Self-moving device and automatic working system thereof

Patent metadata

Field	Value
Publication number	US-12314049-B2
Application number	US-201917275159-A
Country	US
Kind code	B2
Filing date	Sep 12, 2019
Priority date	Sep 12, 2018
Publication date	May 27, 2025
Grant date	May 27, 2025

Abstract

A self-moving device, moving and working in a working area, includes: a housing; a moving module, mounted to the housing, and configured to drive the housing to move; a main working module, mounted to the housing, and configured to perform a main working task; an auxiliary working module, mounted to the housing, and configured to perform an auxiliary working task; a control module, configured to control the moving module, the main working module, and the auxiliary working module. The self-moving device includes a wireless communication module, configured to receive a control signal generated by user operation. The self-moving device includes an automatic working mode and an auxiliary working mode, in the auxiliary working mode, the control module controls the auxiliary working module at least based on the control signal to work; the control module controls the auxiliary working module based on an interruption of the control signal to stop working.

First claim

What is claimed is:

1. A self-moving device comprising:
a housing;
a moving module, configured to drive the housing to move;
a main working module, configured to perform a main working task;
an auxiliary working module, configured to perform an auxiliary working task;
a control module, configured to control the moving module, the main working module, and the auxiliary working module; and
a wireless communication module, configured to receive a control signal generated from an operation of a user, wherein:
the self-moving device is configured to operate in at least one of an automatic working mode or an auxiliary working mode, and wherein
in the auxiliary working mode, the control module is further configured to:
control the auxiliary working module to work based at least in part on the control signal,
control the auxiliary working module to stop working based on an interruption of the control signal, and
control a part of the auxiliary working module that faces outside a working area to rotate backward.

2. The self-moving device according to claim 1 , wherein the interruption of the control signal comprises a time that the wireless communication module stops receiving the control signal being greater than a preset interruption time.

3. The self-moving device according to claim 1 , wherein in the auxiliary working mode, if determining that a distance between a signal source of the control signal and the wireless communication module is greater than or equal to a first preset distance, the control module controls the auxiliary working module to stop working.

4. The self-moving device according to claim 3 , wherein in the auxiliary working mode, if the distance between the signal source and the wireless communication module is greater than a second preset distance, the control module is configured to control the auxiliary working module to reduce a working speed, to enable a working energy of the auxiliary working module to be less than a preset energy; and the second preset distance is less than the first preset distance.

5. The self-moving device according to claim 1 , wherein if determining that a strength of the control signal is less than or equal to a preset strength, the control module controls the auxiliary working module to stop working.

6. The self-moving device according to claim 1 , wherein the control module is configured to control the self-moving device based on at least two preset signals to switch to the auxiliary working mode.

7. The self-moving device according to claim 6 , wherein if the at least two preset signals received by the control module satisfy a preset condition, the control module is configured to control the self-moving device to switch to the auxiliary working mode, the preset condition comprising a preset time and/or a preset order.

8. The self-moving device according to claim 6 , wherein at least one preset signal is received by the wireless communication module, the at least one preset signal comprising the control signal.

9. The self-moving device according to claim 6 , wherein the self-moving device further comprises an interaction module, and at least one preset signal is generated by operating the interaction module by the user.

10. The self-moving device according to claim 1 , wherein in the auxiliary working mode, the control module is configured to control the moving module to move along a preset path.

11. The self-moving device according to claim 10 , wherein the self-moving device further comprises a path detection module, configured to detect the preset path, and the control module is further configured to automatically control a moving direction of the moving module according to an output of the path detection module.

12. The self-moving device according to claim 11 , wherein the control module is further configured to determine, according to the output of the path detection module, whether the self-moving device is on the preset path, and if the self-moving device is not on the preset path, control the auxiliary working module to stop working.

13. The self-moving device according to claim 1 , wherein in the auxiliary working mode, a working energy of the auxiliary working module is less than 5 J.

14. The self-moving device according to claim 1 , wherein in the auxiliary working mode, a maximum moving speed of the moving module is at least one of less than 25 m/min, or greater than 5 m/min.

15. The self-moving device according to claim 1 , wherein the auxiliary working module comprises a trimmer head, the trimmer head is mounted with a trimmerline, and the trimmer head is configured to drive the trimmerline to rotate to cut grass.

16. The self-moving device according to claim 1 , wherein if the auxiliary working module stops working, the control module is further configured to control the self-moving device to switch to the automatic working mode.

17. The self-moving device according to claim 1 , further comprising: an isolation cover disposed between the main working module and the auxiliary working module, and configured to prevent grass cuttings from entering the auxiliary working module during working of the main working module, or prevent the grass cuttings from entering the main working module during the working of the auxiliary working module.

18. An automatic working system, comprising:
a self-moving device comprising:
a housing;
a moving module, configured to drive the housing to move;
a main working module, configured to perform a main working task;
an auxiliary working module, configured to perform an auxiliary working task;
a control module, configured to control the moving module, the main working module, and the auxiliary working module; and
a wireless communication module, configured to receive a signal sent by a user terminal; and

the user terminal, comprising:
an input module, for a user to operate to generate a signal;
a processing module, configured to process the signal; and
a remote communication module, configured to send the signal, wherein:
the input module comprises a first input unit, configured to generate a control signal, the signal comprising the control signal,
the self-moving device is configured to operate in an automatic working mode or an auxiliary working mode,
in the auxiliary working mode, the control module is configured to:
control the auxiliary working module to work based at least in part on the control signal,
control the auxiliary working module to stop working based on an interruption of the control signal, and
control a part of the auxiliary working module that faces outside a working area to rotate backward.

19. The automatic working system according to claim 18 , wherein the input module comprises a second input unit, configured to generate a start signal; and the processing module is configured to control the remote communication module to send the control signal based on the start signal.

Assignees

• Positec Power Tools Suzhou Co Ltd

Inventors

• Zhao Fengli
• Zha Xiahong
• Zhou Xiaoqing

Classifications

• G05D2105/15

  for harvesting, sowing or mowing in agriculture or forestry · CPC title

• G05D2107/23

  Gardens or lawns · CPC title

• G05D2109/10

  Land vehicles · CPC title

• G05D1/6484

  by taking into account parameters or characteristics of the working area or space, e.g. size or shape · CPC title

• G05D1/2232

  Touch screens · CPC title