CN110366368A - From mobile device and its automatic working system - Google Patents

Abstract

One kind is from mobile device (100), it include fuselage (20) from mobile device (100), it is set to the walking mechanism (40) on fuselage (20) and for driving the walking from mobile device (100), the linking arm (60) being connect with fuselage (20), the control module (11) walked in the region of restriction from mobile device (100) is driven for controlling walking mechanism (40), wherein, linking arm (60) optionally connects at least two for executing at least one of work head (200) of different operating task, linking arm (60) includes the connection component (62) for connecting the connection structure of work head (200) (64) and for connecting connection structure (64) Yu fuselage (20).

Description

From mobile device and its automatic working systemTechnical field

The present invention relates to one kind from mobile device and its automatic working system.

Background technique

With the development of social progress and science and technology, various power tools are stepped into the production and life of people, bring great convenience for the production and life of people.Especially in afforestation field, people need to use various power tools, such as grass trimmer, grass-mowing machine, chain saw, blower etc. and carry out the work such as weeding, cleaning road.

However, the structure of various power tools and having a single function, usually it is only capable of completing a kind of work, to improve job costs, reduces working efficiency.

Summary of the invention

Based on this, it is necessary to provide that a kind of just there are many functions from mobile device and its automatic working system.

Following technical solution can be used in the present invention:

One kind is from mobile device comprising:

Fuselage；

Walking mechanism is set on fuselage and for driving the walking from mobile device；

Linking arm is connect with the fuselage；

Control module, for controlling, the walking mechanism drive is described to walk in the region of restriction from mobile device；

The linking arm optionally connects at least two for executing at least one of the work head of different operating task, and the linking arm includes the connection structure for connecting the work head and the connection component for connecting the connection structure Yu the fuselage.

Further, the control module is used to control the working condition of the linking arm and/or the work head.

Further, the linking arm can under the control of the control module autokinetic movement.

Further, the extension of the linking arm is more than the covered range of fuselage projection in the horizontal direction.

Further, the linking arm is connected on the fuselage and movable relative to the fuselage.

Further, the connection component is connected on the fuselage and movable relative to the fuselage.

Further, the connection component includes the movable fixing end being connected on the fuselage, and the fuselage includes the fixed part for fixing the fixing end, and the fixing end can be rotated compared to the fixed part.

Further, the connection component includes at least two sub- connecting members, and at least two sub- connecting member can be movable relatively.

Further, the connection structure includes the holding parts for fixing the work head.

Further, the holding parts include the automatic holding parts for connecting the work head automatically.

Further, the automatic holding parts include at least one in magnetic holding device and electromagnetic lock.

Further, the holding parts include the non-automatic holding parts for the non-automatic connection work head.

Further, the holding parts include at least two claws, and at least two claw can be located remotely from each other or gather.

Further, the holding parts include buckle.

Further, the connection structure further includes the electrical connector for being electrically connected with the work head.

Further, it is described from mobile device further include the work head for identification identification module.

Further, described from mobile device further includes position detecting module for detecting the linking arm present position, and the control module controls the motion profile of the linking arm according to the testing result of the position detecting module.

Further, it is described from mobile device further include accommodating chamber for accommodating the work head.

Further, the accommodating chamber includes at least two for accommodating the sub- accommodating chamber of the different work heads.

Further, the control module controls the linking arm and automatically extends into the accommodating chamber to connect with the work head.

Further, described to include at least two linking arms from mobile device.

Further, it is described from mobile device further include for the work head carry out security protection protection module.

Further, the protection module includes the shield being set on the mechanical arm.

Further, the protection module includes for detecting the safety detection module for whether being in safe working environment from mobile device, and the control module is described from mobile device and/or the working condition of the work head according to the control of the testing result of the safety detection module.

Further, the safety detection module includes at least one in infrared detection module, fingerprint identification module, ultrasound detection module and image detection module.

Further, the protection module includes indicating whether the work head is in the signal receiving module of the working signal of safe working environment for receiving, and the control module is described from mobile device and/or the working condition of the work head according to working signal control.

Further, the working signal is the wireless signal generated by user's operation.

Further, when the signal receiving module, which persistently receives, indicates that work head is in the working signal of safe working environment, the control module control is described to work from mobile device and/or the work head, indicate that the work head is in the working signal of safe working environment or when the signal receiving module, which receives, indicates that the work head is in the working signal of non-security working environment, the control module control is described to stop working from mobile device and/or the work head when the signal receiving module does not receive.

Further, the signal receiving module further includes the signal strength detection module for detecting the intensity of the working signal, a default signal strength threshold, when the signal strength detection module detects the signal strength of the working signal lower than signal strength threshold, the control module control is described to stop working from mobile device and/or the work head.

Further, the working signal includes stopping signal, and when the signal receiving module receives the stopping signal, the control module stops working according to stopping signal control is described from mobile device and/or the work head.

Further, described from mobile device includes several default operating modes, and control module control is described to execute task according to default operating mode from mobile device.

Further, under the default operating mode, the control module control is described to walk from mobile device according to preset path.

Further, described from mobile device further includes the work head and obtaining the identification module of the work head information for identification, the control of control module work head information according to acquired in the identification module it is described from mobile device and/or the work head according to corresponding default operating mode execution task.

Further, described from mobile device further includes signal receiving module for receiving command signal, and the control module is described from mobile device and/or the working condition of the work head according to the control of described instruction signal.

Further, several default operating modes include assigned work mode, described instruction signal includes the signal for indicating the assigned work mode, and the control module executes task according to the assigned work mode from mobile device and/or the work head according to the control of described instruction signal is described.

Further, described instruction signal includes for indicating whether the work head is in the working signal of safe working environment, and the control module is described from mobile device and/or the working condition of the work head according to working signal control.

Further, described instruction signal is the wireless signal generated by user's operation.

Further, when the signal receiving module, which persistently receives, indicates that work head is in the working signal of safe working environment, the control module control is described to work from mobile device and/or the work head, indicate that the work head is in the working signal of safe working environment or when the signal receiving module, which receives, indicates that the work head is in the working signal of non-security working environment, the control module control is described to stop working from mobile device and/or the work head when the signal receiving module does not receive.

Further, the signal receiving module further includes the signal strength detection module for detection instruction signal strength, a default signal strength threshold, when the signal strength detection module detects the signal strength of described instruction signal lower than signal strength threshold, the control module control is described to stop working from mobile device and/or the work head.

Further, described instruction signal includes stopping signal, and when the signal receiving module receives the stopping signal, the control module stops working according to stopping signal control is described from mobile device and/or the work head.

Further, it is described from mobile device further include for providing the energy module of energy from mobile device and/or the work head to described.

Further, described to include recurrence charge mode from mobile device, under the recurrence charge mode, the control module control is described to charge from mobile device automatic returning charging station.

Further, a power threshold is preset, when the electricity of the energy module is lower than power threshold, the control module control is described to charge from charging station described in mobile device auto-returned.

Further, it is described from mobile device further include for providing the power plant module of power from mobile device to described.

Further, described from mobile device further includes operational module for executing default task, and the operational module is set on the fuselage.

Further, described from mobile device is automatic mower, and the operational module is grass-cutting head for executing mowing task.

Following technical solution also can be used in the present invention: a kind of automatic working system, and the automatic working system includes above-mentioned from mobile device, and the automatic working system further includes for being connect with the linking arm to execute the work head of task.

Further, the work head includes the interconnecting piece for connecting with the connection structure.

Further, the work head further includes for the work head and/or the work head energy module from mobile device offer energy.

Further, the work head further includes for providing the work head power plant module of power to the work head.

Further, the work head further includes for providing the information supply module of identification information.

Further, the work head further includes for controlling the controller from mobile device and/or the working condition of the work head.

Further, the work head is at least one of grass-cutting head, suction and blowing device, cutter device, shrub and hedge trimmer, moving head and pick device.

Further, the automatic working system includes the work head of at least two execution different operating tasks, and the linking arm is optionally connected to a few work head.

Further, the automatic working system further includes for controlling the controller from mobile device and/or the working condition of the work head.

Further, the automatic working system further includes the protection module for carrying out security protection to the work head.

Further, the protection module is set to described from mobile device and/or the work head.

Further, the protection module includes the shield being set in the work head.

Further, the protection module includes for detecting the safety detection module for whether being in safe working environment from mobile device, and the control module is described from mobile device and/or the working condition of the work head according to the control of the testing result of the safety detection module.

Further, the safety detection module includes at least one in infrared detection module, fingerprint identification module, ultrasound detection module and image detection module.

Further, the protection module includes indicating whether the work head is in the signal receiving module of the working signal of safe working environment for receiving, and the control module is described from mobile device and/or the working condition of the work head according to working signal control.

Further, the automatic working system further includes indicating whether the work head is in the signal transmitting module of the working signal of safe working environment for sending.

Further, the automatic working system further includes user terminal, and the signal transmitting module is set in the user terminal.

In the present invention, by the way that the linking arm for connecting work head is being arranged from mobile device, realizes and integrating multiple functions from mobile device, not only saved the memory space of user, but also save cost.

Following technical solution also can be used in the present invention:

A kind of Intelligent mobile equipment, mountable work head, the Intelligent mobile equipment include:

Intelligent mobile equipment main body；

Walking mechanism is installed on the Intelligent mobile equipment main body to drive the Intelligent mobile equipment main body mobile；

Linking arm, described linking arm one end are rotatably installed on the Intelligent mobile equipment main body, and the other end extends to the separate Intelligent mobile equipment body side and is equipped with the connection structure for installing the work head；And

Control module, the control module are electrically connected to control the working condition of the linking arm with the linking arm.

Further, accommodating chamber is equipped in the Intelligent mobile equipment main body, the linking arm can protrude into the accommodating chamber under the control of the control module.

Further, the accommodating chamber includes multiple sub- accommodating chambers, and the linking arm can alternatively protrude into the sub- accommodating chamber under the control of the control module.

Further, the Intelligent mobile equipment includes two or more linking arms, and two or more linking arms are respectively arranged in the Intelligent mobile equipment main body.

Further, the connection structure includes two or more claws, and two or more claws can be located remotely from each other or gather.

Further, the connection structure is buckle.

Further, the connection structure further includes the first electrical connector, and first electrical connector is for being electrically connected the work head.

Following technical solution also can be used in the present invention: a kind of intelligence system comprising above-mentioned Intelligent mobile equipment.

Further, the intelligence system further includes work head, the work head be it is multiple, multiple work heads selectively with the connection structure cooperate to be installed on the linking arm.

Further, the work head is suction and blowing device, cutter device, shrub and hedge trimmer or moving head.

In the present invention, by the way that the linking arm for connecting work head is arranged on Intelligent mobile equipment, realizes and integrate multiple functions on Intelligent mobile equipment, not only saved the memory space of user, but also save cost.

Detailed description of the invention

Fig. 1 is the structural schematic diagram in a specific embodiment from mobile device；

Fig. 2 is the structural schematic diagram that the automatic working system of suction and blowing device is equipped in a specific embodiment；

Fig. 3 is the structural schematic diagram that the automatic working system of pick device is equipped in a specific embodiment；

Fig. 4 is the structural schematic diagram in a specific embodiment from mobile device；

Fig. 5 is the structural schematic diagram that the automatic working system of suction and blowing device is equipped in a specific embodiment；

Fig. 6 is the structural schematic diagram that the automatic working system of cutter device is equipped in a specific embodiment；

Fig. 7 is the structural schematic diagram that the automatic working system of shrub and hedge trimmer is equipped in a specific embodiment；

Fig. 8 is the structural schematic diagram that the automatic working system of moving head is equipped in a specific embodiment；

Fig. 9 is the structural schematic diagram of automatic working system in a specific embodiment；

Figure 10 is the structural schematic diagram of the automatic working system in a specific embodiment with multiple work heads.

Figure 11 is the structural schematic diagram of the automatic working system in a specific embodiment with multiple work heads.

Figure 12 is the structural schematic diagram of the automatic working system in a specific embodiment with protective cover.

Figure 13 is the structural schematic diagram of the automatic working system in a specific embodiment with protective cover.

Figure 14 is the structural schematic diagram of the automatic working system in a specific embodiment with protective cover.

Figure 15 is the structural schematic diagram that in a specific embodiment there is the linking arm of automatic holding parts to be in releasing orientation.

Figure 16 is the structural schematic diagram that in a specific embodiment there is the linking arm of automatic holding parts to be in closed state.

Figure 17 is the module diagram in a specific embodiment from mobile device.

Figure 18 is the schematic diagram from mobile device and charging station in a specific embodiment in automatic working system.

Figure 19 is the schematic diagram that automatic working system controls from mobile device by user's operation in a specific embodiment.

Specific embodiment

To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.A better embodiment of the invention is given in the attached drawing.But the invention can be realized in many different forms, however it is not limited to embodiment described herein.It is made the disclosure of the present invention more thorough and comprehensive on the contrary, purpose of providing these embodiments is.

It should be noted that be referred to as " being fixed on " another element when element, it can directly on the other element or there may also be elements placed in the middle.When an element is considered as " connection " another element, it can be directly to another element or may be simultaneously present centering elements.Term as used herein "vertical", "horizontal", "left" and "right" and similar statement are for illustrative purposes only.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.Term as used herein in the specification of the present invention, which is only for the purpose of describing specific embodiments, is not intended to limit the present invention.Term " and or " used herein includes any and all combinations of one or more related listed items.

As shown in Fig. 1 and Figure 14, a kind of automatic working system 300 includes from mobile device 100 and being connected to described from the work head 200 in mobile device 100.As shown in Figure 1 to Figure 3, include fuselage 20, be set on fuselage 20 and for driving from the walking mechanism 40 of the walking of mobile device 100, the linking arm 60 being connected on fuselage 20, for controlling the control module 11 walked and worked in the region of restriction from mobile device 100 and to provide the energy module 13 of energy from mobile device 100 from mobile device 100, wherein, control module 11 controls the drive of walking mechanism 40 and walks in the region of restriction from mobile device 100.

Linking arm 60 optionally connects at least two for executing at least one of work head 200 of different operating task.Specifically, work head 200 can execute the work head 200 of different operating task for grass-cutting head, suction and blowing device, cutter device, shrub and hedge trimmer, moving head or pick device etc., linking arm 60 optionally connects the work head 200 of above-mentioned execution different operating task, so that the automatic working system 300 be made to carry out different types of work.It is appreciated that the type of work head 200 is without being limited thereto, can be set as needed.Wherein, linking arm 60 optionally connects the work head 200 for executing different operating task, including actively connection or passive connection.For example, in one embodiment, linking arm 60 can active selection connect in different work heads 200 it is any at least one, so that the automatic working system 300 be made to be able to carry out different types of work；In another embodiment, linking arm 60 can passively select to connect in different work heads 200 it is any at least one, to make the automatic working system 300 be able to carry out different types of work, such as, selected by user in different work heads 200 it is any at least one be mounted on linking arm 60 so that the automatic working system 300 is able to carry out different types of work.

Specifically, as shown in figures 2 and 5, when the work head 200 connected on linking arm 60 is suction and blowing device, which can be used as blower use.The air-flow blown out from suction and blowing device, which can have the leaf or rubbish for being scattered in ground, gathers effect, facilitates operator to be collected, while also can be used as the tool of dust suction, sucking dust, branches and leaves etc. are to complete cleaning work.As shown in figure 3, the automatic working system 300 can be used as pickup machine use when the work head 200 installed on linking arm 60 is pick device.As shown in fig. 6, the automatic working system 300 can be used as cutting machine use when the work head 200 installed on linking arm 60 is cutter device.In the present embodiment, cutter device is chain saw, can be used for cutting the materials such as timber.As shown in fig. 7, the automatic working system 300 can trim the limb of plant when the work head 200 installed on linking arm 60 is shrub and hedge trimmer.As shown in figure 8, the automatic working system 300 can be used as grass-mowing machine use when the work head 200 installed on linking arm 60 is moving head, the line rotation of beating the grass being equipped in moving head is to carry out work of beating the grass.

In the present embodiment, work head 200 is removably connected on linking arm 60, wherein, detachably referring to can not be dismantled work head 200 from linking arm 60 by destructive operation, such as, automatic dismantling or manually or dismantled by modes such as external mechanicals, and the linking arm 60 and work head 200 after dismantling will not be damaged, also reusable, linking arm 60 can continue to connect with other work heads 200, it is of course also possible to be again coupled to the work head 200 being disassembled.In other embodiments, work head 200 is non-removable is fixed on linking arm 60, wherein non-dismountable to refer to and be dismantled work head 200 from linking arm 60 by non-destructive operation.Work head 200 can have been secured to when leaving the factory on linking arm 60, and after can also selecting work head 200 by user after factory, work head 200 is fixed on linking arm 60 in the way of non-removable.

In the present embodiment, work head 100 is removably connected on linking arm 60, so that the different work head 200 of connection that linking arm 60 is recyclable, thus, the different types of work of carry out which can be recycled.

Above-mentioned automatic working system 300, linking arm 60 connects dismountable work head 200, automatic working system 300 includes several (including one) work heads 200, in one embodiment, automatic working system 300 includes at least two work heads, linking arm 60 connects different work heads 200 optionally to carry out different types of work, to meet varying environment and needs, great convenience is brought for people, due to different work heads 200 can be used in conjunction with one from mobile device 100 without replace it is different from mobile device 100, therefore use cost is reduced while improving work efficiency.

In one embodiment, control module 11 is used to control the working condition of linking arm 60 and/or work head 200.Wherein, the working condition of linking arm 60 refer to whether linking arm 60 works, whether move, its motion state and its posture etc., the working condition of work head 200 refers to whether work head 200 works, operating voltage, electric current and its power etc..It is appreciated that the working condition of linking arm 60 and/or work head, does not limit above content, as long as state relevant to the work of linking arm 60 and/or work head 200, parameter, position, posture etc. are referred to as its working condition.In another embodiment, the working condition of linking arm 60 and/or the work head 200 can also be controlled by manual control or by other controllers from mobile device 100.

In one embodiment, control module 11 can control the working condition from mobile device 100 and/or work head 200, wherein, working condition from mobile device 100 includes the working condition of the working condition and linking arm 60 from the fuselage 20 of mobile device 100, specifically, the working condition of fuselage 20 refers to the working condition of the part from mobile device 100 in addition to linking arm 60, that is, control module 11 not only can control the working condition of linking arm 60, the working condition of the part from mobile device 100 in addition to linking arm 60 can also be controlled, above-mentioned working condition includes whether the state in work and work, various parameters etc..Specifically, control module 11 can control the walking states from mobile device, wherein walking states include whether walking, the speed of travel and run trace etc..Certainly, control module 11 can also control walking other than other structures state, such as other workpieces working condition or the electric current from mobile device 100, voltage, power, management of charging and discharging or return charging etc..

In one embodiment, from the operational module 12 that mobile device 100 further includes for executing default task, control module 11 can control the working condition of operational module 12, operational module 12 is different from work head 200, operational module 12 is directly arranged on fuselage 20, for executing from the preset most basic task of mobile device 100, in one embodiment, operational module 12 not can be replaced other kinds of operational module 12, certainly, in other embodiments, operational module 12 can also replace with other kinds of operational module 12 according to the actual situation.The work head 200 that linking arm 60 is connected is for executing other tasks corresponding to work head 200, wherein work head 200 and operational module 12 can control the two according to the actual situation and work at the same time or do not work at the same time.In one embodiment, task performed by work head 200 is different from default task performed by operational module 12, different tasks can be executed respectively from operational module 12 by work head 200, multiple functions are integrated from mobile device 100 to realize, realize it is complete it is intelligentized reduce costs simultaneously, both liberated the both hands of user, it in turn avoids buying excessive intellectual product, occupies the memory space of user.In one case, from mobile device 100 working efficiency can also be provided, shortened working hours by working at the same time operational module 12 and work head 200.In above-described embodiment, work head 200 executes different tasks from operational module 12, the purpose for referring to task performed by the two is different, without referring to that the two one is set to different types of device, such as, in one embodiment, work head 200 and operational module 12 are all cutter device, operational module 12 is used to cut the lawn below grass trimmer, and work head 200 is for realizing cutting to side task, in above-described embodiment, although work head 200 and operational module 12 are all cutter device, but the purpose that the two is realized is different, also think that work head 200 from operational module 12 is for executing different tasks.Certainly, in another embodiment, work head 200 also can be performed task identical with operational module 12 and be shortened working hours with accelerating the process of task.

In the present embodiment, it is automatic mower from mobile device 100, its operational module 12 includes the grass-cutting head for executing cutting task, specifically, operational module 12 is set to the lower section of fuselage 20, grass-cutting head includes mowing cutterhead and the blade that is set on mowing cutterhead, and work head 200 can execute the equipment of different operating task for cutter device, suction and blowing device, mowing-apparatus, pick device etc..In this way, should can install different work heads 200 by linking arm 60 while can be used as grass trimmer use from mobile device 100 carries out different types of work, use cost is reduced while improving work efficiency.

In another embodiment, can also have other default operational modules from mobile device 100, for example, from mobile device 100 be the sweeping robot with cleaning module, the snowplough with module of sweeping away snow or Multi Role Aircraft with multiple functions module etc..Certainly, in other embodiments, the work head 200 for executing task can also only be connected to execute task, without individually having default operational module from mobile device 100.

In the present embodiment, walking mechanism 40 includes driving mechanism and several traveling wheels 42 for being installed on driving mechanism, and several traveling wheels 42 are installed on fuselage 20 for driving fuselage 20 mobile.Specifically, in one embodiment, which includes two driving wheels and a driven wheel, and two driving wheels are symmetrically disposed on the two sides of 20 one end of fuselage, and driven wheel is set to the middle part of 20 other end of fuselage.Certainly, in other embodiments, the quantity and position of driving wheel and driven wheel are set according to actual conditions, such as setting two driving wheels and two driven wheels etc..In this way, driving wheel and driven wheel cooperate and drive fuselage 20 to stablize and move.It is appreciated that the structure of walking mechanism 40 is without being limited thereto, walking mechanism 40 may also comprise caterpillar belt structure to drive fuselage 20 mobile.

In one embodiment, it is connected on fuselage 20 from the linking arm 60 in mobile device 100 and movable relative to fuselage 20, that is, linking arm 60 is movable to be connected on fuselage 20, to realize the pose adjustment of linking arm 60, in one embodiment, linking arm 60 can be adjusted at least one amount such as height, angle, orientation, to change its posture, to adapt to different scenes.In a particular embodiment, linking arm 60 can realize that its posture changes perhaps electric pushrod and adjusts to realize the change of its posture or change its posture etc. by intervening manually by motor control joint motions.The mode that above specific implementation 60 posture of linking arm changes is only for example, and in other embodiments, can also use other modes, as long as being able to achieve the purpose of 60 posture of linking arm change.It is above-mentioned from mobile device 100, to have lower use cost and higher working efficiency, and the different demands of people can be met according to different work heads 200 is installed with switch operating state easily and fast.In one embodiment, linking arm 60 can under the control of control module 11 autokinetic movement, to adapt to different scenes.

In another embodiment, exceed the range that projection of the fuselage 20 in the horizontal direction or on vertical direction is covered from the extension of the linking arm 60 of mobile device 100, wherein, the extension of linking arm 60 refers to the maximum coverage range of linking arm 60 during the work time.In the present embodiment, by adding the extension of linking arm 60 and linking arm 60 beyond fuselage 20 in the horizontal direction or the range that is covered of the projection of vertical direction, realize the working region range for expanding work head 200 by linking arm 60, so that the working region range of work head 200 exceeds projection limited range of the fuselage 20 in the horizontal direction or on vertical direction, in turn, it realizes and the impossible work of the work head being directly arranged on fuselage 20 institute is completed by work head 200.Such as, by linking arm 60, the upper range to extend exceeds the range that the projection of fuselage 20 in the horizontal direction is covered in the horizontal direction, or the upper range to extend exceeds the range that the projection of fuselage 20 in the vertical direction is covered to linking arm 60 along the vertical direction, it completes to be located at 20 two sides of fuselage, front and back or task positioned at the working region of about 20 fuselage, defect that the place for avoiding traditional fuselage 20 that from can not arriving at can not work.In the present embodiment, the extension of linking arm 60 beyond fuselage 20 in the horizontal direction on the range that is covered of projection, so that the working region range of work head 200 exceeds the projection limited range in the horizontal direction of fuselage 20, so that the work in the working range that fuselage 20 can not arrive at can be performed in work head 200, for example, cutting to side, beating the grass, poll, blow leaf etc..

In another embodiment, above-mentioned linking arm 60 can also be connected on fuselage 20 and the embodiment movable relative to fuselage 20 is combined with the embodiment that the extension of linking arm 60 exceeds the range that fuselage 20 is covered with the projection on vertical direction in the horizontal direction, that is, linking arm 60 had both been connected on fuselage 20 and movable relative to fuselage 20, and the extension of linking arm 60 exceeds the range that projection of the fuselage 20 in the horizontal direction or on vertical direction is covered again.Wherein, linking arm 60 can adjust 60 state in which of linking arm according to concrete scene, for example, adjusting linking arm 60 when linking arm 60 needs work and stretching out the outer task to complete the place that fuselage 20 can not arrive at of fuselage 20；And when linking arm 60 is not necessarily to work, adjusting linking arm 60 retracts in 20 a certain range of fuselage, avoids linking arm 60 from excessively extending outward, so that hitting pedestrian, barrier or building etc.；Or when the working region range of work head 200 needs to adjust, the working range of work head 200 is adjusted by adjusting the coverage area of linking arm 60.Certainly, the above concrete scene is only for example, and the specific movable form of linking arm 60 can be set as the case may be.In the present embodiment, exceed the range that the projection of fuselage 20 in horizontal or vertical direction is covered by the extension of linking arm 60, expand the range of the working region of work head 200, and it is further movable by linking arm 60, not only it is adjustable to have realized linking arm 60, but realize work head 200 working region range it is adjustable.

In the present embodiment, linking arm 60 includes the connection structure 64 for connecting the work head 200 for executing task and connection component 62 for connecting connection structure 64 Yu fuselage 20, from mobile device 100 can by the connection work head 200 of linking arm 60 to be cut, pressure-vaccum, mowing, the different operations such as pickup or crawl.

As shown in Figure 1 to Figure 3, connection structure 64 is used to connect the work head 200 for executing task, and connection structure 64 includes the holding parts 641 for fixing work head 200, and work head 200 includes the interconnecting piece 241 connecting for the holding parts 641 with connection structure 64.In the present embodiment, work head 200 is detachably secured in connection structure 64, wherein, detachably referring to can not be dismantled work head 200 from connection structure 64 by destructive operation, such as, automatic dismantling or manually or dismantled by modes such as external mechanicals, and the connection structure 64 and work head 200 after dismantling will not be damaged, also reusable, connection structure 64 can continue to connect with other work heads 200, it is of course also possible to be again coupled to the work head 200 being disassembled.In another embodiment, work head 200 is non-removable is fixed in connection structure 64, wherein non-dismountable to refer to and be dismantled work head 200 from connection structure 64 by non-destructive operation.Work head 200 can have been secured to when leaving the factory in connection structure 64, and after can also selecting work head 200 by user after factory, work head 200 is fixed in connection structure 64 in the way of non-removable.

In the present embodiment, as shown in Figure 1 to Figure 3, connection structure 64 includes the holding parts 641 for fixing work head 200, the specific structure of connection structure 64 can be set according to actual conditions, holding parts 641 can automatic or non-automatic connection work head 200, such as, in one embodiment, holding parts 641 include the automatic holding parts for connecting work head 200 automatically, specifically, automatic holding parts can be magnetic holding device, electromagnetic lock or automatic claw clip etc., connection structure 64 can pass through magnetic holding device, the automatic holding parts such as electromagnetic lock or automatic claw clip connect with work head 200 automatically or unclamp connection, realize that linking arm is connect with work head 200 to execute task automatically, or automatic unclamp connects to store work head, or automatic release connection is connect again with other work heads 200 more to change jobs First 200 etc..In another embodiment, holding parts 641 include the non-automatic holding parts for non-automatic connection work head 200, such as, non-automatic holding parts are the fastener etc. for needing manual or external mechanical to be fastened, work head 200 needs to be fixed or loosen on linking arm 60 using fastener by manual or external mechanical, is connected with realizing the connection of work head 200 and linking arm 60 and unclamping.

Wherein, the specific structure or form of holding parts 641 may be set according to actual conditions, such as, in one embodiment, as shown in Fig. 4 to Fig. 9, holding parts 641 include at least two claws 642, and at least two claws 642 can be protected mutually far to unclamp work head 200, can also mutually be gathered to clamp work head 200.Specifically, when installment work head 200, as shown in figure 15, each claw 642 is gradually gathered to center from the state being located remotely from each other and clamps work head 200；When dismantlement work head 200, as shown in figure 16, each claw 642 is moved in the direction away from each other by the state gathered, to unclamp the work head 200 clamped.In this way, the linking arm 60 can quickly and easily complete the dismounting of work head 200 by holding parts 641.It is appreciated that the specific structure or form of connection structure 64 are unlimited.In another embodiment, holding parts 641 are buckle, and work head 200 is equipped with and the holding section that is clasped.In this way, work head 200 can be fastened on holding parts 641 by holding section, to be installed on linking arm 60.It is appreciated that buckle is unlimited with the specific structure of holding section, can be set as needed.In the above-described embodiments, work head 200 can be fixed on linking arm 60 by holding parts 641 by its specific structure, to realize the connection of work head 200 Yu linking arm 60.In other embodiments, holding parts 641 can also act as the work head being fixed on linking arm 60, with execution part task, the tasks etc. such as pick up or grab for example, executing by claw shown in Fig. 4.

Specifically, connection structure 64 further includes the first electrical connector (not shown), work head 200 includes with the second electrical connector (not shown) of the first electrical connector cooperation to be electrically connected with fuselage 20.In this way, the working condition of work head 200 can be controlled, by the first electrical connector and the second electrical connector from 100 ontology of mobile device convenient for the use from mobile device 100.It is appreciated that the control mode for the work head 200 being installed on fuselage 20 is without being limited thereto, it can also be manually operated by operator or other connection types are electrically connected with fuselage 20.

Linking arm 60 further includes the connection component 62 for connecting connection structure 64 Yu fuselage 20, connection component 62 is connected to fuselage 20 and movable relative to fuselage, to realize the change of 60 posture of linking arm, further, connection component 62 can also be movable relative to connection structure 64, in a manner of increasing by 60 posture of linking arm and change.Connection component 62 includes the movable fixing end 621 for being connected to fuselage 20, connection component 62 compared to fuselage 20 forms of motion can there are many, for example, move in parallel, non-parallel movement, stretching motion or rotation etc., as long as the relative motion both being able to achieve.

Fuselage 20 includes for fixing the fixed part of fixing end 621 (not shown), fixing end 621 is connected in fixed part and movable compared to fixed part, in one embodiment, fixing end 621 can be rotated compared to fixed part, to realize that height, angle and orientation etc. change, in one embodiment, fixed part can be used as rotation center, fixing end 621 makes rotating motion around fixed part, to realize the variation of 621 position of fixing end.In another embodiment, fixing end 621 can not also be rotated by rotation center of fixed part, or not rotated, and only common rotation.In other embodiments, fixing end 621 can not also change its position by rotation, and by moving in parallel, non-parallel movement, the modes such as stretching motion, realize the position change of fixing end 621.

Specifically, connection component 62 includes at least two sub- connecting members, and it can be movable relatively between at least two sub- connecting members, to realize the change of the posture of linking arm 60.In the present embodiment, such as Fig. 1 to Fig. 9, in the present embodiment, sub- connecting member is connecting rod 622, and certainly, in other embodiments, sub- connecting member can also be other forms, for example, hinge or workbench etc., can also be the combination of connecting rod, hinge or workbench etc..In the present embodiment, by taking connection component 62 only includes two connecting rods 622 as an example, in other embodiments, connection component 62 also may include a connecting rod 622 or more than two connecting rods 622, under normal circumstances, 622 quantity of connecting rod is more, and the mode that the posture of linking arm 60 changes is also more, and the flexibility ratio of linking arm 60 is higher.In the present embodiment, connection component 62 includes the first connecting rod 6221 for being connected and fixed end 621 and the second connecting rod 6224 for connecting connection structure 64, first connecting rod 6221 is connected and can be movable relatively with the second connecting rod 6224, specifically, 60 one end of linking arm is connect by fixing end with fuselage, the other end is connect by connection structure 64 with work head 200, the movement of fixing end 621 drives first connecting rod 6221 to move, first connecting rod 6221 moves the end movement that also will drive the second connecting rod 6224, second connecting rod 6224 can not only follow first connecting rod 6221 to move, it can also be moved compared to first connecting rod 6221, connection structure 64 can not only follow the second connecting rod 6224 to move, it can also be compared to the second connecting rod 62 24 movements to realize the variation of multi-faceted posture, and then realize the multi-faceted attitudes vibration of connection structure 64, to adapt to different scenes, such as execute the operative scenario of different tasks, alternatively, connection or scene of dismantlement work head etc..

In the present embodiment, from the position detecting module 14 that mobile device 100 further includes for detecting 60 present position of linking arm, its specific location is detected by position detecting module 14 from mobile device 100, according to the motion profile of its position control linking arm 60, in one embodiment, position detecting module 14 can be used for detecting the specific location of connection structure 64, control module 11 is according to the position of connection structure 64, control the motion profile of linking arm 60, specifically, the motion profile of control linking arm 60 includes controlling the motion profile opposite compared between the motion profile of fuselage 20 and adjacent connecting rod of fixing end 621, with the position of adjust automatically connection structure 64, adapt it to different scenes.Certainly, in other embodiments, position detecting module 14 can also be used for the position of the other structures of detection linking arm 60, and the motion profile of 60 different parts of linking arm is controlled by control module 11, to realize the posture of adjustment linking arm 60, the purpose of different scenes is adapted it to.

As shown in Figure 9, automatic working system 300 further includes the accommodating chamber for accommodating work head 200, wherein, automatic working system 300 includes several (including one) work heads 200, several work heads 200 selectively cooperate with the connection structure 64 from mobile device 100 to be installed on linking arm 60.When automatic working system 300 for a long time without using when, work head 200 can be contained in other accommodation apparatus or can replace as needed positioned at the work head 200 from the accommodating chamber 22 of mobile device 100, and in accommodating chamber 22 to meet different demands.

Specifically, being equipped with the accommodating chamber 22 for accommodating work head 200 in one embodiment, in fuselage 20, linking arm 60 can protrude into accommodating chamber 22 under the control of control module 11 and obtain work head 200.In this way, multiple work heads 200 should can be accommodated by accommodating chamber 22 from mobile device 100, to be convenient to replace work head 200 at any time during the work time.Certainly, in other embodiments, accommodating chamber 22 may also set up in the other positions of automatic working system 300, for example, being set to the base station or the equal positions of charging station 35 of automatic working system 300.

Specifically, different types of work head 200 is respectively limited by the corresponding position in accommodating chamber 22.When needing to dismount or replacing work head, linking arm 60 can extend to the corresponding position of target operation head 200 under the control of control module 11 and connect the work head 200 being located in this position automatically or unclamp mounted work head 200 and work head 200 is placed in accommodating chamber 22.Further, accommodating chamber 22 includes multiple spaced sub- accommodating chambers, multiple work heads 200, which respectively correspond, to be placed in sub- accommodating chamber, and linking arm 60 can be under the control of control module 11 from obtaining corresponding work head 200 in corresponding sub- accommodating chamber or corresponding work head 200 is placed in corresponding sub- accommodating chamber.In other embodiments, operator can also be at any time from selecting required work head 200 to be manually installed on linking arm 60 in accommodating chamber 22.

It as shown in Figures 10 and 11, in one embodiment, include two or more linking arms 60 from mobile device 100, two or more linking arms 60 are respectively arranged on fuselage 20.So, it can be by different work head 200 mountable on different linking arms 60 to execute different tasks, it is more convenient rapidly to switch different linking arms 60 and work with work head 200, or connecting different operating head executes different tasks simultaneously by different linking arms 60, to improve working efficiency, great convenience is brought for user.Identical work head 200 can also be connected by different linking arms 60, control several work heads and work at the same time, to improve working efficiency.In a particular embodiment, different linking arms 60 can also be arranged different connection structures to match different work heads 200, to promote the generally applicable property of linking arm 60, and save cost according to the actual situation.

It further include the identification module 15 of work head 200 for identification from mobile device 100, when connecting work head 200 from mobile device 100, in other words, when work head 200 is connect with linking arm 60,15 automatic identification work head 200 of identification module simultaneously obtains work head information, above-mentioned work head information refers to service voltage required for the relevant information of work head, such as the type of work head, the power of work head, work head etc..Specifically, work head 200 includes for providing the information supply module 25 of identification information, identification module 15 can identification information provided by identification information supply module 25 to obtain work head information, further, above-mentioned control module 11 controls the working condition of linking arm 60 according to the work head information.In a particular embodiment, work head can be identified in the following way from mobile device 100.In one embodiment, be electrically connected with work head 200 increasing an identification electrode from mobile device 100, pass through from mobile device 100 and identify electrode identification work head, above-mentioned identification electrode is referred to as the identification module.In another embodiment, different work heads is identified using sensor, such as Hall sensor or optoelectronic switch sensor etc., different work heads is identified using the sensor of installation different location, such as first the corresponding sensor of work head be mounted on first position, the corresponding sensor of second work head is mounted on the second position, then from the sensor in mobile device 100 respectively in corresponding work head first, which induction can identify it is which tool in the sensor of the second position, such as first position induction is judged as being the first tool, the above-mentioned sensor from mobile device 100 is alternatively referred to as the identification module 15, sensor in work head 200 is alternatively referred to as information supply module 25.In another embodiment, different work heads is identified using tongue tube, magnetic cell is packaged with from mobile device 100, the different location of different tools is equipped with tongue tube, when by magnetic induction, two electric shocks of tongue tube are closed conducting, to identify different work heads, above-mentioned tongue tube is alternatively referred to as the identification module.In another embodiment, different work heads 200 is identified by resistance, there is an identification resistance from inside mobile device 100, also there is an identification resistance inside work head 200, resistance is identified by partial pressure sampling, the resistance of different operating head 200 is different, to detect the different sampled voltage of different operating head, according to the judgement of corresponding sampled voltage, connect is any work head, and above-mentioned identification resistance is alternatively referred to as the identification module.In other embodiments, identification module can also be other forms, as long as can be realized the function of identification work head information, above embodiments are by way of example only.In the above-described embodiments, the identification module of corresponding identification work head information is respectively equipped with from mobile device 100, specifically, in one embodiment, above-mentioned identification module 15 is set to linking arm 60 at work head 200, for example, being set in connection structure 64, so that it is closest to work head 200, to reach optimal recognition effect；Certainly, in other embodiments, can also identification module 15 be set to the other positions of linking arm 60 or be set to from the fuselage 20 of mobile device 100 according to actual needs.

As shown in Figure 12 to Figure 14 and Figure 17, automatic working system 300 further includes the protection module 16 for carrying out security protection to work head 200.Protection module 16 may be disposed at from mobile device 100 and/or work head 200, certainly, protection module 16 may also set up in the other positions on automatic working system 300, for example, being set to the positions such as the base station of automatic working system 300, charging station or various user terminals.In one embodiment, can be as shown in Figure 12 to Figure 14, protection module 16 can be the shield 161 for carrying out security protection to work head 200, so that work head 200 is at work, shield 161 protects it, and work head is avoided to accidentally injure to people, animal or other things.Specifically, shield 161 can be set in work head 200 as shown in Figure 12 to Figure 13, and it can also be as shown in figure 14, it is set to from mobile device 100, for example, being set to from the linking arm 60 of mobile device 100.Shield 161 can be fixedly installed on from mobile device 100 or work head 200, can also be detachable be set to from mobile device 100 or work head 200, detachable setting, it can be according to the type of work head 200, when using the work head 200 with security risk, shield 161 is just installed and is protected.Shield 161 mobilizable can also be set to from mobile device 100, specifically, shield 161 includes open position and closed position, by the way that the movable realization shield 161 of shield 161 is optionally in an open position and closed position.

In another embodiment, protection module 16 includes for detecting whether work head 200 safety detection module 162 in safe working environment and obtains testing result, and control module 11 is controlled according to the testing result of safety detection module 162 from mobile device 100 and/or the working condition of work head 200.Wherein, working condition from mobile device 100 includes the working condition of the working condition and linking arm 60 from the fuselage 20 of mobile device 100, specifically, the working condition of fuselage 20 refers to the working condition of the part from mobile device 100 in addition to linking arm 60, that is, control module 11 not only can control the working condition of linking arm 60, the working condition of the part from mobile device 100 in addition to linking arm 60 can also be controlled, above-mentioned working condition includes whether work and state in work, various parameters etc..Specifically, control module 11 can control the walking states from mobile device, wherein walking states include whether walking, the speed of travel and run trace etc..Certainly, control module 11 can also control walking other than other structures state, such as other workpieces working condition or the electric current from mobile device 100, voltage, power, management of charging and discharging or return charging etc..

Specifically, in one embodiment, safety detection module 162 includes infrared detection module, fingerprint identification module, ultrasound detection module, at least one of in image detection module or other detection modules, when above-mentioned safety detection module 162 detects that control module 161 is in non-security working environment, such as, as neighbouring someone, when animal or other things that may be injured, control module 11 controls work head 200 and stops working, and/or the posture of adjustment linking arm 60, and/or it controls and retreats or turn to from mobile device 100 etc., work head 200 is set to be in safe working environment, certainly, control module 11 also can control automatic working system 300 to sound an alarm to remind user's manual intervention.In the present embodiment, safety detection module 162 may be disposed at from mobile device 100 and/or work head 200, and certainly, in other embodiments, safety detection module 162 may also set up the other positions in automatic working system.

In another embodiment, protection module 16 further includes indicating whether work head 200 is in the signal receiving module 163 of the working signal of safe working environment for receiving, working signal is controlled from mobile device 100 and/or the working condition of work head 200 control module 11 based on the received, such as, when signal receiving module 163, which receives, indicates that work head 200 is in the working signal of safe working environment, control module 11 controls work head 200 and works；When signal receiving module 163, which receives, indicates that work head 200 is in the working signal of non-security working environment, or, when signal receiving module 163, which does not receive, indicates that work head 200 is in the working signal of safe working environment, control module 11 controls work head 200 and stops working, and/or the working condition of adjustment linking arm 60, and/or it controls and retreats or turn to from mobile device 100 etc., certainly, control module 11 also can control automatic working system 300 to sound an alarm to remind user's manual intervention.In the present embodiment, signal receiving module 163 may be disposed at from mobile device 100 and/or work head 200, certainly, in other embodiments, signal receiving module 163 may also set up the positions such as the other positions in automatic working system, such as charging station, base station or various user terminals.In the above-described embodiments, automatic working system 300 further includes indicating whether work head 200 is in the signal transmitting module 36 of the working signal of safe working environment for sending.Signal receiving module 163 receives working signal transmitted by signal transmitting module 36, and control module 11 is controlled according to the received working signal of signal receiving module 163 from mobile device 100 and/or the working condition of work head 200.Specifically, in the present embodiment, above-mentioned working signal is wireless signal, signal transmitting module 36 and signal receiving module 163 are respectively wireless signal sending module and reception of wireless signals module.Certainly, in other embodiments, wire signal can also be set by working signal, signal transmitting module 36 and signal receiving module 163 are respectively wire signal sending module and wire signal receiving module according to the actual situation.

In one embodiment, it can be participated in by user, whether cooperation confirmation work head is in safe working environment.As shown in figure 19, specifically, in one embodiment, when directly confirming that work head is in safe working environment by user.Specifically, automatic working system 300 further includes for sending the signal transmitting module 36 and signal receiving module 163 for receiving working signal that indicate whether work head is in the working signal of safe working environment, specifically, above-mentioned working signal is wireless signal, signal transmitting module 36 and signal receiving module 163 are respectively wireless signal sending module and reception of wireless signals module, signal transmitting module 36 may be disposed at remote controler, in the other users such as user mobile phone or computer terminal 32, signal receiving module 163 may be disposed at from mobile device 100 and/or work head 200.Further, automatic working system 300 sends the working signal of safe working environment by the signal transmitting module 36 on the user terminals 32 such as remote control, mobile phone or computer.Specifically, above-mentioned working signal is the wireless signal generated by user's operation.After user confirms that work head 200 is in safe working environment, user triggers the safety signal on the user terminals such as remote control, mobile phone or computer and sends instruction, after signal transmitting module 36 receives safety signal transmission instruction, the working signal that work head 200 is in safe working environment is persistently sent.The signal receiving module 163 for receiving the working signal is equipped with from mobile device 100 or work head 200, when signal receiving module 163, which receives work head 200, is in the working signal of safe working environment, control module 11 controls work head 200 and works.And when user has found that work head is not at safe working environment, user unclamps safety signal and sends instruction to stop sending and indicate that work head 200 is in the working signal of safe working environment, or triggering unsafe signal sends instruction and indicates that work head 200 is in the working signal of dangerous working environment to send, at this time, signal receiving module 163, which does not receive, indicates that work head 200 is in the working signal of safe working environment, or receive the working signal that expression work head 200 is in dangerous working environment, the working signal that control module 11 is received according to signal receiving module 163, control work head 200 stops working.

Specifically; in another embodiment; indicate whether the working signal in safe working environment further includes stopping signal to work head 200, when the signal receiving module receives stopping signal, control module control stops working from mobile device 100 and/or work head 200.Specifically; above-mentioned stopping signal is the wireless signal generated by user's operation; such as; halt instruction is set on the user terminals such as remote control, mobile phone or computer; when user triggers halt instruction; user terminal sends the wireless signal for indicating stopping signal, and signal receiving module receives the stopping signal, and control module control stops working from mobile device 100 and/or work head 200.

Specifically, in another embodiment, a default security monitoring range, confirm whether work head 200 is in safe working environment and illustrates that user is monitoring from mobile device 100 when user is within the scope of security monitoring from the distance of mobile device 100 by detection user distance, user can guarantee the trouble free service of work head 200 with manual intervention, at this point, default work head 200 is in safe working environment, control module 11 controls work head work；On the contrary, when to avoid unattended, there is unsafe condition in the work of work head 200 when user is in outside security monitoring range, at this point, default work head 200 is in non-security working environment, control module 11 controls work head 200 and stops working.Specifically, detect user distance from the distance of mobile device 100 can by the following method can there are many, such as, in one embodiment, the direct detecting distance of safety detection module can be passed through, judge whether work head is in safe working environment by detecting distance, such as passes through the direct detecting distances such as infrared detection module, fingerprint identification module, ultrasound detection module or picture recognition module；In another embodiment, the indirect detecting distances such as detection signal strength can also be passed through.

Specifically, a kind of embodiment by the indirect detecting distance such as detection signal strength is as follows, automatic working system 300 further includes for sending the signal transmitting module 36 and signal receiving module 163 for receiving working signal that indicate whether work head is in the working signal of safe working environment, specifically, above-mentioned working signal is the wireless signal generated by user's operation.Signal transmitting module 36 is located near user, such as, signal transmitting module 36 can integrate in remote control, on the user terminals such as mobile phone or computer, user is sent by trigger signal and is instructed, signal transmitting module 36 receives after the signal sends instruction and sends signal, signal receiving module 163 is set to from mobile device 100 and/or work head 200, and signal receiving module 163 includes the signal strength detection module 1631 of detection signal strength, signal receiving module 163 receives and detects the signal strength of the transmission of signal transmitting module 36, a default signal strength threshold corresponding with security monitoring range, when the signal strength that signal strength detection module 1631 detects is lower than signal strength secure threshold, illustrate user beyond security monitoring range, at this time, control module 11 controls work head 200 stop working；When the signal strength that signal strength detection module 1631 detects is not less than signal strength threshold, illustrate that user is within the scope of security monitoring, works at this point, control module 11 controls work head 200.

Specifically, in another embodiment, safe working environment can also be in by the way that above-mentioned user directly to be confirmed to work head and combined by the two methods of detection user distance from the distance of mobile device 100, to confirm that work head is in safe working environment, only when both of which confirmation work head 200 is in safe working environment, control module 11 just controls the work of work head 200, if any middle expression work head 200 is in non-security working environment in two methods, control module 11 all controls work head 200 and stops working.Specifically, in one embodiment, signal transmitting module 36 is located near user, such as, signal transmitting module 36 can integrate on the user terminals such as remote control, mobile phone or computer, user is sent by trigger signal and is instructed, and signal transmitting module 36 receives after the signal sends instruction and sends signal, and signal receiving module 163 is set to from mobile device 100 and/or work head 200.After user confirms that work head 200 is in safe working environment, user triggers remote control, safety signal on the user terminals such as mobile phone or computer sends instruction, after signal transmitting module 36 receives safety signal transmission instruction, send the working signal that work head 200 is in safe working environment, the signal receiving module 163 for receiving the working signal is equipped with from mobile device 100 or work head 200, signal receiving module 163 includes the signal strength detection module 1631 for detecting working signal intensity, a default signal strength threshold corresponding with security monitoring range, when signal receiving module 163 receives the working signal that work head 200 is in safe working environment, and signal strength detection module 1631 is when detecting the intensity of the working signal not less than signal strength threshold, illustrate to use Family is within the scope of security monitoring, and confirms that work head 200 is in safe working environment, is worked at this point, control module 11 controls work head 200.It is on the contrary, if signal receiving module 163, which does not receive, indicates that work head 200 is in the working signal of safe working environment, or the working signal intensity received is lower than signal strength threshold, or receiving indicates work head 200 when being in the working signal of non-security working environment, all think that work head is in non-security working environment, it stops working at this point, control module 11 controls work head 200.

In one embodiment, it further include that several (including one) preset operating mode from mobile device 100, such as, it include pressure-vaccum mode, cut mode, shrub and hedge trimmer mode from mobile device 100, it beats the grass mode, pickup mode etc., the control of control module 11 executes task according to default operating mode from mobile device 100.Specifically, under default operating mode, control module 11 is controllable to execute corresponding task etc. according to preset path, frequency, orientation according to predetermined path of movement and frequency movement, work head 200 according to preset path walking, pre-set velocity walking, linking arm 60 from mobile device 100.Certainly, the above is only citings, specifically, being not limited to above content from the working condition of mobile device 100 and work head 200 under default operating mode.Wherein, in the present embodiment, when walking from mobile device 100 according to preset path, formed preset path form can there are many, such as, it can be guided by guide line to form preset path, virtual map can also be constructed by locating module to form preset path, the modes such as grass and non-grass can also be distinguished by capacitance sensor and form preset path etc..

In one embodiment, automatic working system 300 further includes the work head for identification 200 in above-described embodiment and the identification module for obtaining work head information, the work head information that control module 11 is identified according to identification module, control execute task according to corresponding operating mode from mobile device 100 and/or work head 200.For example, when it is shrub and hedge trimmer that identification module, which recognizes work head, control module 11, which controls, described to work from mobile device 100 and/or work head 200 according to shrub and hedge trimmer mode.

In another embodiment, automatic working system 300 further includes the signal transmitting module 36 for sending command signal and the signal receiving module 163 for receiving command signal, and control module 11 is controlled according to command signal from mobile device 100 and/or the working condition of work head 200.Specifically, in one embodiment, several default operating modes include assigned work mode, wherein assigned work mode refers to one of default operating mode operating mode, for example, assigned work mode is shrub and hedge trimmer mode in an embodiment.Signal transmitting module can be integrated in the user terminals such as the remote control in above-described embodiment, mobile phone, computer, the transmittable signal for indicating assigned work mode of user terminal, in the embodiment that above-mentioned assigned work mode is shrub and hedge trimmer mode, namely, the signal of user terminal transmission shrub and hedge trimmer mode, then signal receiving module receives the signal of shrub and hedge trimmer mode, then the control of control module 11 executes task according to shrub and hedge trimmer mode from mobile device 100 and/or work head 200.

Specifically, in another embodiment, can also combine default operating mode with protection module, make work head 200 under default operating mode, safe execution task.Specifically, command signal further includes above-mentioned automatic working system 300 with, for indicating whether work head is in the working signal of security context, control module 11 is controlled according to the working signal from mobile device 100 and/or the working condition of work head 200 in the embodiment of protection module 16.Specifically, in one embodiment, command signal is the wireless signal generated by user's operation, when signal receiving module, which persistently receives, indicates that work head is in the working signal of safe working environment, the control of control module 11 works from mobile device 100 and/or work head 200, indicate that work head is in the working signal of safe working environment or when signal receiving module, which receives, indicates that work head is in the working signal of non-security working environment, control module control stops working from mobile device and/or work head when signal receiving module does not receive.In another embodiment, signal receiving module further includes the signal strength detection module 1631 for detection instruction signal strength, a default signal strength threshold, when signal strength detection module 1631 detects the signal strength of command signal lower than signal strength threshold, control module control stops working from mobile device and/or work head.In another embodiment, above-mentioned two embodiment can also be combined, the content according to represented by command signal of control module 11 and intensity, it controls from mobile device and/or the working condition of work head, specifically, if signal receiving module receives when indicating that work head 200 be in non-security working environment or signal strength detection module 1631 detects that the signal strength of specified signal is lower than signal strength threshold, control module 11 is controlled and is stopped working from mobile device 100 and/or work head 200.Certainly, the above is only some embodiments that default operating mode is combined with protection module 16, the present embodiment can also quote automatic working system 300 with whole embodiments in all embodiments of protection module 16, and this is no longer going to repeat them.

Specifically, in another embodiment, command signal further includes stopping signal, when signal receiving module receives stopping signal, control module 11 can be controlled from mobile device 100 and/or work head 200 according to stopping signal and be stopped working.For example, when needing hard stop, stopping signal can be sent by command signal, control is shut down in time from mobile device 100 and/or work head 200 when user has found emergency.

In the above-described embodiments, work head 200 is directly by providing the energy from the energy module of mobile device 100, work head 200 and is not only mechanically connected between mobile device 100, it is also necessary to be electrically connected, be powered with realizing to pass through from the energy module of mobile device 100.In other embodiments, work head 200 further includes the work head energy module for powering to work head 200, work head 200 provides the energy by individual work head energy module, work head 200 can be only mechanically connected with from mobile device 100, certainly, can also according to the actual situation, work head 200 and between mobile device 100 still be electrically connected.In one embodiment, it include for providing the power plant module 17 of power to from mobile device 100 from mobile device 100, such as, mowing motor, movable motor etc., and work head 200 further includes being individually used for providing the work head power plant module 27 of power to work head 200, for example, work head motor etc..In another embodiment, work head 200 not may include individual work head power plant module yet, and by providing power from the power plant module 17 of mobile device 100, specifically, it can be by the way that transmission mechanism be arranged between work head 200 and power plant module 17, it is driven by transmission mechanism, realizes and provide power to work head 200 by power plant module.

In one embodiment, as shown in figure 18, automatic working system 300 further includes for the charging station 35 to charge from mobile device 100, from the charging system that mobile device 100 includes for charging to energy module, specifically, from mobile device 100 include auto-returned charging automatic charging system so that from mobile device 100 can auto-returned charging station 35 charge, more specifically, it include returning charge mode from mobile device 100, in the case where returning charge mode, the control of control module 11 is docked from 100 automatic returning charging station 35 of mobile device and with charging station 35 to charge to from mobile device 100.Specifically, in one embodiment, presetting a power threshold, when the electricity of energy module is lower than threshold value, charge from 100 auto-returned charging station 35 of mobile device.Specifically, can return to charging station 35 under a default operating mode according to default operating path from mobile device 100 and charge.Specifically, in embodiment, default operating path can pass through guide line preset path, specifically, automatic working system 100 further includes guide line, it further include guide line detecting module (not shown) from mobile device 100, guide line detecting module includes at least one inductive line detection sensor, for detecting the positional relationship between mobile device and guide line.It include the side from the two sides that mobile device 100 is located at guide line from the positional relationship between mobile device 100 and guide line, or from the distance between mobile device and guide line etc..In the present embodiment, guide line includes boundary line 31, is limited from the working region of mobile device 100 301.In other embodiments, guide line is also possible to be arranged in the conducting wire in working region, is drawn by 35 position of charging station, mobile from mobile device 100 to charging station 35 for guiding.Certainly, guide line is also possible to the physical boundary etc. formed between the physical boundary or lawn and non-lawn of the formation such as hedge.Correspondingly, inductive line detection sensor can be camera, capacitance sensor etc..In other embodiments, can also there is no guide line, correspondingly, directly presetting operating path by modes such as capacitance sensor, locating module positioning, visions, such as virtual map is constructed to preset operating path, to control from the working region of mobile device by locating module.

In the above-described embodiments, only by taking the control module 11 from mobile device 100 is controlled from mobile device 100 and/or work head 200 as an example, in another embodiment, work head 200 further includes controller, and it is controlled by controller from mobile device 100 and/or the working condition of work head 200, wherein, controller can directly control the working condition from mobile device 100 and/or work head 200, can also be controlled by control control module 11 from mobile device 100 and/or the working condition of work head 200.In other embodiments, control can also be set to the other positions of automatic working system 300 from the controller of mobile device 100 and/or work head 200.That is, automatic working system 300 includes the controller for controlling the working condition from mobile device 100 and/or work head 200, controller may be disposed at from mobile device 100 and/or work head 200, and the other positions with automatic working system 300 also can be set.

In the above-described embodiments, by the way that linking arm 60 is being arranged from mobile device 100, and work head 200 is connected to carry out different types of work by linking arm 60, to meet varying environment and needs, great convenience is brought for people, not only different tasks can be performed from operational module 12 in work head 200, and linking arm 60 can connect different operating head 200, even more than work head 200, to execute different tasks, or it is performed simultaneously identical or different task, using one from mobile device 100, integrated multiple functions, use cost is reduced while improving work efficiency.Moreover, linking arm 60 is designed by special mechanism, greatly promotes the flexibility ratio of its work, it is intelligentized simultaneously, accuracy also greatly promotes.

Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, combination not all possible to each technical characteristic in above-described embodiment is all described, however, as long as there is no contradiction in the combination of these technical features, all should be considered as described in this specification.

The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, and but it cannot be understood as the limitations to patent of invention range.It should be pointed out that for those of ordinary skill in the art, without departing from the inventive concept of the premise, various modifications and improvements can be made, and these are all within the scope of protection of the present invention.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.

Claims (64)

1. One kind is from mobile device characterized by comprising

   Fuselage；

   Walking mechanism is set on fuselage and for driving the walking from mobile device；

   Linking arm is connect with the fuselage；

   Control module, for controlling, the walking mechanism drive is described to walk in the region of restriction from mobile device；The linking arm optionally connects at least two for executing at least one of the work head of different operating task, and the linking arm includes the connection structure for connecting the work head and the connection component for connecting the connection structure Yu the fuselage.
2. It is according to claim 1 from mobile device, it is characterised in that: the control module is used to control the working condition of the linking arm and/or the work head.
3. It is according to claim 2 from mobile device, it is characterised in that: the linking arm can under the control of the control module autokinetic movement.
4. It is according to claim 1 from mobile device, it is characterised in that: the extension of the linking arm is more than the covered range of fuselage projection in the horizontal direction.
5. It is according to claim 1 from mobile device, it is characterised in that: the linking arm is connected on the fuselage and movable relative to the fuselage.
6. It is according to claim 1 from mobile device, it is characterised in that: the connection component is connected on the fuselage and movable relative to the fuselage.
7. It is according to claim 6 from mobile device, it is characterized by: the connection component includes the movable fixing end being connected on the fuselage, the fuselage includes the fixed part for fixing the fixing end, and the fixing end can be rotated compared to the fixed part.
8. It is according to claim 1 from mobile device, it is characterised in that: the connection component includes at least two sub- connecting members, and at least two sub- connecting member can be movable relatively.
9. It is according to claim 1 from mobile device, it is characterised in that: the connection structure includes the holding parts for fixing the work head.
10. It is according to claim 9 from mobile device, it is characterised in that: the holding parts include the automatic holding parts for connecting the work head automatically.
11. It is according to claim 10 from mobile device, it is characterised in that: the automatic holding parts include at least one in magnetic holding device and electromagnetic lock.
12. It is according to claim 9 from mobile device, it is characterised in that: the holding parts include the non-automatic holding parts for the non-automatic connection work head.
13. It is according to claim 9 from mobile device, it is characterised in that: the holding parts include at least two claws, and at least two claw can be located remotely from each other or gather.
14. It is according to claim 9 from mobile device, it is characterised in that: the holding parts include buckle.
15. It is according to claim 1 from mobile device, it is characterised in that: the connection structure further includes the electrical connector for being electrically connected with the work head.
16. Automatic working system according to claim 1, it is characterised in that: described further includes the identification module of the work head for identification from mobile device.
17. Automatic working system according to claim 1, it from mobile device further include position detecting module for detecting the linking arm present position it is characterized by: described, the control module controls the motion profile of the linking arm according to the testing result of the position detecting module.
18. It is according to claim 1 from mobile device, it is characterised in that: it is described from mobile device further include accommodating chamber for accommodating the work head.
19. It is according to claim 18 from mobile device, it is characterised in that: the accommodating chamber includes at least two for accommodating the sub- accommodating chambers of the different work heads.
20. It is according to claim 18 from mobile device, it is characterised in that: the control module controls the linking arm and automatically extends into the accommodating chamber to connect with the work head.
21. It is according to claim 1 from mobile device, it is characterised in that: it is described from mobile device include at least two linking arms.
22. It is according to claim 1 from mobile device, it is characterised in that: it is described from mobile device further include for the work head carry out security protection protection module.
23. It is according to claim 22 from mobile device, it is characterised in that: the protection module includes the shield being set on the mechanical arm.
24. It is according to claim 22 from mobile device, it is characterized by: the protection module includes for detecting the safety detection module for whether being in safe working environment from mobile device, the control module is described from mobile device and/or the working condition of the work head according to the control of the testing result of the safety detection module.
25. It is according to claim 24 from mobile device, it is characterised in that: the safety detection module include in infrared detection module, fingerprint identification module, ultrasound detection module and image detection module at least one of.
26. It is according to claim 22 from mobile device, it is characterized by: the protection module includes indicating whether the work head is in the signal receiving module of the working signal of safe working environment for receiving, the control module is described from mobile device and/or the working condition of the work head according to working signal control.
27. It is according to claim 26 from mobile device, it is characterised in that: the working signal is the wireless signal generated by user's operation.
28. It is according to claim 27 from mobile device, it is characterized by: when the signal receiving module, which persistently receives, indicates that work head is in the working signal of safe working environment, the control module control is described to work from mobile device and/or the work head, indicate that the work head is in the working signal of safe working environment or when the signal receiving module, which receives, indicates that the work head is in the working signal of non-security working environment when the signal receiving module does not receive, the control module control is described to stop working from mobile device and/or the work head.
29. It is according to claim 27 from mobile device, it is characterized by: the signal receiving module further includes the signal strength detection module for detecting the intensity of the working signal, a default signal strength threshold, when the signal strength detection module detects the signal strength of the working signal lower than signal strength threshold, the control module control is described to stop working from mobile device and/or the work head.
30. It is according to claim 27 from mobile device; it is characterized by: the working signal includes stopping signal; when the signal receiving module receives the stopping signal, the control module stops working according to stopping signal control is described from mobile device and/or the work head.
31. It is according to claim 1 from mobile device, it is characterised in that: described from mobile device includes several default operating modes, and control module control is described to execute task according to default operating mode from mobile device.
32. It is according to claim 31 from mobile device, it is characterised in that: under the default operating mode, control module control is described to walk from mobile device according to preset path.
33. It is according to claim 31 from mobile device, from mobile device further include the work head and obtaining the identification module of the work head information for identification it is characterized by: described, the control of control module work head information according to acquired in the identification module it is described from mobile device and/or the work head according to corresponding default operating mode execution task.
34. It is according to claim 31 from mobile device, it from mobile device further include signal receiving module for receiving command signal it is characterized by: described, the control module is described from mobile device and/or the working condition of the work head according to the control of described instruction signal.
35. It is according to claim 34 from mobile device, it is characterized by: several default operating modes include assigned work mode, described instruction signal includes the signal for indicating the assigned work mode, and the control module executes task according to the assigned work mode from mobile device and/or the work head according to the control of described instruction signal is described.
36. It is according to claim 34 from mobile device, it is characterized by: described instruction signal includes for indicating whether the work head is in the working signal of safe working environment, the control module is described from mobile device and/or the working condition of the work head according to working signal control.
37. It is according to claim 36 from mobile device, it is characterised in that: described instruction signal is the wireless signal generated by user's operation.
38. From mobile device according to claim 37, it is characterized by: when the signal receiving module, which persistently receives, indicates that work head is in the working signal of safe working environment, the control module control is described to work from mobile device and/or the work head, indicate that the work head is in the working signal of safe working environment or when the signal receiving module, which receives, indicates that the work head is in the working signal of non-security working environment when the signal receiving module does not receive, the control module control is described to stop working from mobile device and/or the work head.
39. From mobile device according to claim 37, it is characterized by: the signal receiving module further includes the signal strength detection module for detection instruction signal strength, a default signal strength threshold, when the signal strength detection module detects the signal strength of described instruction signal lower than signal strength threshold, the control module control is described to stop working from mobile device and/or the work head.
40. From mobile device according to claim 37; it is characterized by: described instruction signal includes stopping signal; when the signal receiving module receives the stopping signal, the control module stops working according to stopping signal control is described from mobile device and/or the work head.
41. It is according to claim 1 from mobile device, it is characterised in that: it is described from mobile device further include for providing the energy module of energy from mobile device and/or the work head to described.
42. It is according to claim 1 from mobile device, it is characterised in that: described from mobile device includes returning charge mode, and under the recurrences charge mode, control module control is described from the charging of mobile device automatic returning charging station.
43. It is according to claim 42 from mobile device, it is characterised in that: a default power threshold, when the electricity of the energy module is lower than power threshold, the control module control is described to charge from charging station described in mobile device auto-returned.
44. It is according to claim 1 from mobile device, it is characterised in that: it is described from mobile device further include for providing the power plant module of power from mobile device to described.
45. It is according to claim 1 from mobile device, it is characterised in that: described from mobile device further includes operational module for executing default task, and the operational module is set on the fuselage.
46. It is according to claim 45 from mobile device, it is characterised in that: described from mobile device is automatic mower, and the operational module is grass-cutting head for executing mowing task.
47. A kind of automatic working system, it is characterised in that: the automatic working system includes as described in any one of Claims 1 to 46 from mobile device, and the automatic working system further includes for being connect with the linking arm to execute the work head of task.
48. Automatic working system according to claim 47, it is characterised in that: the work head includes the interconnecting piece for connecting with the connection structure.
49. Automatic working system according to claim 47, it is characterised in that: the work head further includes for the work head and/or the work head energy module from mobile device offer energy.
50. Automatic working system according to claim 47, it is characterised in that: the work head further includes for providing the work head power plant module of power to the work head.
51. Automatic working system according to claim 47, it is characterised in that: the work head further includes for providing the information supply module of identification information.
52. Automatic working system according to claim 47, it is characterised in that: the work head further includes for controlling the controller from mobile device and/or the working condition of the work head.
53. Automatic working system according to claim 47, it is characterised in that: the work head is at least one of grass-cutting head, suction and blowing device, cutter device, shrub and hedge trimmer, moving head and pick device.
54. Automatic working system according to claim 47, it is characterised in that: the automatic working system includes the work head of at least two execution different operating tasks, and the linking arm is optionally connected to a few work head.
55. Automatic working system according to claim 47, it is characterised in that: the automatic working system further includes for controlling the controller from mobile device and/or the working condition of the work head.
56. Automatic working system according to claim 47, it is characterised in that: the automatic working system further includes the protection module for carrying out security protection to the work head.
57. Automatic working system according to claim 56, it is characterised in that: the protection module is set to described from mobile device and/or the work head.
58. Automatic working system according to claim 57, it is characterised in that: the protection module includes the shield being set in the work head.
59. Automatic working system according to claim 57, it is characterized by: the protection module includes for detecting the safety detection module for whether being in safe working environment from mobile device, the control module is described from mobile device and/or the working condition of the work head according to the control of the testing result of the safety detection module.
60. Automatic working system according to claim 59, it is characterised in that: the safety detection module includes at least one in infrared detection module, fingerprint identification module, ultrasound detection module and image detection module.
61. Automatic working system according to claim 57, it is characterized by: the protection module includes indicating whether the work head is in the signal receiving module of the working signal of safe working environment for receiving, the control module is described from mobile device and/or the working condition of the work head according to working signal control.
62. Automatic working system according to claim 61, it is characterised in that: the automatic working system further includes indicating whether the work head is in the signal transmitting module of the working signal of safe working environment for sending.
63. Automatic working system according to claim 62, it is characterised in that: the automatic working system further includes user terminal, and the signal transmitting module is set in the user terminal.
64. Automatic working system according to claim 47, it is characterised in that: the automatic working system further includes for the charging station from charging of mobile devices.