SELF-MOVING ROBOT

• US 20190321964A1
• Filed: 07/01/2019
• Published: 10/24/2019
• Est. Priority Date: 11/19/2014
• Status: Active Grant

• Current Assignee: Positec Technology (China) Co., Ltd. (Positec Group Limited)
• Original Assignee: Positec Technology (China) Co., Ltd. (Positec Group Limited)
• Inventors: He, Mingming, Gao, Zhendong, Wong, Ka Tat Kelvin, Sun, Gen, Liu, Qiang, Rao, Yue
• Granted Patent: US 11,161,235 B2
• Time in Patent Office: Days
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: A01D 42/00 Mowers convertible to apparatus for purposes other than mowing; Mowers capable of performing operations other than mowing mowers combined with apparatus performing additional operations while mowing A01D43/00
• CPC Class Codes: A01G 25/09 Watering arrangements making use of movable installations on wheels or the like
• CPC Class Codes: A47L 2201/026 Refilling cleaning liquid containers
• CPC Class Codes: A47L 7/0085 adapted for special purposes not related to cleaning
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• CPC Class Codes: B25J 19/005 using batteries, e.g. as a back-up power source
• CPC Class Codes: B25J 5/00 Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00
• CPC Class Codes: B25J 9/08 characterised by modular constructions

Abstract

A self-moving robot includes a shell, a driving module, driving the self-moving robot to move on the ground; a mowing module, executing mowing work; an energy module, providing energy for the self-moving robot; a control module, controlling the self-moving robot to automatically move and execute work, the self-moving robot further includes a cleaning module executing ground cleaning work; the self-moving robot has a mowing mode and a cleaning mode, under the mowing mode, the control module controls the self-moving robot to execute mowing work, and under the cleaning mode, the control module controls the self-moving robot to execute cleaning work.

Claims

1. A self-moving robot, comprising a shell, a driving module, driving the self-moving robot to move on the ground;

a mowing module, executing mowing work;

an energy module, providing energy for the self-moving robot;

a control module, controlling the self-moving robot to automatically move and execute work, wherein,

the self-moving robot further comprises a cleaning module executing ground cleaning work;

the self-moving robot has a mowing mode and a cleaning mode, under the mowing mode, the control module controls the self-moving robot to execute mowing work, and under the cleaning mode, the control module controls the self-moving robot to execute cleaning work.

2. The self-moving robot according to claim 1, wherein the self-moving robot also comprises a ground recognizing unit, which collects ground information of a target area and judges the target ground to be a grassland or road surface.

3. The self-moving robot according to claim 2, wherein the control module, according to a recognized result of the ground recognizing unit on the target area, controls the self-moving robot to be kept on the grassland under the mowing mode to execute mowing work and to be kept on the road surface under the cleaning mode to execute cleaning work.

4. The self-moving robot according to claim 2, wherein the control module, according to a recognized result of the ground recognizing unit on the target area, is switched to the cleaning mode from the mowing mode when the self-moving robot moves to the road surface from the grassland;

and is switched to the mowing mode from the cleaning mode when the self-moving robot moves to the grassland from the road surface.

5. The self-moving robot according to claim 2, wherein the control module, according to a recognized result of the ground recognizing unit on the target area, controls the self-moving robot to be in the mowing mode when it is on the grassland, and controls the self-moving robot to be in the cleaning mode when it is on the road surface.

6. The self-moving robot according to claim 2, wherein the ground recognizing unit comprises a camera and a recognizing element connected to the camera;

the camera captures a ground image of the target area and transmits to the recognizing unit, a ground type judging algorithm is preset in the recognizing element, and the recognizing element extracts image features and transmits to the ground type judging algorithm to judge the target area to be the grassland or road surface.

7. The self-moving robot according to claim 2, wherein the ground recognizing unit comprises a ground hardness sensor and a recognizing element connected to the ground hardness sensor;

the ground hardness sensor collects the ground hardness information of the target area and transmits the recognizing element, a ground type judging algorithm is preset in the recognizing element, and the recognizing element inputs the ground hardness information to the ground type judging algorithm to judge the target area to be the grassland or road surface.

8. The self-moving robot according to claim 1, wherein the control module comprises a mode control unit, which controls the self-moving robot to be switched between the mowing mode and the cleaning mode according to a preset program. claim 8

9. The self-moving robot according to claim 8, wherein the mode control unit allocates time when the self-moving robot is in the mowing mode and time when the self-moving robot is in the cleaning mode according to date or season information.

10. The self-moving robot according to claim 1, wherein the cleaning module is a leaf cleaning module configured to clean leaves.

11. The self-moving robot according to claim 10, wherein the leaf cleaning module is a blowing module, an air sucking module or sweeping module.

12. The self-moving robot according to claim 1, wherein the cleaning module is detachably mounted on the shell.