CN112136160A

CN112136160A - Self-moving equipment, alarm module of self-moving equipment and alarm method of alarm module

Info

Publication number: CN112136160A
Application number: CN201980033452.0A
Authority: CN
Inventors: 何爱俊; 张伟; 兰彬财
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2018-11-13
Filing date: 2019-11-13
Publication date: 2020-12-25
Also published as: WO2020098670A1; CN111165156A; DE202019005689U1

Abstract

An alarm module and an alarm method from a mobile device and an alarm module are provided. Wherein, the alarm module from mobile device includes: the detection module is used for detecting the abnormal motion state of the mobile equipment; the control module (230) is electrically connected with the detection module and is used for judging whether a preset alarm triggering condition is met or not at least partially according to the abnormal motion state of the self-moving equipment; the control module (230) is used for controlling the sounding part to send out an alarm signal when judging that the abnormal motion state of the mobile equipment meets the preset alarm triggering condition; characterized in that the alarm module comprises an energy module (210) for providing an energy source for the alarm module; the alarm module further comprises a connecting part, and the alarm module can be detachably mounted on the mobile device through the connecting part. The alarm module, the self-moving equipment and the alarm method of the alarm module can inform users of abnormal working information of the self-moving equipment in time, and avoid serious consequences such as loss and damage of the self-moving equipment.

Description

Self-moving equipment, alarm module of self-moving equipment and alarm method of alarm module

The present application claims priority from chinese patent application having application number 201811343578.1, filed on 2018, month 11 and day 13, the entire contents of which are incorporated herein by reference.

Technical Field

The invention relates to the technical field of alarming, in particular to a self-moving device, an alarming module of the self-moving device and an alarming method of the self-moving device.

Background

With the development of scientific technology, intelligent automatic walking equipment is gradually known and is more and more widely applied. Taking an intelligent mower as an example, the intelligent mower usually automatically walks and works in a certain working area, and when the intelligent mower is stolen, trapped and other abnormal conditions occur, users often fail to know the occurrence of the abnormal conditions in time to cause serious consequences such as loss, damage and the like of the intelligent mower.

The traditional intelligent lawn mower can send out some alarm signals when some abnormal conditions occur, but generally the alarm signals are single in form and are not easy to be perceived, so that a user cannot know the time point and the reason of the abnormal condition in time, and serious consequences are caused.

Disclosure of Invention

Accordingly, it is desirable to provide a detachable alarm module, a self-moving device having the detachable alarm module, and an alarm method of the alarm module, which can enable a user to know abnormality information of the self-moving device in time.

In order to solve the problems, the technical scheme of the invention is as follows: an alarm module from a mobile device, comprising: the detection module is used for detecting the abnormal motion state of the mobile equipment; the control module is electrically connected with the detection module and used for judging whether a preset alarm triggering condition is met or not at least partially according to the abnormal motion state of the self-moving equipment; the control module is used for judging whether the abnormal motion state of the mobile equipment meets the preset alarm triggering condition or not; the alarm device is characterized in that the alarm module comprises an energy module which provides an energy source for the alarm module; the alarm module further comprises a connecting part, and the alarm module can be detachably mounted on the mobile device through the connecting part.

Furthermore, the alarm module further comprises an amplifying module, and the amplifying module can amplify the output voltage of the energy module so as to provide the amplified voltage for the sound-emitting part.

Furthermore, the detection module has a first detection mode and a second detection mode, and when the self-mobile device is in a power-on state, the detection module works in the first detection mode; when the mobile device is in the power-off state, the detection module works in a second detection mode.

Further, in the first detection mode, the detection module is configured to: detecting lift and/or tilt from the mobile device and detecting a position of the mobile device relative to the work area; in the second detection mode, the detection module is configured to: lift and/or tilt from the mobile device is detected.

Further, the detection module comprises: acceleration sensors and/or gyroscopes and/or hall sensors for detecting lift and/or tilt from the mobile device.

Further, the detection module comprises: a boundary line sensor and/or a satellite positioning module for detecting a position of the self-moving device relative to the work area.

Further, the control module is configured to: judging that the self-moving equipment is lifted, and/or judging that the inclination angle of the self-moving equipment is larger than or equal to a first preset threshold value, and/or judging that the self-moving equipment is positioned outside a working area, and/or judging that the inclination frequency within a preset time of the self-moving equipment is larger than or equal to a second threshold value.

Further, the control module is configured to: and monitoring the continuous working time of the sounding part to reach a third preset threshold value, and/or controlling the sounding part to stop working when the sounding part receives a closing signal.

Furthermore, the alarm module further comprises an alarm signal storage unit, and the alarm signal storage unit is electrically connected with the control module and used for storing alarm signal playing contents.

Further, the alarm module further comprises: the noise detection unit is used for detecting the noise decibel value of the surrounding working environment; and the volume adjusting unit is electrically connected with the noise detection unit and the control module and used for adjusting the playing volume of the alarm signal according to the noise decibel value and the preset noise value of the surrounding working environment.

A self-moving device that moves and works within a work area, the self-moving device comprising: a main body; the installation department, above alarm module can pass through connecting portion with the installation department cooperation makes alarm module detachable installs in from mobile device.

Further, the self-mobile device comprises a communication module, and the communication module can transmit the abnormal motion state information of the self-mobile device to the remote device.

An alarm method of an alarm module, which is applied to the alarm module, is characterized in that the method comprises the following steps: the alarm module is detachably arranged on the self-moving equipment; detecting an abnormal motion state of the self-moving device; judging whether the abnormal motion state of the mobile equipment meets a preset alarm triggering condition or not; the alarm module provides an energy source; and when the abnormal motion state of the mobile equipment is judged to meet the preset alarm triggering condition, an alarm signal is sent out.

Further, the method comprises: the output voltage of the energy module is amplified to provide the amplified voltage for the sound generating part.

Further, the detecting an abnormal motion state from the mobile device includes: when the self-moving equipment is in a starting state, the detection mode detects the abnormal motion state of the self-moving equipment in a first mode; the detection mode detects an abnormal motion state of the self-moving device in the second mode when the self-moving device is in the power-off state.

Further, the detecting the abnormal motion state of the mobile device in the first mode includes: detecting lift and/or tilt from the mobile device and detecting a position of the mobile device relative to the work area; the detecting mode detecting an abnormal motion state from the mobile device in the second mode includes: lift and/or tilt from the mobile device is detected.

Further, the detecting lifting and/or tilting of the mobile device comprises: the lifting and/or tilting of the mobile device is detected by means of acceleration sensors and/or gyroscopes and/or hall sensors.

Further, the detecting the position of the mobile device relative to the work area comprises: the position of the self-moving device relative to the work area is detected by a borderline sensor and/or a satellite positioning module.

Further, the determining whether the state of the mobile device meets a preset alarm triggering condition includes: judging that the self-moving equipment is lifted, and/or judging that the inclination angle of the self-moving equipment is larger than or equal to a first preset threshold value, and/or judging that the self-moving equipment is positioned outside a working area, and/or judging that the inclination frequency within a preset time of the self-moving equipment is larger than or equal to a second preset threshold value.

Further, the alarm method further comprises: and the continuous working time of the monitoring sound-emitting part reaches a third preset threshold value, and/or the sound-emitting part stops alarming when receiving a closing signal.

Further, the alarm method further comprises: and pre-storing alarm signal playing contents, and playing the pre-stored alarm signal playing contents during alarming.

Further, the alarm method further comprises: detecting the noise decibel value of the surrounding working environment; and adjusting the volume of the alarm signal according to the noise decibel value of the surrounding working environment.

According to the alarm module, the self-moving equipment and the alarm method, the alarm module can be selectively installed on the self-moving equipment by arranging the detachable alarm module, so that the alarm effect of the self-moving equipment is improved; and the alarm module can automatically detect whether an alarm condition is triggered and give an alarm, so that the alarm module can independently work and can be selectively installed on the self-moving equipment with requirements to optimize the alarm effect of the self-moving equipment. Meanwhile, the alarm module adopts the amplification module, so that the sound-emitting part can emit larger volume, a user can timely find abnormal motion information from the mobile equipment, and then the abnormal motion information is timely informed to the user through the communication module, so that the user can know the occurrence condition of the abnormal motion state at the first time, and serious consequences such as loss and damage of the mobile equipment are avoided.

Drawings

FIG. 1 is a schematic diagram of the operation of a self-moving device in one embodiment;

FIG. 2 is a schematic diagram of an alarm module in one embodiment

FIG. 3 is a block diagram of an alarm module in one embodiment;

FIG. 4 is a schematic diagram of an alarm module installed from a mobile device in one embodiment

FIG. 5 is a diagram illustrating separation of a self-moving device from an alarm module, in one embodiment

FIG. 6 is a flow chart illustrating an alarm method of an alarm module according to an embodiment

FIG. 7 is a flowchart illustrating an alarm method of an alarm module according to an embodiment

FIG. 8 is a flowchart illustrating an alarm method of the alarm module in one embodiment

Detailed Description

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

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.

Unless defined otherwise, 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 application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In one embodiment, an alert module 200 for a self-moving device is provided. In the present embodiment, referring to fig. 1, the self-moving device 100 moves and works within a working area defined by a boundary, wherein the self-moving device 100 may be a device that can automatically walk, such as an intelligent lawn mower, an intelligent snow remover, or a sweeping robot; the boundary of the working area can be formed by a boundary line, or a virtual boundary can be formed by using boundary positioning information and the like without laying the boundary line; the self-moving device 100 may also utilize cameras, capacitive lawn recognition sensors, border line sensors, satellite positioning modules, etc. to identify the boundaries of the work area.

In the present embodiment, an alarm module 200 is provided, and referring to fig. 2 to 3, the alarm module 200 includes: a detection module for detecting an abnormal motion state from the mobile device 100; a control module, electrically connected to the detection module 250, configured to determine whether a preset alarm triggering condition is met according to an abnormal motion state of the self-moving device 100; the sound generating part 240, when the control module 230 determines that the abnormal motion state of the mobile device 100 meets the preset alarm triggering condition, controls the sound generating part 240 to generate an alarm signal; the alarm module 200 further comprises an energy module 210 for providing an energy source for the alarm module 200; a connection part 260, wherein the alarm module 200 can be detachably mounted on the self-moving device 100 through the connection part 260. Specifically, the self-moving device 100 moves and performs work in the work area, the abnormal motion state is that the self-moving device 100 moves to the outside of the work area, or is lifted from the self-moving device 100, or is tilted from the self-moving device 100, and specifically, when it is determined that the tilt from the self-moving device 100 is the abnormal motion state, the tilt from the self-moving device 100 needs to reach a certain threshold. Specifically, the sound emitting part 240 includes a buzzer or a speaker, the buzzer can emit a buzzer, and the speaker can emit a voice broadcast. Specifically, the detection module 250 includes various sensors, such as an acceleration sensor, a gyroscope, and a boundary line sensor, or the detection module 250 includes a satellite positioning module, or the detection module 250 includes an acquisition module capable of acquiring a detection result from the mobile device 100. Specifically, the control module 230 includes an MCU for processing information input and outputting a control signal. Specifically, the energy module 210 of the alarm module 200 is a battery, and the battery is arranged inside the alarm module 200 to provide energy required by the operation of the alarm module 200. Specifically, the battery built in the alarm module 200 can provide energy for the alarm module 200, when the alarm module 200 is mounted on the self-moving device 100, the self-moving device 100 can also provide energy for the alarm module 200, and only the battery built in the alarm module 200 is used for providing energy for the alarm module 200, or the battery of the alarm module 200 is used as a standby power supply for providing energy for the alarm module 200 only when the battery cannot obtain energy from the outside. Referring to fig. 4 to 5, the alarm module 200 includes a connection portion 260, the alarm module 200 is detachably mounted on the self-moving device 100 through the connection portion 260, specifically, the connection portion 260 is a groove, the alarm module 200 is inserted into the self-moving device 100 through the groove, by providing the connection portion 260, the alarm module 200 can be conveniently mounted on the self-moving device 100 or can be conveniently removed from the self-moving device 100, and it can be determined whether to mount the alarm module 200 on the self-moving device 100 according to requirements. Specifically, the alarm module 200 further includes a housing 270, and all of the above components are disposed inside or on the surface of the housing 270, so that the alarm module 200 is a separate accessory and can be sold separately.

In this embodiment, the alarm module 200 further includes an amplifying module 220, and the amplifying module 220 can amplify the output voltage of the energy module 210, so as to provide the amplified voltage for the sound-emitting part 240. Specifically, to make the alarm module 200 generate a large sound, a large-power buzzer is configured in this embodiment and provides a large input voltage for the buzzer, specifically, to provide a large voltage for the sound generating unit 240, the voltage output by the battery is amplified by the amplifying module 220, and the amplified voltage is obtained and provided to the sound generating unit 240, so that the sound generating unit 240 can obtain a large voltage and generate a large alarm sound. Specifically, the amplifying module 220 includes a Boost circuit, and the output voltage of the energy module 210 is increased by the Boost circuit, so that the sound generating unit 240 can obtain a larger output voltage. Specifically, the amplified voltage is 90 to 150V, specifically, the volume of the alarm signal emitted from the sound emitting portion 240 is 60 to 115 db at a distance of 1 meter from the generating source, and under the alarm signal at the volume, the user can more easily hear the alarm signal emitted from the mobile device 100 and can make a timely process. In other embodiments, the alarm module 200 may not include the amplification module 220, and specifically, the sound-emitting portion 240 may be directly supplied with a larger input voltage, for example, by supplying a larger voltage from the mobile device 100 or by supplying a larger voltage from a battery of the alarm module 200.

In this embodiment, the detection module 250 has a first detection mode and a second detection mode, and when the mobile device 100 is in the power-on state, the detection module 250 operates in the first detection mode; when the mobile device 100 is in the power-off state, the detection module 250 operates in the second detection mode. Specifically, in the first detection mode, the detection module 250 is configured to: detecting lift and/or tilt from the mobile device 100 and detecting a position from the mobile device 100 relative to a work area; in the second detection mode, the detection module 250 is configured to: lift and/or tilt from the mobile device 100 is detected. Specifically, the detection module 250 includes: acceleration sensors and/or gyroscopes and/or hall sensors for detecting lifting and/or tilting from the mobile device 100, and said detection module 250 comprises: a boundary line sensor and/or a satellite positioning module for detecting the position of the mobile device 100 relative to the work area. In this embodiment, the control module 230 is configured to: the method comprises the steps of judging that the mobile device 100 is lifted, and/or judging that the inclination angle of the mobile device 100 is larger than or equal to a first preset threshold value, and/or judging that the mobile device 100 is located outside a working area, and/or judging that the inclination frequency within a preset time of the mobile device 100 is larger than or equal to a second threshold value. The control module 230 is further configured to: and the duration of the continuous operation of the monitoring sound generating part 240 reaches a third preset threshold, and/or the sound generating part 240 is controlled to stop operating when receiving a closing signal. Specifically, the detecting module 250 can detect the lifting and/or tilting of the mobile device 100 and detect the position of the mobile device 100 relative to the work area, specifically, the alarm module 200 includes the detecting module 250, and detects the lifting, tilting and position of the mobile device 100 relative to the work area through the detecting module 250 of the alarm module 200, specifically, the detecting module 250 can also determine the state of the mobile device 100 by detecting the detection information from the mobile device 100, specifically, the detecting module 250 includes a lifting detecting sensor, such as a hall sensor, and detects whether the mobile device 100 is lifted; the detection module 250 includes an acceleration sensor, and/or a gyroscope, for detecting an angle of inclination from the mobile device 100, the acceleration sensor and the gyroscope may be used for detecting the inclination from the mobile device 100, respectively, or the acceleration sensor and the gyroscope can be used in combination for detecting the inclination from the mobile device 100, and when the two are combined to detect the inclination from the mobile device 100, the accuracy of detecting the angle is high. Specifically, the mobile device 100 includes sensors such as lift detection, tilt detection, and position detection of the mobile device 100 relative to the work area, and the detection module 250 of the alarm module 200 can detect the detection result of the mobile device 100 and obtain the detection result of the mobile device 100, so that the to-be-controlled module 230 can determine and process the result. Specifically, the detection module 250 includes a boundary line sensor for detecting a position relative to the working area, specifically, the boundary line sensor includes a magnetic induction sensor for detecting a magnetic field generated by a current in the boundary line to determine the position of the mobile device 100 relative to the working area; specifically, the detection module 250 includes a satellite positioning module, such as a GPS positioning module, and acquires positioning information of a boundary of the work area from before the mobile device 100 starts to work, and generates a virtual boundary line according to the positioning information, and acquires the positioning information of the mobile device 100 during the work process to obtain a position of the mobile device relative to the work area. Specifically, the detection module 250 may also detect location information determined from the mobile device 100 itself, and obtain the location of the mobile device 100 relative to the work area through the information. Specifically, the control module 230 is configured to determine that the mobile device 100 is lifted, and/or determine that the tilt angle of the mobile device 100 is greater than or equal to a first preset threshold, specifically, the first preset threshold is 45 degrees to 90 degrees, and preferably, the tilt angle is detected to be greater than or equal to 60 degrees, specifically, the mobile device 100, such as an intelligent lawn mower, may handle a slope and other scenes during the execution of work, and the slope handled by the intelligent lawn mower is usually less than 45 degrees, so that the tilt angle of 45 degrees or more is likely to be an abnormal motion state of the intelligent lawn mower, for example, being lifted by a person, in this case, the sound generating unit 240 needs to send an alarm signal to remind the user to prevent the machine from being stolen. The control module 230 is configured to determine that the number of times of tilting within a preset time from the mobile device 100 is greater than or equal to a second preset threshold, specifically, the second preset threshold is 3 to 6 times, preferably, the second preset threshold is set to 4 times, and when the number of times of lifting from the mobile device 100 within one minute is detected to be greater than or equal to 4 times, it is determined that a preset alarm condition is satisfied.

Specifically, the hall sensor is a magnetic field sensor manufactured according to a hall effect, and generally, the hall sensor is arranged in pair with a magnetic object, specifically, the hall sensor and the magnetic object can be respectively arranged on the surface of the housing and inside the housing of the mobile device 100, and when the mobile device 100 is lifted, the hall sensor can sensitively detect the distance change between the hall sensor and the magnetic object, so as to detect the abnormal state of the lifted device; the lift-up detection sensor is a contact sensor that can detect an abnormal state in which the device is touched or lifted up; the boundary line sensor is a sensor for recognizing a boundary line signal, which can distinguish whether the position where the mobile device 100 is currently located is inside or outside the boundary line, so that an abnormal state from the mobile device 100 away from the working boundary line can be detected; the satellite positioning module may identify current location information from the mobile device 100 through coordinate information within the work area to detect an abnormal motion state from the mobile device 100 away from the work area.

The control module 230 is further configured to control the sound generating part 240 to stop working when a preset condition is met, and specifically, the control module 230 is configured to: and the duration of the continuous operation of the monitoring sound generating part 240 reaches a third preset threshold, and/or the sound generating part 240 is controlled to stop operating when receiving a closing signal. Specifically, when the mobile device 100 is in the power-on state, the control module 230 monitors the sound-emitting portion 240 to continuously alarm for more than 1 minute, and controls the sound-emitting portion 240 to stop working, specifically, when the mobile device 100 is in the power-off state, the control module 230 monitors the sound-emitting portion 240 to continuously alarm for more than 1 minute, and controls the sound-emitting portion 240 to stop alarming; when the mobile device 100 is in the power-off state, the control module 230 monitors that the sound-emitting portion 240 continuously alarms for more than 30 seconds, and controls the sound-emitting portion 240 to stop alarming.

In one embodiment, the alarm module 200 further comprises an alarm signal storage unit, wherein the alarm signal storage unit is electrically connected to the control module 230 and is used for storing the alarm signal playing content. Specifically, the control module 230 may select the alarm signal playing content stored in the alarm signal storage unit according to the content of the abnormal motion state information, and then play the selected alarm signal playing content after processing by the alarm module 200, so as to send out an alarm signal. In this embodiment, the content of the alarm signal stored in the alarm signal storage unit may be regular siren signal content, or may be voice alarm content in chinese, english, or other languages.

In one embodiment, the alarm module 200 further includes a noise detection unit and a volume adjustment unit. The noise detection unit is electrically connected to the volume adjustment unit, and the volume adjustment unit is electrically connected to the control module 230. Specifically, the noise detection unit may detect a noise decibel value in a surrounding working environment before sending the alarm signal, and feed back the detected noise decibel value to the volume adjustment unit, and the volume adjustment unit may compare the noise decibel value with a preset noise value preset in the volume adjustment unit, and automatically adjust the playing volume of the voice according to the detected noise decibel value, and further, the control module 230 may select an alarm signal playing content stored in the voice storage unit according to the content of the abnormal working information, and then play the selected alarm signal playing content through the voice amplifier and the sound generation device to send the alarm signal. In this embodiment, the sound generating device generates the alarm signal with a volume of between 65 and 110 decibels.

Specifically, the present invention further provides a self-moving device 100, such as an intelligent lawn mower, referring to fig. 3, the intelligent lawn mower includes a mounting portion 130, and the alarm module 200 can be engaged with the mounting portion 130 through the connecting portion 260, so that the alarm module 200 can be detachably mounted on the self-moving device 100. Specifically, the self-moving device 100 includes a housing 120, a driving module, a walking module 110, and a communication module, wherein the communication module 150 is installed inside the housing 120, specifically, when the intelligent lawn mower determines that the intelligent lawn mower is in an abnormal motion state, the alarm module 200 sends an alarm signal, and meanwhile, the communication module can send information of the abnormal motion state from the self-moving device 100 to a user side, so that the user can timely learn the motion state from the self-moving device 100 and timely take corresponding measures. In this embodiment, the communication module may be a wireless communication module, such as a WIFI module, a mobile communication module, or another module capable of performing wireless communication with the user end device.

The self-moving device 100 includes a controller capable of processing various information received from the self-moving device 100 and performing corresponding control functions. In one embodiment, the self-moving device 100 further comprises a positioning module, wherein the positioning module is electrically connected with the controller. Specifically, the positioning module may receive the positioning signal in real time and obtain a coordinate area formed by coordinates or a plurality of coordinates of the current position of the mobile device 100. When the detection module 250 of the mobile device 100 detects that an abnormal condition occurs in the mobile device 100, the positioning module may send current location information when an alarm signal is sent to the controller, and after the controller acquires the location information, the controller may store the location information and send the location information to the user side through the communication module, so that the user can know a specific location when the abnormal condition occurs in the mobile device 100 in the first time. Further, the controller may further automatically determine a current region of the mobile device 100 according to the positioning information, so as to determine an official language of the region, and select a voice playing content stored in the voice storage unit according to the official language of the region and the content of the abnormal work information, thereby implementing automatic conversion of the alarm language.

In one embodiment, the positioning module may be a satellite positioning module, and specifically, the positioning module includes a GPS positioning module, a high-precision GPS positioning module, a UWB positioning module, an inertial navigation module, an electronic map, and the like. In this embodiment, the location module may identify current location information when the alarm signal is issued from the mobile device 100 through coordinate information within the work area. The coordinate information may be an absolute coordinate value of the satellite positioning system, which is distributed to reflect the object on the earth, or a relative coordinate value of a coordinate system, which is built in the working area by itself.

In one embodiment, an alarm method from the mobile device 100 is provided, which is described by taking the example of applying the method to the alarm module 200 in fig. 2 with reference to fig. 6, and includes the following steps:

s1: detachably mounting the alarm module 200 to the self-moving apparatus 100;

specifically, the alarm module 200 includes a connection portion 260, the self-moving apparatus 100 includes a mounting portion 130, and the mounting portion 130 and the connection portion 260 are engaged such that the alarm module 200 is detachably mounted to the self-moving apparatus 100. Specifically, the connection portion 260 has a groove structure, and the connection structure of the alarm module 200 and the mobile device 100 is a plug structure. Specifically, when the alarm module 200 is installed in the mobile device 100, the alarm module 200 is electrically connected to the mobile device 100, specifically, the installation part 130 and the connection part 260 respectively include a circuit, which are connected to each other to perform information interaction, specifically, when the detection information from the mobile device 100 can be transmitted to the alarm module through the circuit, the alarm module can at least partially determine whether to send an alarm signal according to the information, and the detection information from the alarm module can also be transmitted to the mobile device, and the mobile device can comprehensively consider the detection information of the mobile device and the detection information from the alarm module to determine whether to execute corresponding operations.

S2: detecting an abnormal motion state from the mobile device 100;

specifically, the self-moving device 100 may detect the working state of the self-moving device 100 in real time through the detection module 250, where the working state of the self-moving device 100 includes a normal state and an abnormal motion state, where the abnormal state of the self-moving device 100 includes but is not limited to the following situations: lifted from the mobile device 100, located outside the work area from the mobile device 100, tilted from the mobile device 100. Specifically, the detection of the abnormal motion state of the mobile device 100 may be accomplished by a detection device mounted in the mobile device, and the alarm module 200 detects information detected by the mobile device 100; alternatively, the abnormal motion state from the mobile device 100 is accomplished by the detection means of the alarm module 200.

S3: judging whether the abnormal motion state of the mobile device 100 meets a preset alarm triggering condition;

specifically, the control module 230 processes the detected abnormal motion state to determine whether the detected abnormal motion state meets a preset alarm triggering condition. Specifically, the control module 230 is an MCU, and a preset alarm triggering condition is built in the MCU, and compares the currently detected abnormal motion state with the preset alarm triggering condition to determine whether the preset alarm triggering condition is satisfied.

S4: the alarm module 200 itself provides a source of energy;

specifically, the alarm module 200 includes an energy module 210, and the energy module 210 of the alarm module 200 is a battery, which is disposed inside the alarm module 200 and provides energy required for the operation of the alarm module 200. Specifically, the battery built in the alarm module 200 can provide energy for the alarm module 200, when the alarm module 200 is mounted on the self-moving device 100, the self-moving device 100 can also provide energy for the alarm module 200, and only the battery built in the alarm module 200 is used for providing energy for the alarm module 200, or the battery of the alarm module 200 is used as a standby power supply for providing energy for the alarm module 200 only when the battery cannot obtain energy from the outside.

S5: and when the abnormal motion state of the mobile device 100 is judged to meet the preset alarm triggering condition, sending an alarm signal.

Specifically, the control module 230 processes the abnormal motion state information, and controls the sound generating part 240 to generate an alarm signal when determining that the abnormal motion state information satisfies a preset alarm triggering condition.

In the above alarm method, the detection module 250 detects the abnormal motion state information of the mobile device 100 in real time, so that the control module 230 can find the abnormal motion state information of the mobile device 100 in time, and then inform the user of the abnormal motion state information in time, so that the user can know the time point and reason of the abnormal motion state in the first time, thereby avoiding serious consequences such as loss and damage of the mobile device 100.

In one embodiment, the alarm method may further comprise the steps of:

the abnormal motion state information from the mobile device 100 is transmitted to the user terminal.

Specifically, when the self-moving device 100 sends the alarm signal, the generated abnormal motion state information may be sent to the user side through the communication module, so that the user can timely know the abnormal motion state of the self-moving device 100 and timely take corresponding measures. The communication module may be a wireless communication module, such as a WIFI module, a mobile communication module, or other modules capable of performing wireless communication with the user end device.

In one embodiment, the method for issuing the alarm signal with 65-110 decibels according to the abnormal motion state information of the mobile device 100 comprises the following steps: the alarm signal playback content is determined based on the abnormal motion information from the mobile device 100. Specifically, according to the abnormal motion state information generated by the control module 230, a proper voice playing content is selected from the voice storage unit, and then the selected alarm signal playing content is amplified and played through the sound generating part 240, so as to generate an alarm signal of 65-110 db. In this embodiment, the content of the alarm signal stored in the alarm signal storage unit may be regular siren signal content, or may be voice alarm content in chinese, english, or other languages. Or, when it is determined that the alarm signal needs to be sent out according to the abnormal motion state of the mobile device 100, the amplification module 220 amplifies the voltage, so that the sound-emitting portion 240 emits the alarm buzzer signal with a loud sound.

In one embodiment, referring to fig. 7, the alarm method may further include the steps of:

s6: and the continuous working time of the monitoring sound-emitting part reaches a third preset threshold value, and/or the sound-emitting part stops alarming when receiving a closing signal.

Specifically, when the sounding part starts to send out the alarm signal, the duration of continuous working of the sounding part is monitored, and meanwhile, whether the closing signal is received or not is monitored, and the alarm signal is closed when the working duration meets a third preset threshold value, or the alarm is stopped when the sounding part receives the closing signal, or the alarm is stopped when the working duration meets a third preset threshold value condition and the sounding part receives the closing signal. Specifically, the user may send a shutdown signal through a remote device, such as a smartphone, a tablet, a laptop, and so on.

In one embodiment, referring to fig. 8, the alarm method may further include the steps of:

s7: and detecting the noise decibel value of the surrounding working environment.

Specifically, the self-moving device 100 may detect a decibel value of noise in the surrounding working environment through the noise detection unit. The detection of the decibel value of the noise may be real-time, or may be determined according to a control signal sent by the control module 230.

S8: and adjusting the playing volume of the alarm signal according to the noise decibel value and the preset noise value of the surrounding working environment.

Specifically, the volume adjustment unit of the mobile device 100 may compare the decibel value of the noise detected by the noise detection unit with a preset noise value preset in the volume adjustment unit, and automatically adjust the playing volume of the alarm signal according to the level of the noise, where the playing volume of the alarm signal is between 65 decibels and 110 decibels.

In one embodiment, the alarm method may further comprise the steps of:

an unlock password is obtained from the mobile device 100.

Specifically, the user may send the unlocking password to the self-moving device 100 through the user terminal or directly input the unlocking password manually on the self-moving device 100 through the operation interface.

And comparing the obtained unlocking password with a preset unlocking password.

Specifically, the self-moving device 100 may compare the obtained unlocking password with an unlocking password pre-stored in the self-moving device 100 to determine whether the obtained unlocking password is consistent with a preset unlocking password.

And controlling the working state of the alarm signal according to the comparison result.

Specifically, if it is determined that the acquired unlocking password is consistent with the preset unlocking password, the user may directly control the working state of the alarm signal, that is, control the alarm signal to stop or continue, and this setting may ensure the safety of the mobile device 100.

In one embodiment, the alert method from the mobile device 100 may further include the steps of:

and receiving the control information returned by the user side.

Specifically, the communication module of the mobile device 100 may receive the control information sent by the user terminal in real time, or may receive the control information returned by the user terminal within a period of time of the abnormal operation information sent by the mobile device 100.

And controlling the mobile equipment 100 to perform one or more operations of adjusting the playing volume of the alarm signal, changing the playing content of the alarm signal, changing the playing language of the alarm signal and closing the playing of the alarm signal according to the control information returned by the user side.

Specifically, the control information returned by the user side includes, but is not limited to, adjusting the volume of the alarm signal, changing the content of the alarm signal, changing the language of the alarm signal, and turning off the alarm signal, and further, the control module 230 performs corresponding operations according to the content of the control information after receiving the control information sent by the user side, so as to implement remote control from the mobile device 100.

In one embodiment, the alert method may further comprise the steps of:

current location information is obtained from when the mobile device 100 issues an alert signal.

Specifically, the mobile device 100 may acquire current position information of the mobile device when the mobile device sends an alarm signal through a positioning module, where the positioning module may be one or more of a GPS module, a DGPS module, a UWB module, an inertial navigation module, and an electronic map, and the current position information may be an absolute coordinate value of a reflection object on the earth allocated by a satellite positioning system, or a relative coordinate value of a coordinate system that is automatically built in a working area.

The current location information when the alarm signal is issued from the mobile device 100 is transmitted to the user terminal.

Specifically, the mobile device 100 may send the acquired current location information when the alarm signal is sent to the user side through the communication module, so that the user can timely know the current location of the mobile device 100 and take corresponding measures. The current location information when the alarm signal is sent from the mobile device 100 and the abnormal operation information from the mobile device 100 may be sent to the user side in a time-sharing manner, or may be sent to the user side in a packet manner.

In one embodiment, the abnormal operation information includes, but is not limited to, one or more of a device being lifted, a device being away from an operating boundary line, a device having a continuous impact. Specifically, when the device is in the abnormal condition, the user can know the specific content of the abnormal information at the first time instead of just hearing a single siren sound, which can be beneficial for the user to take appropriate countermeasures in time, thereby avoiding serious consequences such as loss and damage of the mobile device 100.

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

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

Claims

An alarm module for a mobile device, comprising:

the detection module is used for detecting the abnormal motion state of the white mobile equipment;

the control module is electrically connected with the detection module and is used for judging whether a preset alarm triggering condition is met or not at least partially according to the abnormal motion state of the white mobile equipment;

the sounding part is used for controlling the sounding part to send out an alarm signal when the control module judges that the abnormal motion state of the mobile device meets a preset alarm triggering condition;

the alarm device is characterized in that the alarm module comprises an energy module which provides an energy source for the alarm module;

the alarm module further comprises a connecting part, and the alarm module can be detachably mounted on the white mobile equipment through the connecting part.
The alarm module of claim 1, further comprising an amplification module capable of amplifying the output voltage of the energy module to provide an amplified voltage to the sound producing portion.
The alarm module of claim 1, wherein the detection module has a first detection mode and a second detection mode, and the detection module operates in the first detection mode when the white mobile device is in the power-on state; when the white mobile device is in the power-off state, the detection module works in a second detection mode.
The alarm module of claim 3, wherein in the first detection mode, the detection module is configured to: detecting a white mobile device lift and/or tilt and detecting a position of the white mobile device relative to a work area; in the second detection mode, the detection module is configured to: white mobile device lift and/or tilt is detected.
The alarm module of claim 4, wherein the detection module comprises: acceleration sensors and/or gyroscopes and/or hall sensors for detecting white mobile device lift and/or tilt.
The alarm module of claim 4, wherein the detection module comprises: a boundary line sensor and/or a satellite positioning module for detecting a position of the white mobile device relative to the work area.
The alarm module of claim 4, wherein the control module is configured to: and judging that the white mobile equipment is lifted, and/or judging that the inclination angle of the white mobile equipment is greater than or equal to a first preset threshold value, and/or judging that the white mobile equipment is positioned outside a working area, and/or judging that the inclination times of the white mobile equipment within a preset time are greater than or equal to a second threshold value.
The alarm module of claim 1, wherein the control module is configured to: and monitoring the continuous working time of the sounding part to reach a third preset threshold value, and/or controlling the sounding part to stop working when the sounding part receives a closing signal.
The alarm module of claim 1, further comprising an alarm signal storage unit electrically connected to the control module for storing alarm signal playback content.
The alarm module of claim 1, further comprising:

the noise detection unit is used for detecting the noise decibel value of the surrounding working environment;

and the volume adjusting unit is electrically connected with the noise detection unit and the control module and used for adjusting the playing volume of the alarm signal according to the noise decibel value and the preset noise value of the surrounding working environment.
A white mobile device that moves and works within a work area, the white mobile device comprising:

a main body;

a mounting portion with which the alarm module of any of claims 1-10 can be mated by the connecting portion such that the alarm module is removably mountable to a white mobile device.
The white mobile device of claim 11, wherein the white mobile device comprises a communication module capable of communicating abnormal motion state information of the white mobile device to a remote device.
An alarm method of an alarm module, applied to the alarm module of any one of claims 1-10, characterized in that the method comprises:

the alarm module is detachably arranged on the white mobile equipment;

detecting an abnormal motion state of a white mobile device;

judging whether the abnormal motion state of the white mobile equipment meets a preset alarm triggering condition or not;

the alarm module provides an energy source;

and when the abnormal motion state of the white mobile equipment is judged to meet the preset alarm triggering condition, an alarm signal is sent out.
The alarm method according to claim 13, characterized in that it comprises: the output voltage of the energy module is amplified to provide the amplified voltage for the sound generating part.
The alert method of claim 13, wherein said detecting an abnormal motion state of a white mobile device comprises: when the white mobile equipment is in a power-on state, the detection mode detects the abnormal motion state of the white mobile equipment in a first mode; the detection mode detects an abnormal motion state of the white mobile device in the second mode when the white mobile device is in the off state.
The alert method of claim 15, wherein the detecting mode detecting the abnormal motion state of the white mobile device in the first mode comprises: detecting a white mobile device lift and/or tilt and detecting a position of the white mobile device relative to a work area; the detecting mode detecting an abnormal motion state of the white mobile device in the second mode includes: white mobile device lift and/or tilt is detected.
The alert method of claim 15, wherein the detecting a white mobile device lift and/or tilt comprises: white mobile device lift and/or tilt is detected by an acceleration sensor and/or a gyroscope and/or a hall sensor.
The alert method of claim 15, wherein the detecting a location of a white mobile device relative to a work area comprises: the position of the white mobile device relative to the work area is detected by the borderline sensor and/or the satellite positioning module.
The alarm method of claim 15, wherein the determining whether the state of the white mobile device satisfies a preset alarm triggering condition comprises: the method comprises the steps of judging that the white mobile equipment is lifted, and/or judging that the inclination angle of the white mobile equipment is larger than or equal to a first preset threshold value, and/or judging that the white mobile equipment is located outside a working area, and/or judging that the inclination frequency of the white mobile equipment within preset time is larger than or equal to a second preset threshold value.
The warning method according to claim 13, further comprising: and the continuous working time of the monitoring sound-emitting part reaches a third preset threshold value, and/or the sound-emitting part stops alarming when receiving a closing signal.
The warning method according to claim 13, further comprising: and pre-storing alarm signal playing contents, and playing the pre-stored alarm signal playing contents during alarming.
The warning method according to claim 13, further comprising: detecting the noise decibel value of the surrounding working environment; and adjusting the volume of the alarm signal according to the noise decibel value of the surrounding working environment.