Self-moving gardening robot and system thereof

Patent metadata

Field	Value
Publication number	US-11256255-B2
Application number	US-201916250957-A
Country	US
Kind code	B2
Filing date	Jan 17, 2019
Priority date	Jul 19, 2016
Publication date	Feb 22, 2022
Grant date	Feb 22, 2022

Abstract

A self-moving gardening robot, including a positioning module, a control module, a material cavity, and a working module. The positioning module of the self-moving gardening robot is configured to perform path planning, and the control module controls the self-moving gardening robot to travel according to planned path; and the working module performs a corresponding work when the self-moving gardening robot travels. When the material cavity contains different materials, the self-moving gardening robot may finish different functional tasks based on a same control procedure. In one of embodiments, the self-moving gardening robot is further provided with an accessory interface. By connecting different functional accessories through the accessory interface, the self-moving gardening robot implements multiple functions.

First claim

What is claimed is:

1. A self-moving gardening robot, configured to perform at least two lawn care works, comprising:
a housing;
a moving module, driving the self-moving gardening robot to move;
a working module, performing the corresponding lawn care work;
a power module, driving the moving module and the working module;
an energy module, supplying energy to the self-moving gardening robot; and
a control module, controlling the self-moving gardening robot to automatically move and perform a first work of the at least two lawn care works,
wherein:
the self-moving gardening robot comprises a positioning module, configured to obtain location information of the self-moving gardening robot; the control module comprises a path planning unit, storing a preset path mode; and the control module controls the self-moving gardening robot to move in the preset path mode based on the obtained location information; and

wherein:
the control module generates a preset moving path, the preset moving path comprising a reciprocating path that includes a first direction and a second direction;
the working module comprises a fallen leaves collecting module, configured to perform a fallen leaves collecting work; and the fallen leaves collecting module comprises a leaves raking part, configured to centralize fallen leaves on a working surface of the self-moving gardening robot and to enable the centralized fallen leaves to move with the self-moving gardening robot; and
the control module controls the self-moving gardening robot to move along the first direction of the reciprocating path when performing the fallen leaves collecting work, controls the leaves raking part to perform a leaves raking work when the self-moving gardening robot moves along the first direction of the reciprocating path, so that the fallen leaves move to a fallen leaves storage location of a working area, and controls the leaves raking part not to perform the leaves raking work when the self-moving gardening robot moves along the second direction of the reciprocating path.

2. The self-moving gardening robot according to claim 1 , wherein: the path planning unit stores at least two preset path modes and the control module controls the self-moving gardening robot to move in the corresponding preset path modes respectively when performing the at least two lawn care works.

3. The self-moving gardening robot according to claim 1 , wherein: the working module further comprises at least one of a grass cutting module, a liquid spraying module, a fertilizing module, a soil loosening module, a sowing module, a withered grass removing module, and a sweeping module, to respectively perform a second work of the at least two lawn care works.

4. The self-moving gardening robot according to claim 1 , wherein: the self-moving gardening robot comprises an accessory interface, configured to externally connect the working module performing the lawn care work.

5. The self-moving gardening robot according to claim 1 , wherein: the self-moving gardening robot further comprises an ambient detection module, configured to detect an environment of the working area; the control module generates the preset moving path or a preset target location based on the preset path mode and based on at least the ambient information and/or the location information; and the control module controls the self-moving gardening robot to move along the preset moving path or to move toward the preset target location.

6. The self-moving gardening robot according to claim 5 , wherein: the control module generates at least two preset moving paths for performing the first lawn care work, so that moving paths of the self-moving gardening robot when performing the fallen leaves collecting work are not repeated.

7. The self-moving gardening robot according to claim 5 , wherein, for the first work of the at least two lawn care works:
the preset moving path comprises the reciprocating path;
the working module comprises the fallen leaves collecting module, configured to perform the fallen leaves collecting work; and the fallen leaves collecting module comprises the leaves raking part, configured to centralize fallen leaves on the working surface and to enable the centralized fallen leaves to move with the self-moving gardening robot; and
the control module controls the self-moving gardening robot to move along the reciprocating path when performing the fallen leaves collecting work, controls the leaves raking part to perform the leaves raking work when the self-moving gardening robot moves along the first direction of the reciprocating path, so that the fallen leaves move to the fallen leaves storage location along the moving direction of the self-moving gardening robot, and controls the leaves raking part not to perform the leaves raking work when the self-moving gardening robot moves along the second direction of the reciprocating path, so that the self-moving gardening robot returns to the working area.

8. The self-moving gardening robot according to claim 5 , wherein:
the working module comprises, for a second work of the at least two lawn care works, a spraying device, configured to perform a liquid spraying work; and the preset target location comprises a spraying location; and
the control module generates at least two spraying locations, and the control module controls the self-moving gardening robot to move to the at least two spraying locations to perform the liquid spraying work and controls working parameters of the self-moving gardening robot to be different when the self-moving gardening robot performs the liquid spraying work at the at least two spraying locations.

9. The self-moving gardening robot according to claim 5 , wherein:
the preset target location comprises a location of a docking station of the self-moving gardening robot, or the preset moving path further comprises a moving path for the self-moving gardening robot to return back to the docking station; and
when the self-moving gardening robot interrupts performing at least one lawn care work, the control module records a location and a gesture of the self-moving gardening robot when the work is interrupted, then controls the self-moving gardening robot to move toward the docking station based on the preset moving path or the preset target location, and further controls the self-moving gardening robot to return to the location where the work is interrupted and to continuously work in the gesture when the work is interrupted.

10. The self-moving gardening robot according to claim 9 , wherein:
the fallen leaves collecting module further comprises a fallen leaves storage part, storing the collected fallen leaves; and the docking station is configured to store the fallen leaves stored in the fallen leaves storage part;
the fallen leaves storage part comprises a capacity detection device, detecting a capacity of the fallen leaves stored in the fallen leaves storage part;
when the capacity detection device detects that the capacity of the fallen leaves stored in the fallen leaves storage part reaches a preset threshold, the control module controls the self-moving gardening robot to interrupt the fallen leaves collecting work, records a current location and gesture, then controls the self-moving gardening robot to move toward the docking station based on the preset moving path or the preset target location to store the fallen leaves, and further controls the self-moving gardening robot to return back to the recorded location and to continuously perform the fallen leaves collecting work in the recorded gesture.

11. The self-moving gardening robot according to claim 9 , wherein: the self-moving gardening robot comprises a

Assignees

• Positec Power Tools Suzhou Co Ltd

Inventors

• He Mingming
• Tan Yiyun
• Shao Yong

Classifications

• A01D43/00

  Mowers combined with apparatus performing additional operations while mowing (A01D37/00, A01D39/00, A01D41/00, take precedence) · CPC title

• A01D34/008 Primary

  for automated or remotely controlled operation · CPC title

• A01D2101/00

  Lawn-mowers · CPC title

• A01D43/02

  with rakes · CPC title

• A01D43/12

  with soil-working implements, e.g. ploughs · CPC title