阅读说明：本技术 自移动设备 (Self-moving equipment ) 是由 何明明 朱磊 于 2020-05-25 设计创作，主要内容包括：本申请涉及一种自移动设备,包括：壳体；移动装置,用于带动壳体移动；工作装置,用于执行预设工作任务；工作控制单元,用于控制移动装置带动壳体自动移动,且控制工作装置自动执行预设工作任务；监测模块,用于监测主电池模组是否移出或即将移出,并输出监测信号；数据保护控制单元,电连接监测模块以接收监测信号,并根据监测信号判断主电池模组是否移出或即将移出,并在主电池模组移出或即将移出时,输出启动数据保护操作的信号。本申请能够克服主电池模组被突然移出导致系统数据异常。(The application relates to a self-moving device comprising: a housing; the moving device is used for driving the shell to move; the working device is used for executing a preset working task; the work control unit is used for controlling the moving device to drive the shell to automatically move and controlling the working device to automatically execute a preset work task; the monitoring module is used for monitoring whether the main battery module is moved out or is about to be moved out and outputting a monitoring signal; and the data protection control unit is electrically connected with the monitoring module to receive the monitoring signal, judges whether the main battery module is moved out or is about to be moved out according to the monitoring signal, and outputs a signal for starting data protection operation when the main battery module is moved out or is about to be moved out. The method and the device can overcome the defect that the system data is abnormal due to the fact that the main battery module is suddenly shifted out.)

1. An autonomous mobile device, comprising:

a housing;

the moving device is used for driving the shell to move;

the working device is used for executing a preset working task;

the work control unit is used for controlling the mobile device to drive the shell to automatically move and controlling the work device to automatically execute a preset work task;

the monitoring module is used for monitoring whether the main battery module is moved out or is about to be moved out and outputting a monitoring signal;

and the data protection control unit is electrically connected with the monitoring module to receive the monitoring signal, judges whether the main battery module is moved out or is about to be moved out according to the monitoring signal, and outputs a signal for starting data protection operation when the main battery module is moved out or is about to be moved out.

2. The self-moving device of claim 1, wherein the initiating data protection operations comprises at least initiating an emergency shutdown procedure.

3. The self-moving device as claimed in claim 1, wherein the self-moving device comprises a control system, and the data protection control unit and the work control unit are both disposed in the control system.

4. The self-moving device as claimed in claim 1, 2 or 3, wherein the monitoring module is configured to monitor whether the main battery module is removed, and the self-moving device further comprises a backup energy storage module configured to supply power to the control system.

5. The self-moving device of claim 4, wherein the initiating data protection operations further comprises switching the backup energy storage module to power the control system.

6. The self-moving device of claim 4, wherein the monitoring module comprises at least one of a pressure sensor, a photoelectric sensor, and a Hall sensor.

7. An autonomous device as claimed in claim 1 or 2 or 3,

the self-moving equipment further comprises a prior operation part which needs to be operated before the main battery module is moved out, and the state of the prior operation part which is operated is the state of the main battery module to be moved out;

the monitoring module is used for monitoring whether the prior operation part is operated.

8. The self-moving device of claim 7,

the self-moving equipment comprises a shell, a front operating part and a monitoring module, wherein the shell comprises an accommodating cavity which is provided with an inlet and used for accommodating the main battery module, the self-moving equipment further comprises a protective cover which is used for operably shielding the inlet, the front operating part comprises the protective cover, the opened state of the protective cover is the state that the main battery module is about to be moved out, and the monitoring module is used for monitoring whether the protective cover is opened or not.

9. The self-moving device of claim 8,

the monitoring module including set up respectively in the protective cover with magnetism spare and magnetic induction spare on the casing.

10. The self-moving device of claim 2,

the control system comprises a first processing unit and a second processing unit which are electrically connected with each other, the data protection control unit is arranged in the second processing unit, and the data protection operation at least comprises the following steps:

the second processing unit sends a signal for starting an emergency shutdown processing program to the first processing unit;

the second processing unit starts an emergency shutdown processing program;

the first processing unit starts an emergency shutdown processing program.

11. The self-moving device as claimed in claim 1, wherein the housing further comprises a receiving cavity for receiving the main battery module, and the main battery module is detachably received in the receiving cavity.

12. The self-moving device of claim 1,

the shell further comprises a main body and an electric connecting piece, wherein the main body is provided with an accommodating cavity, the electric connecting piece is used for being in butt joint with the main battery module, the accommodating cavity is used for accommodating the main battery module, and the electric connecting piece is accommodated in the accommodating cavity and is rigidly connected to the main body.

Technical Field

The application relates to the technical field of robots, in particular to a self-moving device.

Background

The control system of a self-moving device (such as an intelligent mower) usually adopts a delayed writing mechanism, namely when data changes, the data are not written into a file immediately, but are temporarily stored in a buffer area so as to facilitate the subsequent modification or reading of the part of data. When certain conditions are met, the part of data is written into the system file.

If the power of the self-moving device is suddenly cut off, system data abnormity can be caused (for example, data in a cache area cannot be normally written into a system file), and further important records of a control system are lost, or the file is damaged, even the control system is paralyzed, and the normal use of the self-moving device is influenced.

Disclosure of Invention

Based on this, this patent proposes a self-moving device that adopts removable main battery module, and can overcome the system data anomaly that the main battery module is suddenly shifted out.

An autonomous mobile device comprising:

a housing;

the moving device is used for driving the shell to move;

the working device is used for executing a preset working task;

the work control unit is used for controlling the mobile device to drive the shell to automatically move and controlling the work device to automatically execute a preset work task;

the monitoring module is used for monitoring whether the main battery module is moved out or is about to be moved out and outputting a monitoring signal;

and the data protection control unit is electrically connected with the monitoring module to receive the monitoring signal, judges whether the main battery module is moved out or is about to be moved out according to the monitoring signal, and outputs a signal for starting data protection operation when the main battery module is moved out or is about to be moved out.

In one embodiment, the initiating the data protection operation includes at least initiating an emergency shutdown procedure.

In one embodiment, the self-moving device includes a control system, and the data protection control unit and the work control unit are both disposed in the control system.

In one embodiment, the monitoring module is configured to monitor whether the main battery module is removed, and the self-moving device further includes a backup energy storage module configured to supply power to the control system.

In one embodiment, the initiating the data protection operation further comprises switching the backup energy storage module to supply power to the control system.

In one embodiment, the monitoring module comprises at least one of a pressure sensor, a photoelectric sensor and a hall sensor.

In one of the embodiments, the first and second electrodes are,

the self-moving equipment further comprises a prior operation part which needs to be operated before the main battery module is moved out, and the state of the prior operation part which is operated is the state of the main battery module to be moved out;

the monitoring module is used for monitoring whether the prior operation part is operated.

In one of the embodiments, the first and second electrodes are,

the self-moving equipment comprises a shell, a front operating part and a monitoring module, wherein the shell comprises an accommodating cavity which is provided with an inlet and used for accommodating the main battery module, the self-moving equipment further comprises a protective cover which is used for operably shielding the inlet, the front operating part comprises the protective cover, the opened state of the protective cover is the state that the main battery module is about to be moved out, and the monitoring module is used for monitoring whether the protective cover is opened or not.

In one of the embodiments, the first and second electrodes are,

the monitoring module including set up respectively in the protective cover with magnetism spare and magnetic induction spare on the casing.

In one of the embodiments, the first and second electrodes are,

the control system comprises a first processing unit and a second processing unit which are electrically connected with each other, the data protection control unit is arranged in the second processing unit, and the data protection operation at least comprises the following steps:

the second processing unit sends a signal for starting an emergency shutdown processing program to the first processing unit;

the second processing unit starts an emergency shutdown processing program;

the first processing unit starts an emergency shutdown processing program.

In one embodiment, the housing further includes a receiving cavity for receiving the main battery module, and the main battery module is detachably received in the receiving cavity.

In one of the embodiments, the first and second electrodes are,

the shell further comprises a main body and an electric connecting piece, wherein the main body is provided with an accommodating cavity, the electric connecting piece is used for being in butt joint with the main battery module, the accommodating cavity is used for accommodating the main battery module, and the electric connecting piece is accommodated in the accommodating cavity and is rigidly connected to the main body.

According to the self-moving equipment, the monitoring module is used for monitoring whether the main battery module is moved out or is about to be moved out and controlling the data protection control unit, so that the control system can protect data before the self-moving equipment is powered off, and further system data are prevented from being abnormal. For example, data is written before power is turned off, thereby preventing data loss.

Drawings

FIG. 1 is a block diagram of a self-propelled device in one embodiment;

FIG. 2 is a schematic diagram of a self-moving device cover closure in one embodiment;

FIG. 3 is a schematic view of the embodiment of FIG. 2 showing the self-moving device cover opened;

FIG. 4 is a schematic diagram relating to a control system in one embodiment;

FIG. 5 is a schematic flow chart diagram illustrating operation of a self-moving device in one embodiment;

FIG. 6 is a schematic workflow diagram of a self-moving device in another embodiment;

FIG. 7 is a block diagram of a self-moving device in a further embodiment;

FIG. 8 is a schematic workflow diagram of a self-moving device in a further embodiment;

FIG. 9 is a block diagram of an autonomous mobile device in a further embodiment;

fig. 10 is a schematic flow chart of the work flow of the self-moving device in still another embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

In one embodiment, a self-moving device is provided. Referring to fig. 1 to 3, the self-moving apparatus includes a housing 100, a moving device 200 for driving the housing to move, a working device 300 for performing a preset work task, a work control unit 400 for controlling the moving device 200 to automatically move and controlling the working device 300 to automatically perform the preset work task, and the like. The work control unit controls the moving device 200 to automatically drive the housing 100 to move, and controls the working device 300 to automatically execute a preset work task. Specifically, the self-moving device may be a smart mower (shown in fig. 2 and 3), a sweeping robot, a snow sweeping robot, or the like.

In addition, the self-moving device further includes a main battery module 500, a monitoring module 600, and a data protection control unit 700. The self-moving device is powered by the main battery module 500. In the embodiment of the present application, the main battery module 500 of the self-moving device can be replaced.

Specifically, the housing 100 of the mobile device may include a receiving cavity for receiving the main battery module 500, and the main battery module 500 may be detachably received in the receiving cavity. More specifically, the housing 100 may include a body and an electrical connector. The main body is provided with an accommodating cavity for accommodating the main battery module 500. The electrical connector is accommodated in the accommodating cavity and rigidly connected to the main body, and is used for being butted with the main battery module 500, so as to realize pluggable electrical connection between the main battery module 500 and the housing 100.

A power conversion board (not shown) may be provided in the operation control unit 400. The power conversion board has a voltage reduction module 410 thereon, and the voltage reduction module 410 can convert a voltage (for example, 20V) provided by the main battery module 500 into a desired voltage (for example, 5V voltage required by the operation control unit 400). Referring to fig. 4, the main battery module 500 may be depressurized by the depressurization module 410.

The monitoring module 600 is used to monitor whether the main battery module 500 is shifted out or is about to shift out, and output a monitoring signal to the data protection control unit 700. The "shift-out" in "shift-out or not" herein may be a state in which the shift-out has been completed, or may be a state in the process of the shift-out.

Referring to fig. 1 and 5, the data protection control unit 700 is electrically connected to the monitoring module 600, and further receives the monitoring signal. Furthermore, the data protection control unit 700 determines whether the main battery module 500 is shifted out or is about to shift out according to the monitoring signal. When the main battery module 500 is shifted out or is about to be shifted out, the data protection control unit 700 outputs a signal for starting the data protection operation. Here, "starting a data protection operation" refers to an operation that is started to protect data within a self-mobile device when the self-mobile device is suddenly powered off or is about to be powered off.

Specifically, initiating the data protection operation may include an emergency shutdown handler. The emergency shutdown processing procedure is a shutdown procedure at least with data protection, which is started when the mobile device is suddenly powered off or is about to be powered off.

The self-moving device includes a control system. For convenience of integration, the data protection control unit 700 and the operation control unit 400 may be disposed in the control system. Of course, the data protection control unit 700 may be located outside the control system, and the application is not limited thereto.

In this embodiment, the monitoring of the monitoring module 600 and the control of the data protection control unit 700 enable the control system to protect data before the mobile device is powered off, thereby preventing system data from being abnormal. For example, data is written before power is turned off, thereby preventing data loss.

In one embodiment, referring to fig. 1 and 4, the self-moving device further includes a backup energy storage module 800. The backup energy storage module 800 may be specifically a backup battery (such as a button battery) or a super capacitor. The backup energy storage module 800 is connected in parallel with the main battery module 500, and is used for supplying power to the self-moving device after the main battery module 500 is removed.

Specifically, referring to fig. 4, the operation control unit 400 may further include a selection circuit 420. The selection circuit 420 is electrically connected to the backup energy storage module 800 and the main battery module 500, so that the backup energy storage module 800 and the main battery module 500 can be switched. The selection circuit 420 is a circuit structure known to those skilled in the art and will not be described in detail herein.

When the main battery module 500 is not removed, the selection circuit 420 may communicate the main battery module 500 and the voltage reduction module 410, so as to supply power to the mobile device. After the main battery module 500 is removed, the selection circuit 420 may communicate the standby energy storage module 800 and the voltage reduction module 410, so as to supply power to the self-moving device.

In this embodiment, by providing the backup energy storage module 800, the working control unit 400 can be continuously powered after the main battery module 500 is removed, so as to ensure that the working control unit 400 can effectively store data after the main battery module 500 is removed. Since the standby energy storage module 800 only needs to ensure that the operation control unit 400 can effectively store data before the power is cut off from the mobile device, the amount of power can be set to be relatively small. Meanwhile, it may be disposed on the power conversion plate for convenience of placement.

In this embodiment, the monitoring module 600 is used to detect whether the main battery module 500 is removed. When the main battery module 500 is removed, the monitoring module 600 sends a monitoring signal to the data protection control unit 700. In particular, the monitoring module 600 may include at least one of a pressure sensor, a photo sensor, a hall sensor.

When the monitoring module 600 includes a pressure sensor, it can detect whether the main battery module 500 is removed by the difference between the pressures of the pressure sensor before and after the main battery module 500 is removed. The main battery module 500 has a certain gravity, and the pressure sensor can be subjected to a larger pressure by the gravity action of the main battery module 500 before the main battery module 500 is removed. After the main battery module 500 is removed, the gravity action disappears, and thus, the pressure sensor is hardly subjected to pressure. Therefore, the pressure sensor can detect whether the main battery module 500 has been removed by the difference in pressure to the pressure sensor before and after the main battery module 500 is removed.

When the monitoring module 600 includes the photoelectric sensor, it can detect whether the main battery module 500 has been removed by the photoelectric sensor according to the difference between the reception conditions of the optical signal before and after the main battery module 500 is removed. The photoelectric sensor may include an optical transmitter and an optical receiver disposed at both sides of the main battery module 500. Before the host battery module 500 moves out, the light emitted from the light transmitter cannot be received by the light receiver due to the obstruction of the host battery module 500. After the master battery module 500 is removed, the light emitted from the light transmitter can be received by the light receiver without being blocked by the master battery module 500. Therefore, whether the main battery module 500 is removed can be detected by the difference between the receiving conditions of the optical signals before and after the main battery module 500 is removed by the photoelectric sensor.

The signal output terminals of the pressure sensor and/or the photoelectric sensor are electrically connected to the data protection control unit 700, and when it is detected that the main battery module 500 is removed, the signal output terminals send monitoring signals to the data protection control unit 700.

In this embodiment, initiating the data protection operation may further include switching the backup energy storage module 800 to supply power to the operation control unit 400. At this time, the relevant workflow is as shown in fig. 6.

In another embodiment, referring to fig. 7, the self-moving apparatus further includes a previous operating part 900 that needs to be operated before the main battery module 500 is removed, and the state in which the previous operating part 900 is operated is the state in which the main battery module 500 is to be removed. In this embodiment, the monitoring module 600 is used to monitor whether the previous operating component is operated, that is, the monitoring module 600 monitors whether the main battery module 500 is about to be removed. At this time, the relevant workflow is as in fig. 8.

In particular, referring to fig. 2 and 3, it may be provided that the housing 100 includes a receiving cavity. The receiving cavity is provided with an inlet and is used for receiving the main battery module 500. The self-moving device further comprises a protective cover for operatively covering the interior. The front operation part 900 includes a cover, and a state in which the cover is opened is a state in which the main battery module 500 is removed. The monitoring module 600 is used to monitor that the protective cover is opened.

At this time, with continued reference to fig. 3 and the drawings, the monitoring module 600 may be configured to include a magnetic element 610 and a magnetic induction element 620. The magnetic member 610 may include a magnet, which may be disposed on the protective cover. The magnetic inductor 620 may include a hall plate disposed on the housing 100. At this time, whether the protective cover is opened or not can be reflected by the magnetoelectric effect between the hall plate and the magnet.

Alternatively, the magnetic sensor 620 may include a magnetic switch and an electromagnetic relay disposed on the housing 100. The electromagnetic relay may include an armature, a moving contact, a stationary contact, a coil with an iron core, and the like, which are well known to those skilled in the art and will not be described in detail herein.

After the protective cover is opened, the magnet on the protective cover moves along with the movement of the protective cover and contacts with the magnetic switch after the movement, so that the magnetic switch is closed and conducted under the action of the magnetic field of the magnet. The magnetic switch is electrically connected to a power supply line of a coil of the electromagnetic relay, and when the magnetic switch is turned on, the coil of the electromagnetic relay is electrified to generate a magnetic field. The armature is absorbed by a magnetic field generated by a coil of the electromagnetic relay, so that a movable contact on the armature is attracted with a fixed contact. Namely, the electromagnetic relay is attracted when the magnetic switch is conducted. Meanwhile, the electromagnetic relay may further have a pin output end, and after the movable contact and the fixed contact are attracted (i.e., after the electromagnetic relay is attracted), a signal indicating that the electromagnetic relay is attracted is output, and the signal is sent to the data protection control unit 700 as a monitoring signal.

The data protection control unit 700 receives the monitoring signal, and outputs a signal for starting the data protection operation after receiving the monitoring signal, and controls the work control unit to start the data protection operation before the mobile device is powered off.

In this embodiment, the monitoring module 600 monitors whether the main battery module 500 is about to be removed. Therefore, the time when the data protection control unit 700 receives the monitoring signal is earlier than the time when the main battery module 500 is moved out.

Therefore, the standby energy storage module 800 and the selection circuit 420 mentioned in the previous embodiments may not be provided in this embodiment. Instead, the main battery module 500 is powered by the main battery module to save data during the period from the time when the main battery module is moved out to the time when the main battery module is actually moved out. Of course, in order to ensure that the data can be safely and effectively stored, the standby energy storage module 800 and the selection circuit 420 mentioned in the foregoing embodiments may also be provided in this embodiment.

For convenience of installation, the magnetic switch and the electromagnetic relay can also be arranged on the power supply conversion board. In addition, the power supply of the monitoring module 600 may be a part of the voltage reduction module 410 on the power conversion board. Which converts the voltage on the main battery module 500 to the voltage required for the magnetic switching of the monitoring module 600. This voltage is then applied to the electromagnetic relay via the magnetic switch.

In use, the voltage across the magnetic switch may be lower than the voltage required for an electromagnetic relay. In this case, an amplifying circuit may be further provided between the magnetic switch and the electromagnetic relay. The amplifying circuit may be a triode amplifying circuit, which amplifies the voltage passing through the magnetic switch and applies the amplified voltage to the electromagnetic relay.

Of course, in this embodiment, the monitoring module 600 for monitoring whether the main battery module 500 is about to be removed may be in other forms, which is not limited in this application.

In one embodiment, referring to fig. 9, the operation control unit 400 includes a first processing unit 430 and a second processing unit 440 electrically connected to each other. The first processing unit may run a complex operating system, such as a LINUX system; the second processing unit may run a simple operating system, such as an RTOS system. Of course, the present application is not limited thereto, and the operation control unit 400 in other embodiments may be different therefrom.

The first processing unit 430 may be an upper computer and directly sends a manipulation command. The second processing unit 440 is a lower computer, and can directly control the corresponding components of the mobile device to perform corresponding operations according to the commands of the first processing unit 430. At this time, the second processing unit 440 may directly read status data from the corresponding components of the mobile device and feed back to the first processing unit 430. The first operating system of the first processing unit 430 may store information such as a walking path of the mobile device and a map. The second processing unit 440 may store various robot parameters and data such as a robot log.

In the present embodiment, the setting data protection control unit 700 is provided in the second processing unit 440. The data protection operation includes at least: the second processing unit 440 transmits a signal to start the emergency shutdown processing program to the first processing unit 430 and starts the emergency shutdown processing program. And, the first processing unit 430 starts the emergency shutdown processing program after receiving the start of the emergency shutdown processing program. At this time, the relevant work flow refers to fig. 10.

Specifically, the second processing unit 440 may be electrically connected to the monitoring module 600 to receive the monitoring signal from the monitoring module 600. And after receiving the monitoring signal, the second operating system is controlled to store data before the power of the mobile device is cut off, so that the loss of the latest updated data in the second operating system can be effectively prevented. After receiving the monitoring signal, the second processing unit 440 further sends a shutdown saving signal to the first processing unit 430. The first processing unit 430 receives the shutdown saving signal and then controls the first operating system to save data before the power failure of the mobile device, so that the latest updated data in the first operating system can be effectively prevented from being lost, and the work control unit of the mobile device is comprehensively protected.

Further, the first processing unit 430 sends an acknowledgement signal to the second processing unit after receiving the shutdown saving signal, and shuts down after sending the acknowledgement signal. The second processing unit 440 is powered off after receiving the confirmation signal. The power-off protection flow from the mobile device refers to fig. 3. At this time, the self-mobile device can be caused to perform a secure shutdown after saving the data.

In this embodiment, the data protection control unit 700 is set as the second processing unit 440. Since the second processing unit 440 has a reading function, it can directly read the monitoring signal sent by the monitoring module 600, thereby facilitating to simplify the control process.

Of course, the embodiments of the present application are not limited thereto. For example, in other embodiments, the data protection control unit 700 may also be the first processing unit 430, and at this time, a corresponding program may be additionally programmed to the first processing unit 430 to read the monitoring signal sent by the monitoring module 600, so as to control the first operating system to store data before the mobile device is powered off, and further to shut down after the first operating system is controlled to store data.

Moreover, after reading the monitoring signal sent by the monitoring module 600, the first processing unit 430 may further instruct the second processing unit 440 to control the second operating system to store data before powering off the mobile device, and may further instruct the second processing unit 440 to power off after controlling the second operating system to store data.

Alternatively, in other embodiments, the data protection control unit 700 may also be a specially configured module, and after reading the monitoring signal sent by the monitoring module 600, the specially configured module may send a signal to the first processing unit 430 and the second processing unit 440 at the same time, so that the first operating system and the second operating system are respectively controlled by the two to store data before powering off the mobile device, and further, may be controlled by the two to be powered off after storing the data.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.