Self-moving robot

• US 10,377,035 B2
• Filed: 11/06/2015
• Issued: 08/13/2019
• 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
• Primary Examiner(s): Cheung, Calvin
• Application Number:
  US15/528,261
• Publication Number:
  US 20170361456A1
• Time in Patent Office: 1,376 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

The present invention discloses a self-moving robot, comprising a self-moving module and at least one of a plurality of interchangeable working modules connected to the self-moving module; the working module further comprises a second energy unit, and the first energy unit comprises a chargeable battery, providing energy for the working module or the self-moving robot. The self-moving robot executes various types of working tasks in the working area in an unattended manner by disposing a self-moving module and an interchangeable working module, and by disposing the working module into an independent energy unit, the working module is sufficient in energy and long in durability.

Claims

1. A self-moving robot, comprising:

a self-moving module comprising;

a control unit configured to execute a predetermined command to control the self-moving robot to operate;

a first energy unit including a chargeable battery, the first energy unit configured to provide energy for the self-moving robot;

a first walking unit configured to assist the self-moving module in walking; and

a first interface unit; and

at least one of a plurality of interchangeable working modules connected to the self-moving module, a working module of the at least one of the plurality of interchangeable working modules including;

a first working unit configured to execute a specific type of work;

a second energy unit, the second energy unit configured to provide energy for the working module or the self-moving robot;

a second walking unit configured to assist the working module in walking; and

a second interface unit, wherein the first interface unit and the second interface unit are configured to be correspondingly matched and connected to connect the working module onto the self-moving module.

2. The self-moving robot according to claim 1, wherein the self-moving module further comprises a second working unit, executing a specific type of work.

3. The self-moving robot according to claim 1, wherein the working module is provided with a charging interface, and the charging interface can be connected to an external power source interface to receive charged electric energy.

4. The self-moving robot according to claim 3, wherein the charging interface and the power source interface are both wireless charging interfaces.

5. The self-moving robot according to claim 1, wherein:

the first interface unit comprises a first energy interface, a first control interface and a first mechanical interface;

the second interface unit comprises a second energy interface, a second control interface and a second mechanical interface; and

when the first interface unit and the second interface unit are matched and connected, the first energy interface and the second energy interface are jointed to transmit energy between the self-moving module and the working module, the first control interface and the second control interface are jointed to transmit signals between the self-moving module and the working module, and the first mechanical interface and the second mechanical interface are jointed to connect the self-moving module and the working module together.

6. The self-moving robot according to claim 5, wherein the self-moving module comprises a charging interface, and the working module is connected to an external power source interface through the second energy interface, the first energy interface and the charging interface to receive charged electric energy.

7. The self-moving robot according to claim 6, wherein the charging interface comprises a first charging contact group and a second charging contact group, the first charging contact group is connected to the first energy unit to charge the first energy unit, and the second charging contact group is connected to the second energy unit through the first energy interface and the second energy interface to charge the second energy unit.

8. The self-moving robot according to claim 1, wherein:

the self-moving module further comprises a detecting unit, wherein the detecting unit detects the working module and sends a detected result to the control unit; and

the control unit judges whether the working module required to be connected is detected according to the detected result, and when the judged result is yes, the control unit controls the first walking unit to walk, such that the self-moving module is connected to the working module required to be connected.

9. The self-moving robot according to claim 1, wherein the working module is at least one of a mower module, a sweeper module, a snow sweeper module, a blowing-sucking machine module, a fertilizer module and a sprinkler module.

10. The self-moving robot according to claim 1, wherein the control unit is configured to:

monitor an energy level of the first energy unit and an energy level of the second energy unit;

control the second energy unit to provide energy for the working module when the energy level of the second energy unit is larger than a first threshold; and

control the first energy unit to provide energy for the working module when the energy level of the second energy unit is smaller than the first threshold and the energy level of the first energy unit is larger than a second threshold.