Self-moving device and automatic working system thereof

Patent metadata

Field	Value
Publication number	US-2021352843-A1
Application number	US-201917275159-A
Country	US
Kind code	A1
Filing date	Sep 12, 2019
Priority date	Sep 12, 2018
Publication date	Nov 18, 2021
Grant date	—

Abstract

The present invention relates to a self-moving device, moving and working in a working area, including: a housing; a moving module, mounted in the housing, and configured to drive the housing to move; a main working module, mounted in the housing, and configured to perform a main working task; an auxiliary working module, mounted in 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

1 - 47 . (canceled)

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

49 . The self-moving device according to claim 48 , wherein the interruption of the control signal comprises that a time that the wireless communication module stops receiving the control signal is greater than a preset interruption time.

50 . The self-moving device according to claim 48 , 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.

51 . The self-moving device according to claim 50 , 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 controls the auxiliary working module to reduce a working speed, to enable working energy of the auxiliary working module to be less than preset energy; and the second preset distance is less than the first preset distance.

52 . The self-moving device according to claim 48 , wherein if determining that the strength of the control signal is less than or equal to preset strength, the control module controls the auxiliary working module to stop working.

53 . The self-moving device according to claim 48 , wherein the control module controls the self-moving device based on at least two preset signals to switch to the auxiliary working mode.

54 . The self-moving device according to claim 53 , wherein if the at least two preset signals received by the control module satisfy a preset condition, the control module controls the self-moving device to switch to the auxiliary working mode, the preset condition comprises a preset time and/or a preset order.

55 . The self-moving device according to claim 53 , wherein the at least one preset signal is received by the wireless communication module, the at least one preset signal comprises the control signal.

56 . The self-moving device according to claim 53 , wherein the self-moving device comprises an interaction module, and the at least one preset signal is generated by operating the interaction module by the user.

57 . The self-moving device according to claim 48 , wherein in the auxiliary working mode, the control module controls the auxiliary working module based on a stop signal to stop working.

58 . The self-moving device according to claim 48 , wherein in the auxiliary working mode, the control module controls the moving module to move along a preset path.

59 . The self-moving device according to claim 58 , wherein the self-moving device comprises a path detection module, configured to detect the preset path, and the control module automatically controls a moving direction of the moving module according to an output of the path detection module.

60 . The self-moving device according to claim 59 , wherein the control module determines, 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, controls the auxiliary working module to stop working.

61 . The self-moving device according to claim 48 , wherein in the auxiliary working mode, working energy of the auxiliary working module is less than 5 J.

62 . The self-moving device according to claim 48 , wherein in the auxiliary working mode, a maximum moving speed of the moving module is less than 25 m/min, or in the auxiliary working mode, the maximum moving speed of the moving module is greater than 5 m/min.

63 . The self-moving device according to claim 48 , wherein the auxiliary working module comprises a trimmer head, a trimmerline is mounted on the trimmer head, and the trimmer head drives the trimmerline to rotate to cut grass.

64 . The self-moving device according to claim 48 , wherein if the auxiliary working module stops working, the control module controls the self-moving device to switch to the automatic working mode.

65 . The self-moving device according to claim 48 , wherein in the automatic working mode, the control module autonomously controls the moving module and the main working module.

66 . An automatic working system, comprising a self-moving device and a user terminal,
the self-moving device, moving and working in a working area, and comprising: a housing; a moving module, mounted in the housing, and configured to drive the housing to move; a main working module, mounted in the housing, and configured to perform a main working task; an auxiliary working module, mounted in 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; and a wireless communication module, configured to receive a signal sent by the 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; the input module comprising a first input unit, configured to generate a control signal, the signal comprising the control signal; wherein the self-moving device comprises an automatic working mode and an auxiliary working mode, wherein in the auxiliary working mode, the control module controls the auxiliary working module at least based on the control signal to work; and the control module controls the auxiliary working module based on an interruption of the control signal to stop working.

67 . The automatic working system according to claim 66 , wherein the input module comprises a second input unit, configured to generate a start signal; the processing module controls the remote communication module based on the start signal to send the control 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