safety regulations.

Description

Self-moving work equipment

[0001] This application claims priority to Chinese Patent Application No. 202421751736.8, filed on July 22, 2024, entitled "Self-Moving Working Device", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of robotics, specifically to a self-moving working device. Background Technology

[0003] According to safety regulations for self-propelled work equipment, a key-controlled switch, i.e., a safety key, should be installed to prevent accidental activation by children or unauthorized personnel. The safety key can also be used to stop the equipment in case it encounters obstacles or is in a dangerous location. Currently, the safety key is typically removed from the self-propelled work equipment after use. However, this method can lead to the safety key being easily lost. Therefore, providing a loss-proof safety key is a technical problem that needs to be solved. Summary of the Invention

[0004] The main objective of this application is to propose a self-moving working device to solve the technical problem that existing security keys are easily lost.

[0005] To achieve the above objectives, this application provides a self-moving working device, which includes:

[0006] The main body, the top of which is provided with a receiving groove;

[0007] A working unit, located at the bottom of the main body, is used to perform preset work tasks;

[0008] A safety key, at least partially located within the receiving groove, with both ends of the safety key rotatably connected to the two side walls of the receiving groove, the safety key having a first position flat within the receiving groove and a second position vertically within the receiving groove. In the first position, the self-moving working device operates normally, and when the safety key changes from the first position to the second position, the self-moving working device can quickly stop operating.

[0009] The self-moving working device provided in this application embodiment has a receiving groove on the top of the main body, and a safety key is at least partially located in the receiving groove. The two ends of the safety key are rotatably connected to the two side walls of the receiving groove. The safety key has a first position where it is flat in the receiving groove and a second position where it is vertical in the receiving groove. In the first position, the self-moving working device can be started and run normally after pressing the power button. In the second position, the safety key disconnects the power circuit of the self-moving working device. Therefore, even if the power button of the self-moving working device is pressed, the self-moving working device cannot be started and run. When the safety key changes from the first position to the second position, the self-moving work device can quickly stop operating, enabling emergency braking in situations such as encountering obstacles or being in dangerous positions. The safety key is located in a receiving slot at the top of the main body, allowing users to operate it directly from the top of the self-moving work device. Both ends of the safety key are rotatably connected to the side walls of the receiving slot, eliminating the need to remove the safety key after use, effectively preventing the problem of easy loss of the safety key. At the same time, the safety key is detachably connected to the receiving slot, thus meeting safety regulations.

[0010] In one optional embodiment, the self-moving working device further includes a signal detection component, which includes a detection circuit board, a detection element, and a detected element. The detection circuit board and the detection element are both disposed within the main body and are electrically connected. The detected element is disposed on the safety key so that it can rotate with the safety key from the first position to the second position.

[0011] In one optional embodiment, the security key includes a pair of rotating arms and a connecting portion. One end of each of the pair of rotating arms is bent and connected to both ends of the connecting portion, and the other end of each of the pair of rotating arms is detachably and rotatably connected to the two side walls of the receiving groove. The detected element is disposed on the connecting portion.

[0012] In one alternative embodiment, the rotating arms are elastic, and the pair of rotating arms can retract toward the center of the connection when subjected to an external force, so that the distance between the pair of rotating arms is less than the distance between the two side walls of the receiving groove.

[0013] In one optional embodiment, the rotating arm includes a first sub-arm, a rotating shaft section, and a second sub-arm. The first sub-arm and the second sub-arm are spaced apart in the extending direction of the connecting portion. The rotating shaft section is disposed on the first sub-arm and rotatably connected to the side wall of the receiving groove. The first sub-arm can move toward the second sub-arm under the action of an external force.

[0014] In one optional embodiment, the detection element is a Hall sensor, and the detected element is a magnet. In a first position, the Hall sensor senses the magnetic field generated by the magnet and generates a first voltage signal. In a second position, the Hall sensor senses the magnetic field generated by the magnet and generates a second voltage signal, the second voltage signal being different from the first voltage signal.

[0015] In one alternative embodiment, the safety key has a first clearance notch and the receiving groove has a corresponding second clearance notch on its sidewall. When the safety key is in the first position, the first clearance notch and the second clearance notch are at least partially opposite each other for turning the safety key.

[0016] In one alternative embodiment, the self-moving working device further includes a sensor assembly, and the receiving groove has a mounting platform protruding from its bottom wall. The sensor assembly is disposed on the mounting platform, and in a first position, the safety key surrounds the outer periphery of the mounting platform and is adapted to it.

[0017] In one optional embodiment, the receiving groove includes a transverse groove and a first extension groove and a second extension groove that bend and extend from the transverse groove toward both sides. In a first position, the connecting portion is located in and adapted to the transverse groove, and the pair of rotating arms are located in and adapted to the first extension groove and the second extension groove, respectively.

[0018] In one optional implementation, when the security key is in the first position, the detected element is within the detectable range of the detection element; when the security key is in the second position, the detected element is outside the detectable range of the detection element. Attached Figure Description

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

[0020] Figure 1 is a simplified side view of a self-moving working device provided in an embodiment of this application;

[0021] Figure 2 is a perspective view of a self-moving working device in a first position according to an embodiment of this application;

[0022] Figure 3 is a magnified view of the security key in the first position in Figure 2;

[0023] Figure 4 is a perspective view of a self-moving working device in a second position according to an embodiment of this application;

[0024] Figure 5 is a magnified view of the security key in the second position in Figure 4;

[0025] Figure 6 is a partial cross-sectional view of the security key in the first position according to an embodiment of this application;

[0026] Figure 7 is a partial structural schematic diagram of the signal detection component provided in an embodiment of this application;

[0027] Figure 8 is a first-view structural schematic diagram of the security key provided in an embodiment of this application;

[0028] Figure 9 is a schematic diagram of the accommodating groove provided in an embodiment of this application;

[0029] Figure 10 is a structural schematic diagram of the security key provided in an embodiment of this application from a second perspective;

[0030] Figure 11 is a side view of the side wall and the first sub-arm of the receiving groove provided in the embodiment of this application in an exploded state.

[0031] The reference numerals in the accompanying drawings are as follows: 100. Self-moving working device; 10. Main body; 20. Working unit; 30. Safety key; 11. Chassis; 12. Top cover; 10a. Receiving groove; 40. Drive wheel assembly; O1. First position; O2. Second position; 50. Universal wheel assembly; 60. Signal detection assembly; 61. Detection circuit board; 62. Detection element; 63. Detected element; 31. Rotating arm; 32. Connecting part; 311. First sub-arm; 312. Rotating shaft section; 313. Second sub-arm; 314. Separation gap; 10b. Rotation hole; 33. First clearance notch; 10c. Second clearance notch; 34. Locking cavity; 70. Sensor assembly; 13. Mounting platform; 101. Transverse groove; 102. First extension groove; 103. Second extension groove; 315. Locking protrusion; 104. First locking groove; 105. Second locking groove; 301. Side wall. Detailed Implementation

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

[0033] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment to other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

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

[0035] This application provides a self-moving working device 100. The self-moving working device 100 includes, but is not limited to, intelligent lawnmowers, intelligent cleaning robots, and intelligent vehicles. This embodiment uses an intelligent lawnmower as an example to specifically illustrate the inventive concept of this application; other structures can be referred to the inventive concept described below.

[0036] Please refer to Figures 1 and 2. The self-moving working device 100 includes a main body 10, a working unit 20, and a safety key 30.

[0037] Referring to Figures 1 and 2, the main body 10 includes, but is not limited to, the frame structure of the self-moving working device 100. For example, the main body 10 may also include, but is not limited to, a chassis 11, a top cover 12, a cutter head lifting assembly, and a battery assembly. The chassis 11 is the main load-bearing component, supporting most of the structure. The top cover 12 covers the chassis 11, and the top cover 12 and chassis 11 together form a receiving space to accommodate the cutter head lifting assembly, battery assembly, etc. Part of the structure of the top cover 12 is omitted in Figure 2.

[0038] Referring to Figure 3, the top of the main body 10 is provided with a receiving groove 10a. Optionally, the top cover 12 is recessed towards the side where the chassis 11 is located to form the receiving groove 10a.

[0039] The working unit 20 includes, but is not limited to, a blade assembly, a vacuuming assembly, and a cleaning assembly. The working unit 20 is located at the bottom of the main body 10 and is used to perform preset work tasks. These preset work tasks include, but are not limited to, mowing, straw trimming, and vacuuming. In this embodiment, the working unit 20 is exemplified as a blade assembly to illustrate the inventive concept of this application.

[0040] Optionally, referring to Figures 1 and 2, the self-moving work device 100 also includes a drive wheel assembly 40, which is mounted on the chassis 11 near the rear end. The rear end, as described in this application, is the end opposite to the front end. The rear end, as described in this application, is the end position of the self-moving work device 100 in the backward direction. The drive wheel assembly 40 includes at least one pair of drive wheels and a drive motor that drives the pair of drive wheels. The drive motor drives the drive wheels to roll, and the drive wheels rub against the ground to generate a driving force that moves the self-moving work device 100. By controlling the rotation direction and speed of the pair of drive wheels, the self-moving work device 100 can move forward, backward, turn left, turn right, and change direction.

[0041] Optionally, referring to Figures 1 and 2, the self-moving work device 100 also includes a caster wheel assembly 50 mounted on the chassis 11 near the front end. The front end, as described in this application, refers to the end position of the self-moving work device 100 in the direction of travel D1. The caster wheel assembly 50 can freely turn within a horizontal reference plane, allowing for flexible movement in various directions, thus maintaining stable balance of the self-moving work device 100 in different environments. The caster wheel assembly 50 and the drive wheel assembly 40 are positioned at the bottom of the main body 10, front and rear, to drive the movement of the main body 10 of the self-moving work device 100.

[0042] Please refer to Figures 2 and 3. At least a portion of the safety key 30 is located within the receiving groove 10a. Optionally, all or part of the safety key 30 may be located within the receiving groove 10a.

[0043] Since the receiving slot 10a is located on the top of the main body 10, specifically on the top cover 12, it is convenient for the user to operate the safety key 30 on the top cover 12.

[0044] Please refer to Figures 2 to 5. The two ends of the safety key 30 are rotatably connected to the two side walls 301 of the receiving groove 10a, respectively.

[0045] This application does not limit the orientation of the two ends of the safety key 30. For example, the two ends of the safety key 30 may be set along the width direction of the self-moving working device 100, or along the length direction, or in a direction that intersects both the width and length directions in or near the horizontal plane. In this embodiment, the two ends of the safety key 30 are set along the width direction of the self-moving working device 100 to facilitate the user to operate the safety key 30 from the front or rear of the self-moving working device 100.

[0046] Please refer to Figures 3 and 5. The safety key 30 has a first position O1 that is flat within the receiving groove 10a, and a second position O2 that is vertically positioned within the receiving groove 10a. Part of the structure of the top cover 12 in Figure 4 is omitted.

[0047] Optionally, the first position O1 placed flat in the receiving groove 10a includes, but is not limited to, a first position O1 placed horizontally in the receiving groove 10a, and also includes a first position O1 placed at an angle close to the horizontal plane in the receiving groove 10a.

[0048] Optionally, the second position O2 placed vertically in the receiving groove 10a includes, but is not limited to, a second position O2 placed vertically in the receiving groove 10a, and also includes a second position O2 placed at an angle close to the vertical plane in the receiving groove 10a.

[0049] Please refer to Figure 3. When the safety key 30 is in the first position O1, the self-moving working device 100 can operate normally, that is, the self-moving working device 100 is in the active state. When the self-moving working device 100 is in the active state, the power supply of the self-moving working device 100 is turned on, so that the engine is powered on (that is, turning on the power supply can make the engine run), the self-moving working device 100 runs, and the working unit 20 performs the preset work tasks.

[0050] Please refer to Figure 5. When the safety key 30 changes from the first position O1 (rotates) to the second position O2, if the self-propelled working device 100 is currently in normal operation, the self-propelled working device 100 can quickly stop operating when the safety key 30 moves to the second position O2, and the self-propelled working device 100 changes from the active state to the locked state. When the self-propelled working device 100 is in the locked state, even if the power to the self-propelled working device 100 is turned on, the engine cannot be powered on (i.e., turning on the power will not make the engine run), and the self-propelled working device 100 cannot operate, to prevent children from accidentally starting it or unauthorized personnel from starting the self-propelled working device 100 without permission.

[0051] The safety key 30 can also be held in the second position O2, keeping the self-moving working device 100 locked, meaning that turning on the power will prevent the engine from running.

[0052] This application does not specifically limit the rotation angle of the safety key 30 when it is in the first position O1 and the second position O2. It is understood that the first position O1 and the second position O2 are different positions. Optionally, the safety key 30 is located inside the receiving groove 10a when it is in the first position O1, and outside the receiving groove 10a when it is in the second position O2. The specific location of the second position O2 outside the receiving groove 10a is not limited. For example, the second position O2 can be a certain angle outside the receiving groove 10a, such as 5°, 10°, 15°, 20°, 30°, 40°, 50°, 60°, 70°, 80°, 90°, 100°, 110°, 120°, 130°, 140°, 150°, 160°, 170°, or 180°, etc. For another example, the second position O2 can be a certain angle range outside the receiving groove 10a, such as 5°~10°, or 10°~20°, or 20°~30°, or 30°~40°, or 40°~50°, or 50°~60°, or 60°~70°, or 70°~90°, or 90°~110°, or 110°~130°, or 130°~150°, or 150°~170°, or 170°~180°, etc.

[0053] In other embodiments, the safety key 30 is located inside the receiving groove 10a when it is in the second position O2, and outside the receiving groove 10a when it is in the first position O1.

[0054] Before using the self-moving work device 100, the user turns the safety key 30 to the first position O1 to activate the device. The power is then turned on, and the device operates normally. After finishing use, the user turns the safety key 30 to the second position O2 to lock the device. Furthermore, in situations where the device encounters obstacles, is in a dangerous location, or the power switch malfunctions, turning the safety key 30 to the second position O2 can also activate the device for emergency braking.

[0055] The self-moving working device 100 provided in this application embodiment has a receiving groove 10a on the top of the main body 10. The safety key 30 is at least partially located in the receiving groove 10a. The two ends of the safety key 30 are rotatably connected to the two side walls 301 of the receiving groove 10a. The safety key 30 has a first position O1 that is flat in the receiving groove 10a and a second position O2 that is vertical in the receiving groove 10a. In the first position O1, the self-moving working device 100 can be started and run normally after pressing the power button. In the second position O2, the safety key 30 disconnects the power circuit of the self-moving working device 100. Therefore, even if the power button of the self-moving working device 100 is pressed, the self-moving working device 100 cannot be started and run. When the safety key 30 changes from the first position O1 to the second position O2, the self-moving working device 100 can quickly stop operating, enabling emergency braking in situations such as when the self-moving working device 100 encounters obstacles or is in a dangerous position. The safety key 30 is located in the receiving slot 10a at the top of the main body 10, allowing the user to operate it directly from the top of the self-moving working device 100. Both ends of the safety key 30 are rotatably connected to the side walls 301 of the receiving slot 10a, respectively. After using the self-moving working device 100, there is no need to remove the safety key 30, effectively avoiding the problem of the safety key 30 being easily lost. At the same time, the safety key 30 is detachably connected to the side walls 301 of the receiving slot 10a, thus meeting safety regulations.

[0056] Optionally, as shown in Figure 6, the self-moving working device 100 also includes a signal detection component 60.

[0057] Please refer to Figures 6 and 7. The signal detection component 60 includes a detection circuit board 61, a detection element 62, and a detected element 63.

[0058] The detection circuit board 61 and the detection element 62 are both disposed within the main body 10 and are electrically connected. Optionally, the detection element 62 is disposed on the detection circuit board 61.

[0059] The detected element 63 is disposed on the safety key 30. The detected element 63 can rotate with the safety key 30 from the first position O1 to the second position O2, or from the second position O2 to the first position O1.

[0060] Specifically, as the safety key 30 rotates to different positions, the distance between the detected element 63 and the detection element 62 changes. The detection element 62 receives the changes in the detection signal from the detected element 63, which may include, but is not limited to, voltage or current signals. Devices with data processing capabilities, such as a processor on the detection circuit board 61, capable of outputting control signals, collect the changes in the detection signal from the detection element 62 and determine the position of the safety key 30 as either a first position O1 or a second position O2 based on these changes. After determining the position of the safety key 30, a corresponding feedback action is taken. For example, after the processor on the detection circuit board 61 determines that the safety key 30 is at the first position O1, it sends an activation command to the power module so that the power module, upon receiving the activation command, can energize the engine when triggered by the power switch (i.e., the aforementioned power button).

[0061] For example, after the processor on the detection circuit board 61 determines that the position of the safety key 30 is the second position O2, it sends a locking command to the power module. After receiving the locking command, the power module will not allow the engine to be powered on even when the power switch is triggered, or will cut off the power to the engine while it is running.

[0062] Optionally, the detection element 62 and the detected element 63 may include, but are not limited to, a light emitter and a light receiver, a magnetic emitter and a magnetic detector, a pressure sensor, etc. Specifically, the detected element 63 may be an infrared emitter, and the detection element 62 may be an infrared receiver; or, the detection element 62 may be an infrared receiver, and the detected element 63 may be an infrared emitter. Specifically, the detected element 63 may be a Hall sensor, and the detection element 62 may be a magnet; or, the detection element 62 may be a magnet, and the detected element 63 may be a Hall sensor. Specifically, the detected element 63 may be a light-shielding element used to block visible light, and the detection element 62 may be a visible light sensor. Specifically, the detected element 63 may be a weighted block, and the detection element 62 may be a pressure sensor.

[0063] Optionally, when the safety key 30 is in the first position O1, the detection element 62 and the detected element 63 are at least partially aligned. When the safety key 30 is in the second position O2, the detection element 62 and the detected element 63 are separated. The position of the safety key 30 is determined based on the amplitude changes of the optical signal / magnetic signal / pressure signal, etc.

[0064] For example, the detection element 62 is a Hall sensor. The detection circuit board 61 is located below the top cover 12 and opposite the bottom of the receiving groove 10a. The Hall sensor is located on the side of the detection circuit board 61 facing the bottom of the receiving groove 10a and close to the position of the top cover 12 corresponding to the bottom of the receiving groove 10a. The detected element 63 is a magnet.

[0065] Referring to Figure 6, when the security key 30 is in the first position O1, the magnet is within the detectable range of the Hall sensor. The Hall sensor senses the magnetic field strength generated by the magnet and generates a first voltage signal.

[0066] In one optional embodiment, when the security key 30 is located in the second position O2, the magnet is within the detection range of the Hall sensor. The Hall sensor senses the magnetic field strength generated by the magnet and generates a second voltage signal. The amplitude of the second voltage signal is different from the amplitude of the first voltage signal. Specifically, when the security key 30 is in the first position O1, the magnet and the Hall sensor are close to each other, and the magnetic field strength generated by the magnet detected by the Hall sensor is large, resulting in a stronger first voltage signal. When the security key 30 is in the second position O2, the magnet and the Hall sensor are relatively far apart, and the magnetic field strength generated by the magnet detected by the Hall sensor is weak, resulting in a weaker second voltage signal. For example, the first voltage signal is high, and the second voltage signal is low. Alternatively, the amplitudes of both the first and second voltage signals are greater than 0, and the amplitude of the second voltage signal is less than the amplitude of the first voltage signal.

[0067] In another optional implementation, when the security key 30 is in the second position O2, the magnet is outside the detection range of the Hall sensor. At this time, the Hall sensor cannot detect the magnetic field of the magnet or collects an extremely weak signal. For example, the first voltage signal is high-level and the second voltage signal is low-level. Alternatively, the amplitude of the first voltage signal is greater than 0, and the amplitude of the second voltage signal is 0.

[0068] The structure of the security key 30 in this application is illustrated below with reference to the accompanying drawings.

[0069] Optionally, referring to Figure 8, the security key 30 includes a pair of rotating arms 31 and a connecting portion 32. The pair of rotating arms 31 may be integrally formed with the connecting portion 32.

[0070] The connecting portion 32 is arranged along the width direction of the self-moving working device 100. One end of each of the pair of rotating arms 31 is bent and connected to both ends of the connecting portion 32. The other end of each of the pair of rotating arms 31 is detachably and rotatably connected to the two side walls 301 of the receiving groove 10a.

[0071] By moving the connecting part 32, the safety key 30 can be rotated to either the first position O1 or the second position O2. When the safety key 30 is in the first position O1, both rotating arms 31 and the connecting part 32 are located within the receiving groove 10a, and the rotation angle of the safety key 30 is 0°. When the safety key 30 is in the second position O2, the connecting part 32 is located outside the receiving groove 10a, the other end of each of the two rotating arms 31 is located within the receiving groove 10a, and the other parts are located outside the receiving groove 10a. At this time, the rotation angle of the safety key 30 is θ, where θ is greater than 0°.

[0072] This embodiment designs the safety key 30 to include a pair of rotating arms 31 and a connecting part 32. One end of each of the pair of rotating arms 31 is bent and connected to both ends of the connecting part 32, and the other end of each of the pair of rotating arms 31 is detachably and rotatably connected to the two side walls 301 of the receiving groove 10a. This allows the safety key 30 to rotate relative to the two side walls 301 of the receiving groove 10a to the first position O1 and the second position O2, thereby causing the position of the detected element 63 to change, and causing the voltage signal generated by the detected element 62 to change.

[0073] In one optional embodiment, the detected element 63 is disposed on the connecting portion 32. Since the connecting portion 32 has the largest rotation radius, by placing the detected element 63 on the connecting portion 32, a larger distance can be maintained between the detection element 62 and the detected element 63 even with a relatively small rotation angle of the safety key 30. For example, when the safety key 30 rotates the detected element 63 to the second position O2, outside the detection range of the detection element 62, placing the safety key 30 on the connecting portion 32 minimizes the required rotation radius and the required rotation angle for a given rotation angle. This design allows for a smaller safety key 30, with relatively small space occupied by the safety key 30 in the first position O1 and during rotation.

[0074] Of course, in other embodiments, the detection element 62 may also be located on the rotating shaft section of the rotating arm 31.

[0075] Optionally, the rotating arm 31 is elastic. In other words, the rotating arm 31 is an elastic arm.

[0076] When subjected to an external force, the other end of each of the pair of rotating arms 31 can retract (move) toward the center of the connecting portion 32, so that the distance between the pair of rotating arms 31 is less than the distance between the two side walls 301 of the receiving groove 10a. Specifically, when subjected to an external force, the other end of each rotating arm 31 can move toward the side where the other rotating arm 31 is located, thereby separating from the side wall 301 of the receiving groove 10a, so as to realize the detachable rotational connection between the other end of each of the pair of rotating arms 31 and the two side walls 301 of the receiving groove 10a.

[0077] Specifically, referring to Figure 8, each of the rotating arms 31 includes a first sub-arm 311, a rotating shaft section 312, and a second sub-arm 313. The first sub-arm 311 and the second sub-arm 313 are spaced apart in the extending direction of the connecting portion 32. One end of the first sub-arm 311 merges with one end of the second sub-arm 313 and is interconnected with the connecting portion 32 as a single unit. The other end of the first sub-arm 311 is separated from the other end of the second sub-arm 313, forming a separation gap 314.

[0078] In one alternative embodiment, the first sub-arm 311 is located outside the second sub-arm 313. The pivot section 312 is disposed on the side of the first sub-arm 311 opposite to the second sub-arm 313 and is rotatably connected to the side wall 301 of the receiving groove 10a. The first sub-arm 311 can move toward the second sub-arm 313 under the action of an external force.

[0079] Optionally, as shown in Figures 8 and 9, the two side walls 301 of the receiving groove 10a are respectively provided with rotating holes 10b, and the rotating shaft section 312 of each rotating arm 31 is disposed in one rotating hole 10b. When the safety key 30 is turned, the rotating shaft section 312 of each rotating arm 31 rotates within the rotating hole 10b.

[0080] The first sub-arm 311 can be squeezed and separated by the separation gap 314 under the action of external force and move toward the second sub-arm 313, driving the rotating shaft section 312 to move out of the rotating hole 10b, so that the rotating arm 31 separates from the side wall 301 of the receiving groove 10a, thereby allowing the safety key 30 to separate from the receiving groove 10a.

[0081] Optionally, when the safety key 30 is vertically placed in the receiving slot 10a, the two rotating arms 31 can be squeezed together to disassemble the safety key 30. Therefore, the self-moving working device 100 is in a locked state when the safety key 30 is disassembled.

[0082] This embodiment configures each rotating arm 31 to include a first sub-arm 311, a rotating shaft section 312, and a second sub-arm 313. One end of the first sub-arm 311 is merged with one end of the second sub-arm 313 and interconnected with the connecting part 32. The other end of the first sub-arm 311 and the other end of the second sub-arm 313 form a separation gap 314, so that the first sub-arm 311 can squeeze the separation gap 314 under the action of external force and move towards the second sub-arm 313, driving the rotating shaft section 312 to move out of the rotating hole 10b, causing the rotating arm 31 to separate from the side wall 301 of the receiving groove 10a, thereby allowing the safety key 30 to separate from the receiving groove 10a. By making the safety key 30 detachable, the safety key 30 can be removed after the self-moving working device 100 is finished using, so that the self-moving working device 100 is in a locked state, effectively preventing the self-moving working device 100 from being opened without permission.

[0083] In this embodiment, one end of the first sub-arm 311 is merged with one end of the second sub-arm 313 and interconnected with the connecting part 32 as one unit. The other end of the first sub-arm 311 and the other end of the second sub-arm 313 form a separation gap 314, which can increase the contact force between the rotating arm 31 and the two side walls 301 of the receiving groove 10a, thereby increasing the damping feel when the safety key 30 is rotated.

[0084] Optionally, referring to Figure 5, the safety key 30 has a first clearance notch 33. A corresponding second clearance notch 10c is formed on the side wall 301 of the receiving groove 10a. The second clearance notch 10c communicates with the receiving groove 10a. When the safety key 30 is in the first position O1, the first clearance notch 33 and the second clearance notch 10c are at least partially opposite to each other for turning the safety key 30. The first clearance notch 33 and the second clearance notch 10c are opposite to each other and form a relatively large space, allowing the user to insert their fingers into the first clearance notch 33 and the second clearance notch 10c to turn and rotate the safety key 30.

[0085] Optionally, the first clearance notch 33 is provided on the connecting part 32. By providing the first clearance notch 33 on the connecting part 32, the user can insert his / her finger into the first clearance notch 33 and the second clearance notch 10c to move the connecting part 32 and turn the safety key 30. This method of moving the safety key 30 is more effortless.

[0086] Optionally, referring to Figures 6 and 10, the middle portion of the connecting part 32 also has a locking cavity 34 for mounting the detected element 63. The detected element 63 is disposed in the locking cavity 34. A first clearance notch 33 is disposed adjacent to the locking cavity 34. Both the locking cavity 34 and the first clearance notch 33 are located on the side of the bottom wall of the connecting part 32 facing the receiving groove 10a. The first clearance notch 33 is located on the side of the locking cavity 34 away from the rotating arm 31.

[0087] Optionally, referring to Figure 3, the self-moving working device 100 also includes a sensor assembly 70. The sensor assembly 70 includes, but is not limited to, a raindrop detection sensor. The raindrop detection sensor includes, but is not limited to, a capacitive raindrop detection sensor or a resistive raindrop detection sensor. A capacitive raindrop detection sensor detects the presence of raindrops by measuring the change in capacitance between a water droplet and the air surrounding the electrode plate when it rains. When a raindrop falls on the sensor surface, it forms a conductive water droplet between the two electrodes of the sensor, changing the capacitance value. Therefore, it can be determined whether it is raining by measuring the change in capacitance. A resistive raindrop detection sensor uses the conductivity of water and changes in the circuit to detect raindrops. A resistor is connected to both ends of the sensor. When a raindrop falls on the surface of the resistive raindrop detection sensor, it changes the circuit resistance. Whether it is raining is determined based on the output signal of the circuit.

[0088] Please refer to Figures 3 and 9. The receiving groove 10a is provided with a mounting platform 13 protruding from its bottom wall. The sensor assembly 70 is disposed on the mounting platform 13 so that the sensor assembly 70 is not obstructed by other structures, making it easier to receive raindrops, thereby improving detection accuracy.

[0089] In the first position O1, the safety key 30 is disposed around the outer periphery of the mounting platform 13 and is adapted to the mounting platform 13.

[0090] Specifically, referring to Figure 9, the receiving groove 10a includes a transverse groove 101 and a first extension groove 102 and a second extension groove 103 extending from the transverse groove 101 towards both sides. In the first position O1, the connecting part 32 is located within the transverse groove 101 and is adapted to the transverse groove 101. The pair of rotating arms 31 are respectively located within the first extension groove 102 and the second extension groove 103, and the pair of rotating arms 31 are adapted to the first extension groove 102 and the second extension groove 103 respectively. In this embodiment, the safety key 30 and the mounting platform 13 are compactly arranged, reducing the space occupied by the safety key 30 and the mounting platform 13.

[0091] Optionally, when the safety key 30 is in the first position O1, the distance between the pair of rotating shaft segments 312 of the safety key 30 is greater than the distance between the two side walls 301 of the receiving groove 10a. The pair of rotating arms 31 of the safety key 30 are in a compressed state. The pair of rotating arms 31 have abutting force against the side wall 301 of the receiving groove 10a that they are rotatably connected to. This abutting force makes the static friction between the safety key 30 and the side wall 301 of the receiving groove 10a larger. This static friction force allows the safety key 30 to be locked in the first position O1 and will not be moved out due to the shaking or bumping of the self-moving working device 100. Similarly, when the safety key 30 is in the second position O2, the pair of rotating arms 31 of the safety key 30 are in a compressed state. The pair of rotating arms 31 have abutting force against the side wall 301 of the receiving groove 10a that they are rotatably connected to. This abutting force makes the static friction between the safety key 30 and the side wall 301 of the receiving groove 10a larger. This static friction force allows the safety key 30 to be locked in the second position O2, and it will not rotate to other positions due to the shaking or bumping of the self-moving working device 100.

[0092] When the safety key 30 is rotated from the first position O1 to the second position O2, a large turning force is required to overcome the static friction between the safety key 30 and the side wall 301 of the receiving groove 10a, thereby forming rotational damping.

[0093] In another optional embodiment, referring to Figure 11, the rotating arm 31 is further provided with a locking protrusion 315 adjacent to the rotating shaft section 312. The surface of the locking protrusion 315 can be an arc surface. The side wall 301 of the receiving groove 10a is provided with a first locking groove 104 and a second locking groove 105. When the safety key 30 is in the first position O1, the locking protrusion 315 is located in the first locking groove 104. When the safety key 30 rotates from the first position O1 to the second position O2, the locking protrusion 315 moves out of the first locking groove 104 and into the second locking groove 105. When the safety key 30 is in the second position O2, the locking protrusion 315 is located in the second locking groove 105, so as to realize the fixed locking of the safety key 30 in the first position O1 and the second position O2, avoid the safety key 30 being randomly fluctuated under any external force, and improve stability.

[0094] Optionally, when the safety key 30 is in the second position O2, the rotation angle of the safety key 30 is 90°. When the safety key 30 is upright, it can be fixed on the self-moving working device 100 without needing to be removed, effectively solving the problem that users are prone to losing the safety key 30.

[0095] Taking a self-propelled working device 100 as an example, such as a lawnmower, the lawnmower can move along a route within a pre-defined working area and perform mowing work. The safety key 30 is used to control whether the lawnmower is in an active state. When the lawnmower is in an active state, it can be started; when the lawnmower is in a locked state, it cannot be started. When the safety key 30 is rotated to lie flat in the receiving slot 10a, the magnet is close to the Hall sensor, and the lawnmower is in an active state; when the safety key 30 is rotated to lie vertically in the receiving slot 10a, the magnet is away from the Hall sensor, and the lawnmower is in a locked state.

[0096] The power switch is mounted on the top cover 12 of the self-propelled working device 100. When the lawnmower is in the active state, turning on the power switch can start the engine's power unit to provide power to the engine; when the power switch is turned off, the engine is in a power-off state. When the lawnmower is in the locked state, the engine is in a power-off state regardless of whether the power switch is turned on or off. This design avoids accidental starting of the lawnmower, making the lawnmower safer.

[0097] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application, and such improvements and refinements are also considered to be within the protection scope of this application.

Claims

1. A self-moving work apparatus characterized by comprising: The self-moving working device comprises: a main body, a top of which is provided with a receiving groove; a working unit arranged at a bottom of the main body and used for performing a preset working task; a safety key, at least partially located in the receiving groove, two ends of the safety key being rotatably connected with two side walls of the receiving groove respectively, the safety key having a first position in which the safety key is horizontally arranged in the receiving groove and a second position in which the safety key is vertically arranged in the receiving groove, the self-moving working device being normally operated in the first position, and the self-moving working device being quickly stopped in operation when the safety key is changed from the first position to the second position.

2. The self-moving working device according to claim 1, further comprising a signal detection assembly, the signal detection assembly comprising a detection circuit board, a detection element and a detected element, the detection circuit board and the detection element being arranged in the main body and being electrically connected, the detected element being arranged on the safety key so as to be rotatable with the safety key from the first position to the second position.

3. The self-moving working device according to claim 2, wherein the safety key comprises a pair of rotating arms and a connecting portion, one end of each of the rotating arms being foldably connected with two ends of the connecting portion respectively, the other end of each of the rotating arms being rotatably connected with the two side walls of the receiving groove respectively, and the detected element being arranged on the connecting portion.

4. The self-moving working device according to claim 3, wherein the rotating arms are elastic, and the rotating arms are capable of being contracted towards the middle portion of the connecting portion when subjected to an external force, so that the distance between the rotating arms is smaller than the distance between the two side walls of the receiving groove.

5. The self-moving working device according to claim 4, wherein the rotating arm comprises a first sub-arm, a rotating shaft segment and a second sub-arm, the first sub-arm and the second sub-arm being arranged in a spaced manner in the extending direction of the connecting portion, the rotating shaft segment being arranged on the first sub-arm and being rotatably connected with the side wall of the receiving groove, and the first sub-arm being capable of moving towards the second sub-arm under the action of an external force.

6. The self-moving working device according to any one of claims 2 to 5, wherein the detection element is a Hall sensor, and the detected element is a magnet, the Hall sensor being capable of sensing the magnetic field generated by the magnet and generating a first voltage signal in the first position, and the Hall sensor being capable of sensing the magnetic field generated by the magnet and generating a second voltage signal in the second position, the second voltage signal being different from the first voltage signal.

7. The self-moving working device according to claim 1, wherein a first avoiding gap is formed on the safety key, and a second avoiding gap is correspondingly formed on the side wall of the receiving groove, the first avoiding gap and the second avoiding gap being at least partially opposite to each other in the first position of the safety key, so as to be used for moving the safety key.

8. The self-moving working device according to claim 1, wherein ​ ​ ​ ​ ​ ​ The self-moving working device further comprises a sensor assembly, the accommodation slot is provided with a mounting table protruding from the bottom wall thereof, and the sensor assembly is arranged on the mounting table. In the first position, the safety key surrounds the outer circumferential side of the mounting table and is adapted thereto.

9. The self-moving working device according to claim 3, wherein, The accommodation slot comprises a transverse slot and first and second extension slots which are bent and extended from the transverse slot towards two sides. In the first position, the connecting portion is located in the transverse slot and is adapted thereto, and the pair of rotating arms are respectively located in the first and second extension slots and are adapted thereto.

10. The self-moving working device according to claim 2, wherein, When the safety key is in the first position, the detected element is located in the detectable range of the detection element; and when the safety key is in the second position, the detected element is located out of the detectable range of the detection element.

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