Intelligent mower and control method thereof

Abstract

The invention provides an intelligent mower and a control method thereof, and belongs to the technical field of intelligent mowers. The intelligent mower comprises a machine body; and the first cutter head is provided with a cutting edge which is a metal piece. The first cutterhead is located at the first position or the second position. The first position is that at least part of the first cutterhead is located outside the orthographic projection of the machine body towards the ground. The second position is that the first cutter head is located in the orthographic projection of the machine body towards the ground, and the minimum horizontal distance from the outer side edge of the cutting edge to the outer side edge of the machine body is larger than or equal to 0 and smaller than or equal to 50 mm. Under the condition that the intelligent mower is in a mowing working state and grass is not clamped, the rotating speed of the first cutter head ranges from 1800 revolutions per minute to 3500 revolutions per minute. The detection device is used for detecting biological information, and the intelligent mower is used for executing safety protection actions according to the biological information. According to the intelligent mower, the low grass retaining rate can be guaranteed while the edges are cut, the working decibel of the intelligent mower is low, and the service life of the cutter head is long.

Description

[0001] This application is a divisional application. The application number of the original application is 202411155647.1, and the original application date is August 22, 2024. The entire contents of the original application are incorporated into this application by reference. Technical Field

[0002] The present invention relates to the technical field of intelligent lawn mowers, and in particular to an intelligent lawn mower and a control method thereof. Background Art

[0003] With the development of automation technology and artificial intelligence, smart lawn mowers can automatically perform mowing tasks, saving people a lot of time and providing great convenience to life.

[0004] Smart lawn mowers on the market usually include a cutting system, which includes cutting parts, and the cutting parts are usually metal blades. In order to ensure that the user will not be injured, a protective cover is provided on the periphery of the metal blade, and there is also a certain horizontal distance between the outer edge of the protective cover and the periphery of the smart lawn mower. In this way, the horizontal distance between the end of the metal blade and the outer contour of the smart lawn mower will be relatively large. In other words, during the cutting operation, there will be an area that cannot be cut between the end of the metal blade and the boundary of the working area, or between it and obstacles such as corners, fences, and steps.

[0005] In the related art, these areas that cannot be cut usually require users to use traditional methods for secondary processing. Of course, there are also some technical solutions that attempt to rely solely on intelligent robots to complete edge cutting work, such as the technical solution in the Chinese invention patent application with publication number CN110547088A, which mainly has flexible trimming elements at the edge of the fuselage, such as: mowing lines, flexible plastic blades or flexible rubber blades, etc. However, there will be uneven grass distribution at the boundary of the working area. This flexible trimming element is difficult to fully cope with this lawn situation during the cutting process, resulting in difficulty in completely cleaning the grass at the boundary of the working area. Users still need to use traditional methods for secondary processing. Therefore, although this solution cuts to the edge, the grass retention rate is too high.

[0006] Another example is the Chinese invention patent with publication number CN112312761 B, which has an auxiliary cutting module on the machine body. The cutting module uses a metal element or plastic blade without a cutting edge, and its working energy can only be within 5J or 2J. The corresponding blade speed is extremely low, so its cutting effect is also difficult to cope with the above-mentioned lawn situation. Users still need to use traditional methods for secondary processing. Therefore, although this solution cuts to the edge, the grass retention rate is too high. Summary of the invention

[0007] The present application provides an intelligent lawn mower and a control method thereof. The effective cutting area of ​​the intelligent lawn mower can cover the boundary of the working area as much as possible, and can solve the problems of existing intelligent lawn mowers such as cutting to the edge but with a high grass retention rate, a low grass retention rate but too high decibels, and a low grass retention rate but severe wear on the cutter head. The application provides a lawn mower that can cut to the edge while ensuring a low grass retention rate, with a low decibel and a long service life of the cutter head.

[0008] The first aspect of the present application provides an intelligent lawn mower, comprising:

[0009] A body, comprising a first end and a second end arranged opposite to each other along a forward direction of the intelligent lawn mower;

[0010] The front wheel and the rear wheel are both arranged on the side of the intelligent lawn mower facing the ground, and in the forward direction of the intelligent lawn mower, the front wheel and the rear wheel are arranged at an interval;

[0011] A first blade disc is connected to a side of the fuselage facing the ground, and a cutting blade is provided on the outer side of the first blade disc, and the cutting blade is a metal part;

[0012] In the forward direction of the intelligent lawn mower, at least a portion of the first blade disc is located between the first cut surface of the front wheel and the first end portion;

[0013] The first section is perpendicular to the advancing direction and passes through a first end point of the front wheel, where the first end point is defined as the farthest point of the front wheel from the first end;

[0014] The relative position between the first blade disc and the fuselage remains unchanged, and the first blade disc is fixed at the first position or the second position.

[0015] The first position is defined as: at least a portion of the first cutter head is located outside the orthographic projection of the fuselage toward the ground,

[0016] The second position is defined as: the first cutter disc is located within the orthographic projection of the fuselage toward the ground, and the minimum horizontal distance from the outer edge of the cutting blade to the outer edge of the fuselage is greater than or equal to 0 and less than or equal to 50 mm;

[0017] The first blade disc is configured such that when the smart lawn mower is in a mowing state and is not stuck, the rotation speed of the first blade disc is between 1800 rpm and 3500 rpm;

[0018] A detection device is arranged on the body, the detection device is used to detect biological information, and the intelligent lawn mower is used to perform safety protection actions according to the biological information.

[0019] The smart lawn mower provided by the present application can make the first blade disc face the lawn to be cut by arranging the first blade disc below the body, so as to facilitate the smart lawn mower to perform cutting operations. By arranging a metal cutting blade on the outer side of the first blade disc, the sharpness of the first blade disc can be improved, which is conducive to improving the cutting efficiency of the first blade disc. By arranging at least part of the first blade disc at the front end of the machine body, on the one hand, in order to adapt to the majority of intelligent lawn mowers in which the identification module is arranged at the middle and front ends, the field of view difference between the first blade disc and the identification module of the intelligent lawn mower is smaller, and the follower performance is better. For example, when the area to be cut is close to the boundary line for cutting along the edge, the first blade disc can be close to the boundary line for mowing, and the cutting is closer to the edge, which greatly reduces the grass retention rate in the area to be cut, thereby improving the overall cutting efficiency of the intelligent lawn mower, so that the lawn is neater and more beautiful after being mowed; on the other hand, since the cutting blade of the first blade disc is located in front of the front wheel, when the intelligent lawn mower moves forward, not only does the front wheel not bend part of the grass on the lawn, thereby causing the blade disc to cut the lawn inconsistently, but also when the first blade disc rotates, it will generate airflow to blow up the grass on the front side of the machine body, so that the grass on the front side of the machine body is in a relatively vertical state, so that the grass can be in a relatively vertical state during cutting, ensuring a consistent lawn stubble height, ensuring the lawn cutting efficiency and cutting effect, making the lawn neater and more beautiful, and promoting the healthy growth of the lawn. In addition, when the first blade disc is performing a cutting operation, the airflow can flow through the blade disc more directly from the front side of the fuselage, so that the airflow and the blade disc can contact faster, taking away the heat from the first blade disc, and helping to improve the heat dissipation effect of the first blade disc.

[0020] When the first blade disc is in the first position, at least part of the first blade disc is located outside the outer edge of the fuselage, so that the effective cutting range of the smart lawn mower can be expanded by increasing the cutting width outside the fuselage, so that the cutting blind area of ​​the smart lawn mower at the boundary line is smaller, and cutting to the edge is achieved, solving the problem of high grass retention rate and inability to cut to the edge of the smart lawn mower in the related art. When the first blade disc is in the second position, the first blade disc is located inside the fuselage, and the distance from the outer edge of the fuselage is greater than or equal to 0 and less than or equal to 50 mm, so that cutting to the edge can be achieved while ensuring cutting safety to the greatest extent. By reducing the distance from the first blade disc to the outer edge of the fuselage, the first blade disc of the smart lawn mower has a small cutting blind area from the boundary line, so that cutting to the edge can be achieved, solving the problem of high grass retention rate and inability to cut to the edge of the smart lawn mower in the related art.

[0021] By setting the rotation speed of the first blade disc between 1800 rpm and 3500 rpm and placing the first blade disc in the first position or the second position, it can be ensured that the grass retention rate of the lawn after mowing is within a reasonable range (5%-10%). At the same time, the working decibel during mowing is maintained at a low level, which will not cause hearing damage and adverse effects to the human body and / or surrounding organisms, and ensure the service life of the first blade disc, and also enable the power utilization rate of the smart lawn mower to remain at a high level.

[0022] It should be noted that the grass retention rate refers to the ratio of the uncut lawn area to the original or expected cut lawn area. For better representation, this ratio can be expressed by the following formula: Grass retention rate = (the sum of the uncut lawn area and the lawn area whose cutting effect does not meet expectations / the original or expected cut lawn area) × 100%.

[0023] Exemplarily, the cutting effect is not in line with expectations means that the actual cutting height of the lawn differs from the expected cutting height of the lawn by 1 cm or more.

[0024] The working decibel of a smart lawn mower refers to the unit of the noise level generated within a range of 1 meter when it is running. It can reflect the sound pressure level of the noise generated by the rotating blade of the lawn mower when it is in normal working condition.

[0025] It should also be noted that after the smart lawn mower completes the cutting work, when the grass retention rate of the lawn in the area is greater than 10%, the cutting work is unsatisfactory and the user still needs to perform a second trimming. When the grass retention rate of the lawn is at 5% and tends to 0%, the user's perception of the lawn quality is not obvious. The smart lawn mower does not need to invest more costs to control the grass retention rate below 5%. Moreover, when the working decibels generated by the smart lawn mower are greater than 80 decibels, it will cause irreversible and serious damage to human hearing and have a greater impact on surrounding organisms.

[0026] like Figure 1A As shown, when the rotation speed of the first blade disc is at 1400 rpm and approaches 3500 rpm, the working decibel is between 45 dB and 80 dB, and when the rotation speed of the first blade disc is above 3500 rpm, its working decibel will exceed 80 dB, and the upward trend will increase significantly. When the working decibel exceeds 80 dB, it will cause irreversible and serious damage to human hearing and have a greater impact on surrounding organisms. Therefore, when the rotation speed of the first blade disc is controlled at 3500 rpm or below, people and organisms around the smart lawn mower will not be greatly affected, which is an ideal working state.

[0027] It should be noted that Figure 1BThe data sets in the figure are obtained under the same grass conditions (same lawn distribution density), using the same smart lawn mower and controlling the driving speed of the smart lawn mower to remain the same.

[0028] In order to keep the rate within an appropriate range, Figure 1B As shown, it can be seen that the distance between the first blade disc and the body and the rotation speed of the first blade disc are related to the grass retention rate. It can be seen that the faster the rotation speed of the first blade disc, the lower the grass retention rate. Although, when the rotation speed of the first blade disc is controlled at above 3500 rpm (for example: 3600 rpm), the grass retention rate can be controlled lower, but this effect is not obvious to users. The smart lawn mower does not need to control the grass retention rate to an extreme and set the rotation speed of the first blade disc to more than 3500 rpm. Moreover, when the rotation speed of the first blade disc exceeds 3500 rpm, the working decibel of the smart lawn mower will exceed 80 decibels. Long-term exposure to this environment will cause irreversible and serious damage to human hearing, and have a greater impact on surrounding organisms. At the same time, even if the rotation speed of the first blade disc is increased, the lawn cutting effect cannot be significantly improved, but the power utilization rate of the smart lawn mower will be reduced.

[0029] Continue to refer to Figure 1B It can be seen that when the rotation speed of the first blade disc is below 1800 rpm (for example: 1400 rpm, 1600 rpm), no matter the first blade disc is in the first position or the second position, the grass retention rate is above 10%, and the user still needs to perform secondary trimming.

[0030] When the rotation speed of the first blade disc is at 1800 rpm, and the minimum horizontal distance from the outer edge of the first blade disc to the outer edge of the fuselage is greater than 50 mm (for example, 60 mm), the grass retention rate is still above 10%, and the user still needs to perform a second trimming; and when the rotation speed of the first blade disc is at 1800 rpm, and the minimum horizontal distance from the outer edge of the first blade disc to the outer edge of the fuselage is equal to 50 mm, the grass retention rate is just around 10%, and the user does not need to perform a second trimming. Figure 1B It can also be seen that when the first blade disc is at above 1800 rpm (for example: 2000 rpm, 2200 rpm, 2400 rpm, 2600 rpm, 2800 rpm, 3000 rpm, 3200 rpm), and the first blade disc is in the first position or the second position, the grass retention rate can be below 10%, and the user does not need to perform secondary trimming. Moreover, the closer the position of the first blade disc is to the outer edge of the fuselage or exceeds the outer edge of the fuselage, the grass retention rate will gradually decrease.

[0031] Therefore, when the rotation speed of the first blade disc is controlled at 1800 rpm and is located in the first position or the second position at the same time, not only can the working decibel of the smart lawn mower be within an appropriate range (80 decibels and below), but it can also ensure that the grass retention rate is within a reasonable range (below 10%) and the power utilization rate of the smart lawn mower is at a higher level.

[0032] In addition, the rotation speed of the first blade will also affect the life of the cutting edge. Before the blade speed reaches 1800 rpm, it is basically in a non-cutting state, and the cutting edge can maintain a basically stable service life. When the blade speed reaches 1800 rpm, it enters the working state of cutting vegetation, and the service life of the cutting edge begins to decrease. When the blade speed exceeds 3500 rpm, the service life of the cutting edge decreases significantly. If the rotation speed is too fast, negative pressure is easily formed, which will suck foreign particles (such as pebbles, etc.) other than vegetation to the cutting edge, causing damage to the blade, thus affecting the service life of the blade. Therefore, maintaining the blade speed at 1800 rpm-3500 rpm is an ideal cutting state, and the service life of the blade is also maintained below a normal wear expectation.

[0033] By setting up a detection device, the intelligent lawn mower can be controlled to perform safety protection actions according to the biological information detected by the detection device, which can improve the safety performance of the intelligent lawn mower.

[0034] In a possible implementation manner, both ends of the first end portion extend in a direction opposite to the advancing direction.

[0035] In one possible implementation, the smart lawn mower further includes a first side edge and a second side edge;

[0036] In the forward direction of the intelligent lawn mower, both ends of the first side edge and the second side edge are connected to the second end and the first end respectively, and the first side edge and the second side edge are relatively arranged on both sides of the transverse direction of the fuselage, and the transverse direction of the fuselage is perpendicular to the forward direction.

[0037] With such an arrangement, the smart lawn mower can have an overall quadrilateral structure, thereby improving the stability and aesthetics of the smart lawn mower.

[0038] In a possible implementation, the number of the first cutter discs is at least two, and in the transverse direction of the fuselage, the at least two first cutter discs are arranged opposite to each other at the first end.

[0039] With such an arrangement, on the one hand, the two relatively arranged first blade discs play the role of balancing the center of gravity, and there is no need to set up additional counterweights considering the counterweight of the whole machine; on the other hand, the first blade discs on both sides can perform cutting work, which expands the cutting range of the first blade discs, thereby allowing the smart lawn mower to cut to the edge, and because the first blade disc on either side can be used to mow the grass, there is no need to modify the algorithm due to the change in the position of the first blade disc, and it is more universal; in addition, the rotation of the blade discs on both sides can drive the airflow in the space under the fuselage, which has a better heat dissipation effect and can also blow away the grass clippings wrapped on the front wheels, thereby preventing the front wheels from slipping due to sticky grass clippings.

[0040] In a possible implementation, the first cutter disc is disposed on a side where the first end portion is connected to the first side edge, or the first cutter disc is located on a side where the first end portion is connected to the second side edge.

[0041] With such an arrangement, the first blade disc can be close to the first end and close to the first side edge or the second side edge, so that the first blade disc is located at the outer edge of the fuselage. In this way, when performing cutting operations, the first blade disc can cover the outer edge of the lawn mower, thereby ensuring cutting to the edge.

[0042] In a possible implementation, at least one of the first cutter discs is located on a side where the first end portion is connected to the first side edge, and at least one of the first cutter discs is located on a side where the first end portion is connected to the second side edge.

[0043] With such an arrangement, the first blade disc can be located at the first side edge and the second side edge respectively, so that the first blade disc can cover both sides of the body in the transverse direction, thereby expanding the cutting range of the smart lawn mower, improving the cutting efficiency, and being able to cut to the edge. In a possible implementation, the number of the front wheels is one, and in the forward direction of the smart lawn mower, the front wheel is located on the central axis of the body in the transverse direction.

[0044] By setting the number of front wheels to one, the structure of the smart lawn mower can be simplified and the cost can be reduced. In addition, a single front wheel occupies less space, so setting a front wheel can provide enough space for the first blade disc, thereby ensuring that the rotation radius of the first blade disc is large enough, thereby expanding the cutting range of the smart lawn mower and ensuring that the smart lawn mower can cut to the edge.

[0045] In a possible implementation, the number of the front wheels is two, and in the forward direction of the intelligent lawn mower, the front wheels are symmetrically arranged in the lateral direction of the body.

[0046] Such a setting can strengthen the support for the fuselage, enhance the balance ability of the fuselage, and thus improve the operating stability of the smart lawn mower and improve the obstacle crossing ability of the lawn mower.

[0047] In a possible implementation, the safety protection action at least includes controlling the first cutter disc to decelerate and / or stop the first cutter disc and / or shielding the first cutter disc in a protective cover.

[0048] Such an arrangement can prevent the first blade disc from causing harm to living things, thereby improving the safety performance of the intelligent lawn mower.

[0049] A second aspect of the present application provides an intelligent lawn mower, comprising:

[0050] A body, comprising a first end and a second end arranged opposite to each other along a forward direction of the intelligent lawn mower;

[0051] The front wheel and the rear wheel are both arranged on the side of the intelligent lawn mower facing the ground, and in the forward direction of the intelligent lawn mower, the front wheel and the rear wheel are arranged at an interval;

[0052] A first blade disc is connected to a side of the fuselage facing the ground, and a cutting blade is provided on the outer side of the first blade disc, and the cutting blade is a metal part;

[0053] In the forward direction of the intelligent lawn mower, at least a portion of the first blade disc is located between the second section surface of the rear wheel and the second end portion;

[0054] The second section is perpendicular to the advancing direction and passes through the second end point of the rear wheel, where the second end point is defined as the farthest point of the rear wheel from the second end;

[0055] The relative position between the first blade disc and the fuselage remains unchanged, and the first blade disc is fixed at the first position or the second position.

[0056] The first position is defined as: at least a portion of the first cutter head is located outside the orthographic projection of the fuselage toward the ground,

[0057] The second position is defined as: the first cutter disc is located within the orthographic projection of the fuselage toward the ground, and the minimum horizontal distance from the outer edge of the cutting blade to the outer edge of the fuselage is greater than or equal to 0 and less than or equal to 50 mm;

[0058] The first blade disc is configured such that when the smart lawn mower is in a mowing state and is not stuck, the rotation speed of the first blade disc is between 1800 rpm and 3500 rpm;

[0059] A detection device is arranged on the body, the detection device is used to detect biological information, and the intelligent lawn mower is used to perform safety protection actions according to the biological information.

[0060] The smart lawn mower provided by the present application can make the first blade disc face the lawn to be cut by arranging the first blade disc below the body, so as to facilitate the smart lawn mower to perform cutting operations. By arranging a metal cutting blade on the outer side of the first blade disc, the sharpness of the first blade disc can be improved, which is conducive to improving the cutting efficiency of the first blade disc. By arranging at least a portion of the first blade disc at the rear end of the fuselage, on the one hand, when the blade disc needs to be urgently stopped or decelerated, such as to avoid, bypass or overcome obstacles, the blade disc can be controlled to decelerate or stop in time. Since the blade disc is on the rear side of the fuselage, there is a longer reaction time when controlling the blade disc to decelerate or stop, to ensure that before the smart lawn mower performs these actions, the blade disc has enough time to switch to a preset deceleration or preset stop state, to avoid damage to the blade disc due to collision with obstacles or gravel due to untimely switching. In this way, there is no need to increase the accuracy and cost too much at the software level and the sensor level to achieve the timeliness of the blade disc state switching, and further cost investment at the software level and the sensor level can be effectively saved. On the other hand, when the smart lawn mower retreats for make-up mowing, the problem of inconsistent cutting height caused by the rear wheel bending the lawn affecting the make-up mowing efficiency is avoided.

[0061] When the first blade disc is in the first position, at least part of the first blade disc is located outside the outer edge of the fuselage. In this way, the cutting range of the smart lawn mower can be expanded by increasing the cutting width outside the fuselage, so that the cutting blind area of ​​the smart lawn mower at the boundary line is smaller, and cutting to the edge is achieved, thereby solving the problem of high grass retention rate and inability to cut to the edge of the smart lawn mower in related technologies.

[0062] When the first blade disc is in the second position, the first blade disc is located inside the body, and the distance from the outer edge of the body is greater than or equal to 0 and less than or equal to 50 mm, so that cutting to the edge can be achieved while ensuring cutting safety to the greatest extent. By reducing the distance from the first blade disc to the outer edge of the body, the cutting blind area of ​​the first blade disc of the smart lawn mower from the boundary line is small, so cutting to the edge can be achieved, solving the problem of high grass retention rate and inability to cut to the edge of smart lawn mowers in related technologies.

[0063] By setting the rotation speed of the first blade disc between 1800 rpm and 3500 rpm and placing the first blade disc in the first position or the second position, it can be ensured that the grass retention rate of the lawn after mowing is within a reasonable range (5%-10%). At the same time, the working decibel during mowing is maintained at a low level, which will not cause hearing damage and adverse effects to the human body and / or surrounding organisms, and ensure the service life of the first blade disc, and also enable the power utilization rate of the smart lawn mower to remain at a high level.

[0064] It should be noted that the grass retention rate refers to the ratio of the uncut lawn area to the original or expected cut lawn area. For better representation, this ratio can be expressed by the following formula: Grass retention rate = (the sum of the uncut lawn area and the lawn area whose cutting effect does not meet expectations / the original or expected cut lawn area) × 100%.

[0065] Exemplarily, the cutting effect is not in line with expectations means that the actual cutting height of the lawn differs from the expected cutting height of the lawn by 1 cm or more.

[0066] The working decibel of a smart lawn mower refers to the unit of the noise level generated within a range of 1 meter when it is running. It can reflect the sound pressure level of the noise generated by the rotating blade of the lawn mower when it is in normal working condition.

[0067] It should also be noted that after the smart lawn mower completes the cutting work, when the grass retention rate of the lawn in the area is greater than 10%, the cutting work is unsatisfactory and the user still needs to perform a second trimming. When the grass retention rate of the lawn is at 5% and tends to 0%, the user's perception of the lawn quality is not obvious. The smart lawn mower does not need to invest more costs to control the grass retention rate below 5%. Moreover, when the working decibels generated by the smart lawn mower are greater than 80 decibels, it will cause irreversible and serious damage to human hearing and have a greater impact on surrounding organisms.

[0068] like Figure 1A As shown, when the rotation speed of the first blade disc is at 1400 rpm and approaches 3500 rpm, the working decibel is between 45 dB and 80 dB, and when the rotation speed of the first blade disc is above 3500 rpm, its working decibel will exceed 80 dB, and the upward trend will increase significantly. When the working decibel exceeds 80 dB, it will cause irreversible and serious damage to human hearing and have a greater impact on surrounding organisms. Therefore, when the rotation speed of the first blade disc is controlled at 3500 rpm or below, people and organisms around the smart lawn mower will not be greatly affected, which is an ideal working state.

[0069] It should be noted that Figure 1B The data sets in the figure are obtained under the same grass conditions (same lawn distribution density), using the same smart lawn mower and controlling the driving speed of the smart lawn mower to remain the same.

[0070] In order to keep the rate within an appropriate range, Figure 1BAs shown, it can be seen that the distance between the first blade disc and the body and the rotation speed of the first blade disc are related to the grass retention rate. It can be seen that the faster the rotation speed of the first blade disc, the lower the grass retention rate. Although, when the rotation speed of the first blade disc is controlled at above 3500 rpm (for example: 3600 rpm), the grass retention rate can be controlled lower, but this effect is not obvious to users. The smart lawn mower does not need to control the grass retention rate to an extreme and set the rotation speed of the first blade disc to more than 3500 rpm. Moreover, when the rotation speed of the first blade disc exceeds 3500 rpm, the working decibel of the smart lawn mower will exceed 80 decibels. Long-term exposure to this environment will cause irreversible and serious damage to human hearing, and have a greater impact on surrounding organisms. At the same time, even if the rotation speed of the first blade disc is increased, the lawn cutting effect cannot be significantly improved, but the power utilization rate of the smart lawn mower will be reduced.

[0071] Continue to refer to Figure 1B It can be seen that when the rotation speed of the first blade disc is below 1800 rpm (for example: 1400 rpm, 1600 rpm), no matter the first blade disc is in the first position or the second position, the grass retention rate is above 10%, and the user still needs to perform secondary trimming.

[0072] When the rotation speed of the first blade disc is at 1800 rpm, and the minimum horizontal distance from the outer edge of the first blade disc to the outer edge of the fuselage is greater than 50 mm (for example, 60 mm), the grass retention rate is still above 10%, and the user still needs to perform a second trimming; and when the rotation speed of the first blade disc is at 1800 rpm, and the minimum horizontal distance from the outer edge of the first blade disc to the outer edge of the fuselage is equal to 50 mm, the grass retention rate is just around 10%, and the user does not need to perform a second trimming. Figure 1B It can also be seen that when the first blade disc is at above 1800 rpm (for example: 2000 rpm, 2200 rpm, 2400 rpm, 2600 rpm, 2800 rpm, 3000 rpm, 3200 rpm), and the first blade disc is in the first position or the second position, the grass retention rate can be below 10%, and the user does not need to perform secondary trimming. Moreover, the closer the position of the first blade disc is to the outer edge of the fuselage or exceeds the outer edge of the fuselage, the grass retention rate will gradually decrease.

[0073] Therefore, when the rotation speed of the first blade disc is controlled at 1800 rpm and is located in the first position or the second position at the same time, not only can the working decibel of the smart lawn mower be within an appropriate range (80 decibels and below), but it can also ensure that the grass retention rate is within a reasonable range (below 10%) and the power utilization rate of the smart lawn mower is at a higher level.

[0074] In addition, the rotation speed of the first blade will also affect the life of the cutting edge. Before the blade speed reaches 1800 rpm, it is basically in a non-cutting state, and the cutting edge can maintain a basically stable service life. When the blade speed reaches 1800 rpm, it enters the working state of cutting vegetation, and the service life of the cutting edge begins to decrease. When the blade speed exceeds 3500 rpm, the service life of the cutting edge decreases significantly. If the rotation speed is too fast, negative pressure is easily formed, which will suck foreign particles (such as pebbles, etc.) other than vegetation to the cutting edge, causing damage to the blade, thereby affecting the service life of the blade. Therefore, maintaining the blade speed at 1800 rpm-3500 rpm is an ideal cutting state, and the service life of the blade is also maintained below a normal wear expectation.

[0075] By setting up a detection device, the intelligent lawn mower can be controlled to perform safety protection actions according to the biological information detected by the detection device, which can improve the safety performance of the intelligent lawn mower.

[0076] In a possible implementation manner, both ends of the second end portion extend along the advancing direction.

[0077] In a possible implementation, it further includes a first side edge and a second side edge;

[0078] In the forward direction of the intelligent lawn mower, both ends of the first side edge and the second side edge are connected to the second end and the first end respectively, and the first side edge and the second side edge are relatively arranged on both sides of the transverse direction of the fuselage, and the transverse direction of the fuselage is perpendicular to the forward direction.

[0079] With such an arrangement, the smart lawn mower can have an overall quadrilateral structure, thereby improving the stability and aesthetics of the smart lawn mower.

[0080] In a possible implementation, the number of the first cutter discs is at least two, and in the transverse direction, the at least two first cutter discs are disposed opposite to each other at the second end.

[0081] This arrangement can expand the cutting range of the first blade disc, thereby enabling the intelligent lawn mower to cut to the edge.

[0082] In a possible implementation, the first cutter disc is disposed on a side where the second end portion is connected to the first side edge, or the first cutter disc is located on a side where the second end portion is connected to the second side edge.

[0083] With this arrangement, the first blade disc can be close to the second end and close to the first side edge or the second side edge, so that the first blade disc is located at the outer edge of the fuselage. In this way, when performing cutting operations, the first blade disc can cover the outer edge of the lawn mower, thereby ensuring cutting to the edge.

[0084] In a possible implementation, at least one of the first cutter discs is located on a side where the second end portion is connected to the first side edge, and at least one of the first cutter discs is located on a side where the second end portion is connected to the second side edge.

[0085] With this arrangement, the first blade disc can be located at the first side edge and the second side edge respectively, so that the first blade disc can cover both sides of the fuselage in the lateral direction, thereby expanding the cutting range of the smart lawn mower, improving the cutting efficiency, and being able to cut to the edge.

[0086] In a possible implementation, the number of the front wheels is two, and in the forward direction of the intelligent lawn mower, the front wheels are symmetrically arranged in the lateral direction of the body.

[0087] Such a setting can strengthen the support for the fuselage, enhance the balance ability of the fuselage, and thus improve the operating stability of the smart lawn mower and improve the obstacle crossing ability of the lawn mower.

[0088] In a possible implementation, the safety protection action at least includes controlling the first cutter disc to decelerate and / or stop the first cutter disc and / or shielding the first cutter disc in a protective cover.

[0089] Such an arrangement can prevent the first blade disc from causing harm to living things, thereby improving the safety performance of the intelligent lawn mower.

[0090] According to a third aspect of the present application, there is provided a control method for an intelligent lawn mower, which is applied to an intelligent lawn mower, wherein the intelligent lawn mower is used to perform a cutting operation on a to-be-cut area, wherein the to-be-cut area includes at least two adjacent boundary lines, wherein the two adjacent boundary lines intersect to form a corner area, or the extension lines of the two adjacent boundary lines intersect to form a corner area, and the two adjacent boundary lines forming the corner area are respectively a first boundary line and a second boundary line;

[0091] The smart lawn mower comprises a body and a first blade disc, wherein the body comprises a first end portion and a second end portion which are arranged opposite to each other along a forward direction of the smart lawn mower, wherein the first blade disc is installed on a side of the smart lawn mower facing the ground, and a cutting blade is arranged on the outer side of the first blade disc, wherein the cutting blade is a metal part and is used to perform a cutting operation on a to-be-cut area;

[0092] The method comprises:

[0093] When the smart lawn mower enters the corner area and the forward direction of the smart lawn mower is parallel to the first boundary line in the corner area, the smart lawn mower is controlled to repeatedly perform the first action combination until the forward direction of the smart lawn mower is parallel to the second boundary line of the corner area; wherein,

[0094] The first action combination is defined as first rotating a preset angle and then moving forward a preset distance.

[0095] When cutting the corner area, the intelligent lawn mower is controlled to repeatedly execute the cutting action of first rotating at a preset angle and then moving forward by a preset distance until the intelligent lawn mower is parallel to the second boundary. On the one hand, since the corner area is refined into multiple cutting sub-areas, the boundary line of each sub-area is the extension line of the preset forward distance, the cumulative area of ​​multiple cutting sub-areas is larger than the cutting area of ​​directly rotating at a preset angle. By accurately controlling the rotation angle and the preset distance, the corner area is fully cut from the algorithm level to achieve cutting to the edge, which greatly reduces the grass retention rate of the area to be cut, thereby improving the overall cutting efficiency and cutting accuracy of the intelligent lawn mower, making the lawn more tidy and beautiful after mowing; on the other hand, the structured cutting steps make the operation of the lawn mower more stable, and it can perform cutting work in uneven or complex-boundary corner areas, especially in border areas with irregular shapes or special angles. The intelligent lawn mower can flexibly adjust the rotation angle and forward distance according to the actual working environment to meet different mowing needs, reduce the risk of shaking due to large turning angles, and reduce the grass retention rate. It can cope with more complex corner challenges and improve the working condition adaptability of the intelligent lawn mower.

[0096] In a possible implementation, the cutting operation is not stopped during the process of repeatedly executing the first action combination.

[0097] This can achieve continuous cutting, prevent breakpoints or missed cutting, and keep the grass height consistent, making the lawn more beautiful overall.

[0098] In a possible implementation, the preset angle ranges from 10° to 30°.

[0099] By setting the value range of the preset angle to 10°-30°, it is possible to prevent the problem of the intelligent lawn mower having a low cutting efficiency due to the preset angle being too small, and the problem of not being able to cut to the edge due to the preset angle being too large.

[0100] In a possible implementation, the preset angle is 20°.

[0101] By setting the preset angle to 20°, it can be easily set up, reduce the difficulty of operation, ensure cutting efficiency, and ensure that the edge can be cut.

[0102] In a possible implementation, the smart lawn mower includes a front wheel and a rear wheel, the front wheel and the rear wheel are both arranged on a side of the smart lawn mower facing the ground, and in the forward direction of the smart lawn mower, the front wheel and the rear wheel are arranged at an interval;

[0103] In the forward direction of the intelligent lawn mower, at least a portion of the first blade disc is located between the first cut surface of the front wheel and the first end portion;

[0104] The first section is perpendicular to the advancing direction and passes through a first endpoint of the front wheel, where the first endpoint is configured as the farthest point of the front wheel from the first end.

[0105] When the smart lawn mower is cutting in the corner area, on the one hand, it is cutting along the first boundary line, and the effect of cutting along the second boundary line is affected by the distance from the blade disc to the first end. By setting at least a portion of the first blade disc between the first section in the forward direction and the first end, when the smart lawn mower is cutting in the corner area, since the first blade disc is set at the front end of the fuselage, the distance from the first end to the blade disc is smaller than when the blade disc is set at the middle and rear end of the fuselage. At this time, the forward trajectory of the first blade disc and the first end of the smart lawn mower in the corner area has a higher degree of overlap, so that less grass is left relative to the boundary line, and cutting to the edge is achieved while also improving the cutting efficiency. On the other hand, when performing equivalent mass point simulation on the smart lawn mower at the algorithm level, the center of gravity of the smart lawn mower is generally equivalent to a mass point. The weight of the entire lawn mower needs to be taken into account, and the length of the body in the forward direction is not taken into account. There may be defects such as accidental collision events caused by inaccurate control. By placing the blade disc in front, the front end of the lawn mower can be equivalent to a mass point. Since the blade disc is set at the first end, higher control accuracy can be achieved while satisfying the simplification of control logic. Furthermore, by setting at least part of the first blade disc between the first section and the first end in the forward direction, the blade disc has fully cut the lawn to be cut before the front wheel rolls over it, avoiding inconsistent cutting height caused by the front wheel bending the lawn, thereby affecting the overall beauty of the lawn.

[0106] In a possible implementation manner, the preset distance is less than a minimum horizontal distance from the smart lawn mower to the second boundary line.

[0107] This configuration can prevent the smart lawn mower from colliding with boundary lines where there are physical obstacles.

[0108] In a possible implementation, the relative position between the first cutter disc and the body remains fixed, and the first cutter disc is fixed at the first position or the second position;

[0109] When the first cutter disc is in the first position, at least a portion of the first cutter disc is located outside the orthographic projection of the fuselage toward the ground and is exposed on the outer side of the fuselage;

[0110] When the first cutter disc is in the second position, the first cutter disc is located within the orthographic projection of the fuselage toward the ground, and the minimum horizontal distance from the outer edge of the cutting blade to the outer edge of the fuselage is greater than or equal to 0 and less than or equal to 50 mm.

[0111] When the first blade disc is located at the first position, part of the structure of the first blade disc can be located outside the body, so that the cutting range of the smart lawn mower can be expanded, so that the smart lawn mower can cut to the edge, solving the problem that the smart lawn mower cannot cut to the edge in the related art. When the first blade disc is located at the second position, the first blade disc can be located inside the body, which can improve the safety performance of the smart lawn mower, and in the second position, the distance from the first blade disc to the outer edge of the body can also be shortened, so that the smart lawn mower can cut to the edge, solving the problem that the smart lawn mower cannot cut to the edge in the related art.

[0112] In a possible implementation, the first cutter head is movably connected to the fuselage;

[0113] The first cutter disc at least passes through a first position and a second position during movement relative to the body;

[0114] When the first cutter disc is in the first position, at least a portion of the first cutter disc is located outside the orthographic projection of the fuselage toward the ground and is exposed on the outer side of the fuselage;

[0115] When the first cutter disc is in the second position, the first cutter disc is located within the orthographic projection of the fuselage toward the ground, and the minimum horizontal distance from the outer edge of the cutting blade to the outer edge of the fuselage is greater than or equal to 0 and less than or equal to 50 mm;

[0116] The method further comprises:

[0117] The first cutter disc is controlled to move to the first position and the second position.

[0118] By setting the first blade disc to pass through at least the first position and the second position during its movement relative to the fuselage, the first blade disc is located on one side of the first end portion of the fuselage and can move relative to the fuselage along the radial direction of the blade disc. When located at the first position, at least part of the first blade disc is exposed outside the fuselage, thereby ensuring maximum cutting to the edge in the edge-adjacent state; when located at the second position, the first blade disc is located on the inner side of the fuselage and is 0-50 mm away from the edge of the fuselage, thereby ensuring partial cutting to the edge while ensuring cutting safety in the edge-adjacent state; and thus the smart lawn mower can automatically adjust the first blade disc to the first position or the second position as needed during cutting operations, thereby ensuring cutting to the edge while ensuring cutting safety.

[0119] In a possible implementation, the first cutter disc further includes a third position;

[0120] When the first cutter disc is in the third position, the first cutter disc is located within the orthographic projection of the fuselage toward the ground, and the minimum distance from the outer edge of the cutting blade to the outer edge of the fuselage is greater than 50 mm;

[0121] The first cutter disc at least passes through a first position, a second position and a third position during movement relative to the machine body;

[0122] The method further comprises:

[0123] The first cutter disc is controlled to move to the first position, the second position and the third position.

[0124] By setting the first blade disc to pass through at least a first position, a second position and a third position during its movement relative to the fuselage, when it is in the third position, the first blade disc is located on the inner side of the fuselage and is greater than 50 mm away from the edge of the fuselage. When mowing the lawn, the first blade disc can be moved from the first position or the second position to the third position. In this way, the position of the first blade disc can be adjusted in accordance with the algorithm or the cutting situation, so that the smart lawn mower has universal applicability and can also improve the safety of use of the smart lawn mower.

[0125] In a possible implementation, the smart lawn mower includes a front wheel and a rear wheel, the front wheel and the rear wheel are both arranged on a side of the smart lawn mower facing the ground, and in the forward direction of the smart lawn mower, the front wheel and the rear wheel are arranged at an interval;

[0126] The intelligent lawn mower further includes a second blade disc, which is mounted on a side of the body facing the ground, and in the forward direction of the intelligent lawn mower, the second blade disc is located between the rear wheel and the front wheel;

[0127] The method further comprises:

[0128] The second cutter disc is controlled to execute or stop the cutting operation.

[0129] In this way, the second blade disc can be controlled to work in some positions, and the second blade disc can be controlled not to work in some areas where the second blade disc is not needed, so as to reasonably allocate resources and reduce energy consumption. For example, when the smart lawn mower is cutting in the middle area, the second blade disc can be controlled to perform cutting operations, and when the smart lawn mower is in the corner area, the second blade disc can be stopped from cutting operations, so as to reduce energy consumption.

[0130] In a possible implementation, the method further includes: when the first blade disc is located at the third position, at least a portion of the first blade disc and the second blade disc have orthographic projections toward the ground in the forward direction of the intelligent lawn mower overlap;

[0131] Control the first cutter disc and / or the second cutter disc to perform or stop the cutting operation.

[0132] By setting the first cutter disc in the third position so that at least part of it overlaps with the second cutter disc in the forward direction, it can be ensured that there is no missed cutting area between the first cutter disc and the second cutter disc, effectively preventing the complexity of the path planning algorithm or the overall unsightly lawn caused by missed cutting. On the other hand, the overall cutting efficiency of the intelligent lawn mower is improved because the cutting width of the cutter disc is increased. In addition, different cutter discs (including the first cutter disc and the second cutter disc) can be used to perform or stop cutting operations according to specific circumstances, so that resources can be reasonably allocated and energy consumption can be reduced. For example, when the intelligent lawn mower is cutting the middle area, the second cutter disc can be controlled to perform cutting operations, and the first cutter disc can be stopped from cutting operations. When the intelligent lawn mower is in the corner area, the first cutter disc can be controlled to perform cutting operations, and the second cutter disc can be stopped from cutting operations, so that energy consumption can be reduced and cutting efficiency can be improved.

[0133] In a possible implementation, the area to be cut further includes a middle area, and the middle area is located on a side of the corner area away from the boundary line;

[0134] The distance from the outer edge of the middle area to the boundary line is greater than a first preset distance;

[0135] The method further comprises:

[0136] When the intelligent lawn mower is located in the middle area, the first blade disc is controlled to move to the first position, the second position or the third position.

[0137] In this way, when the smart lawn mower is located in the middle area of ​​the lawn to be cut, the first blade disc can be moved to the first position, the second position or the third position. Since there is no boundary in the middle area, the first blade disc can be adjusted to any position that can achieve a good cutting effect according to the real-time working environment. Of course, the cutting range can be expanded and the cutting efficiency can be improved in the first position and the second position, and the safety performance can be improved in the third position.

[0138] In a possible implementation, the area to be cut further includes an edge area, the edge area includes at least one boundary line, the edge area includes the corner area, and is adjacent to the middle area, and the width of the edge area is equal to the first preset distance;

[0139] The method further comprises:

[0140] When the intelligent lawn mower is located in the edge area, the first blade disc is controlled to move to the first position or the second position.

[0141] When the smart lawn mower is located in the edge area, the first blade disc is moved to the first position, so that the lawn in the edge area can be cut to the maximum extent, especially the area close to the boundary line and outside the edge of the body, thereby solving the problem that the smart lawn mower in the related art cannot cut to the edge. Alternatively, when the smart lawn mower is located in the edge area, the first blade disc is moved to the second position, so that the use safety of the smart lawn mower can be improved while cutting to the edge.

[0142] In a possible implementation, the intelligent lawn mower includes a driving device, the driving device is arranged between the body and the first blade disc, and the driving device is used to drive the first blade disc to move along the radial direction of the first blade disc;

[0143] The method comprises:

[0144] When the intelligent lawn mower is located in the corner area, the driving device is controlled to move the first blade disc to the first position or the second position.

[0145] In this way, when the position information indicates that the smart lawn mower is located in a corner area, the first blade disc can be moved to the first position, and the area outside the edge of the body can be cut, solving the problem that the smart lawn mower in the related art cannot cut the edge. Alternatively, when the position information indicates that the smart lawn mower is located in a corner area, the first blade disc can be moved to the second position, and the position on the lower side of the body can be cut, ensuring that the edge is cut and improving safety performance.

[0146] In a possible implementation, the intelligent lawn mower includes a first acquisition unit, the first acquisition unit is located in the body, and the first acquisition unit is used to acquire position information of the intelligent lawn mower in the area to be cut;

[0147] When the smart lawn mower enters the corner area and the forward direction of the smart lawn mower is parallel to the first boundary line in the corner area, the smart lawn mower is controlled to repeatedly perform the first action combination until the forward direction of the smart lawn mower is parallel to the second boundary line of the corner area, and the above also includes:

[0148] The first acquisition unit is controlled to obtain the position information of the intelligent lawn mower in the area to be cut.

[0149] By setting the first acquisition unit, the position information of the smart lawn mower in the area to be cut can be easily obtained, and the position where the smart lawn mower is cutting can be obtained, which makes it easier to match the appropriate cutting mode and improve the efficiency of obtaining the position information of the smart lawn mower in the area to be cut.

[0150] In a possible implementation, the controlling the first acquisition unit to obtain the position information of the intelligent lawn mower in the to-be-cut area includes:

[0151] Controlling the first acquisition unit to acquire the number and position of boundary lines, wherein the minimum horizontal distance from the boundary line to the intelligent lawn mower is less than a second preset distance;

[0152] According to the number of the boundary lines, the position information of the intelligent lawn mower in the area to be cut is determined.

[0153] The position of the smart lawn mower can be confirmed by obtaining the number of currently recognized boundary lines. For example, when the first acquisition unit recognizes 0 boundary lines, it is judged that the smart lawn mower may be located in the middle area; when the first acquisition unit recognizes 1 boundary line, it is judged that the smart lawn mower may be located in the non-corner area along the edge area; when the first acquisition unit recognizes 2 boundary lines, it is judged that the smart lawn mower may be located in the corner area. Of course, the above judgment of the position of the smart lawn mower can also be combined with other information for weighted judgment. The above method is used to obtain the location information of the smart lawn mower. The method is simple and easy to implement, and can reduce the cost of the smart lawn mower.

[0154] In a possible implementation, the controlling the first acquisition unit to obtain the position information of the intelligent lawn mower in the to-be-cut area includes:

[0155] The first acquisition unit is controlled to obtain at least one image information of the intelligent lawn mower in the area to be cut, and the position information in the area to be cut is determined according to the at least one image information.

[0156] By combining the real-time image acquired by the first acquisition unit with the existing map to make a position judgment, or combining the number of boundary lines to make a logical comprehensive judgment to determine the position information of the smart lawn mower in the area to be cut, it is convenient, fast and highly accurate, and can improve the accuracy of obtaining the position information of the smart lawn mower in the area to be cut. In addition, the image information is easy to obtain, which can reduce the difficulty of obtaining the position information of the smart lawn mower in the area to be cut.

[0157] In a possible implementation, the intelligent lawn mower includes a second acquisition unit, and the second acquisition unit is used to acquire minimum horizontal distance information from the first blade disc to the boundary line;

[0158] The method further comprises:

[0159] Controlling the second acquisition unit to obtain information on the minimum horizontal distance from the first cutter head to the boundary line;

[0160] The first cutter disc is controlled to move to the first position, the second position or the third position according to the minimum horizontal distance information.

[0161] By setting up the second acquisition unit, the minimum horizontal distance information from the first cutter disc to the boundary line can be easily obtained, and the intelligent lawn mower can be comprehensively judged to be in the middle area, the edge area and the non-corner area, and the corner area, so as to control the first cutter disc to be in different positions, which is conducive to combining the path planning algorithm to improve the cutting efficiency and enhance the working intelligence of the intelligent lawn mower.

[0162] In a possible implementation manner, the controlling the first cutter head to move to the first position, the second position, or the third position according to the minimum horizontal distance information further includes:

[0163] When the first cutter disc is in the first position, the first cutter disc is controlled to extend a third preset distance from the outer edge of the fuselage projected toward the ground according to the minimum horizontal distance information, wherein the minimum horizontal distance from the first cutter disc to the boundary line is greater than the third preset distance.

[0164] Such an arrangement can reduce the possibility of collision of the first cutter disc when there is a physical boundary line, while expanding the cutting range, thereby achieving cutting to the edge.

[0165] In a possible implementation, the smart lawn mower further includes: a detection device, disposed on the body, the detection device being used to detect biological information, and the smart lawn mower being used to perform safety protection actions according to the biological information;

[0166] The method further comprises:

[0167] Controlling the detection device to obtain biological information of the area to be cut;

[0168] The smart lawn mower is controlled to perform a safe cutting action according to the biological information, wherein the safe cutting action at least includes controlling the first blade disc to slow down and / or stop and / or shielding the first blade disc in a protective cover.

[0169] With this arrangement, when biological information is detected, the smart lawn mower can be controlled to perform safety protection actions, which can improve the safety performance of the smart lawn mower and prevent the smart lawn mower from accidentally injuring organisms that enter the area to be cut.

[0170] In a possible implementation, the corner area is a corner with a physical boundary; wherein,

[0171] The physical boundary includes at least one of a fence, a wall, or a detected insurmountable height difference. BRIEF DESCRIPTION OF THE DRAWINGS

[0172] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0173] Figure 1 A schematic diagram of the framework structure of an intelligent lawn mower provided in an embodiment of the present application;

[0174] Figure 1A A schematic diagram of the quantitative relationship between the working decibel and the rotation speed of the blade of an intelligent lawn mower provided in an embodiment of the present application;

[0175] Figure 1B A data comparison table of grass retention rate, blade rotation speed, and distance between the outer edge of the blade and the body of an intelligent lawn mower provided in an embodiment of the present application;

[0176] Figure 2 A schematic diagram of the structure of an intelligent lawn mower provided in an embodiment of the present application;

[0177] Figure 3A schematic diagram of the structure of an intelligent lawn mower provided in an embodiment of the present application;

[0178] Figure 4 A structural schematic diagram of another intelligent lawn mower provided in an embodiment of the present application;

[0179] Figure 5 A structural schematic diagram of another intelligent lawn mower provided in an embodiment of the present application;

[0180] Figure 6 A schematic diagram of another application scenario of an intelligent lawn mower provided in an embodiment of the present application;

[0181] Figure 7 A schematic diagram of the structure of a first blade disc of an intelligent lawn mower provided in an embodiment of the present application;

[0182] Figure 8 A schematic cross-sectional structure diagram of a first blade disc of an intelligent lawn mower provided in an embodiment of the present application;

[0183] Fig. 9 Another schematic cross-sectional structure diagram of a first blade disc of an intelligent lawn mower provided in an embodiment of the present application;

[0184] Fig.10 A schematic diagram of the structure of an intelligent lawn mower provided in an embodiment of the present application;

[0185] Fig.11 A schematic diagram of a structure in which a first blade disc of an intelligent lawn mower provided in an embodiment of the present application is in a second position;

[0186] Fig.12 A structural schematic diagram of another intelligent lawn mower provided by an embodiment of the present application, in which the first blade disc is in a first position;

[0187] Fig.13 A schematic diagram of the framework structure of another intelligent lawn mower provided in an embodiment of the present application;

[0188] Fig.14 A structural schematic diagram of a first blade disc of an intelligent lawn mower provided in an embodiment of the present application being in a first position;

[0189] Fig.15 A schematic diagram of the structure of an intelligent lawn mower provided in an embodiment of the present application;

[0190] Fig.16 A schematic diagram of the framework structure of an intelligent lawn mower provided in an embodiment of the present application;

[0191] Fig.17 A schematic diagram of the structure of an intelligent lawn mower provided in an embodiment of the present application;

[0192] Fig.17A A schematic diagram of the structure of an intelligent lawn mower provided in an embodiment of the present application;

[0193] Fig.18 A schematic diagram of the framework structure of an intelligent lawn mower provided in an embodiment of the present application;

[0194] Fig.19 A schematic diagram of the structure of an intelligent lawn mower provided in an embodiment of the present application;

[0195] Fig.19A A schematic diagram of the structure of an intelligent lawn mower provided in an embodiment of the present application;

[0196] Fig. 20 A schematic diagram of the framework structure of an intelligent lawn mower provided in an embodiment of the present application;

[0197] Fig.21 A schematic diagram of the structure of an intelligent lawn mower provided in an embodiment of the present application;

[0198] Fig. 22 A flow chart of a control method for an intelligent lawn mower provided in an embodiment of the present application;

[0199] Fig.22A A flow chart of a control method for an intelligent lawn mower provided in an embodiment of the present application;

[0200] Fig.23 A flow chart of a control method for an intelligent lawn mower provided in an embodiment of the present application;

[0201] Fig.24 A flow chart of a control method for an intelligent lawn mower provided in an embodiment of the present application;

[0202] Fig.25 A flow chart of a control method for an intelligent lawn mower provided in an embodiment of the present application.

[0203] Description of reference numerals:

[0204] 100-smart lawn mower; 110-body; 111-first side edge;

[0205] 112 - second side edge; 113 - first end; 114 - second end;

[0206] 120-first blade disc; 122-second blade disc;

[0207] 123-rotating disk; 124-rebound device; 125-protective cover;

[0208] 1251-main support; 1252-telescopic arm; 1253-supporting part;

[0209] 1254- telescopic part; 130- motor; 140- detection device;

[0210] 150-driving device; 161-front wheel; 162-rear wheel;

[0211] 170-Balance structure; 180-Protective parts; 190-Control device;

[0212] 191-first acquisition unit; 192-second acquisition unit;

[0213] 200-area to be cut; 210-edge area; 220-middle area;

[0214] 230-corner area; 300-border line. DETAILED DESCRIPTION

[0215] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0216] The smart lawn mower provided in the embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0217] Figure 1 A schematic diagram of the framework structure of a smart lawn mower 100 provided in an embodiment of the present application.

[0218] The present application embodiment provides a smart lawn mower 100, such as Figure 1 As shown, the intelligent lawn mower 100 may include a body 110, a first blade disc 120 and a detection device 140. The body 110 is a main component of the intelligent lawn mower 100, and is used to install components such as the first blade disc 120 and the detection device 140. The intelligent lawn mower 100 may also include a motor 130, which is connected to the first blade disc 120 and is used to drive the first blade disc 120 to rotate so that the first blade disc 120 performs a cutting operation.

[0219] Exemplarily, the fuselage 110 may include a supporting chassis and a shell (not shown in the figure), wherein the main supporting chassis can be used to install the motor 130, and the motor 130 is connected to the first blade disc 120. It should be noted that the fuselage 110 in the embodiment of the present application refers to the fuselage in a macroscopic sense, and refers to the overall frame of the intelligent lawn mower 100 formed by the entire intelligent lawn mower except for the front wheel 161 and the rear wheel 162 and the motor and the first blade disc 120 used for cutting operations, and is not limited to one component. Among them, "the inside of the fuselage" refers to the orthographic projection in the vertical direction, which is located on the inside of the orthographic projection of the fuselage 110 in the vertical direction, and "the outside of the fuselage" refers to the orthographic projection in the vertical direction, which is located on the outside of the orthographic projection of the fuselage 110 in the vertical direction. "Under the fuselage" refers to the side of the fuselage facing the ground.

[0220] Combined with reference Figure 2 For the convenience of description, the forward direction of the smart lawn mower 100 is taken as the x direction, the lateral direction is taken as the y direction, and the vertical direction refers to the direction from the body 110 to the ground or the plane where the area to be cut 200 is located.

[0221] Exemplarily, the first blade disc 120 has a cutting blade (not shown in the figure), which is a metal part, and the first blade disc 120 cuts the grass in the cutting area through the cutting blade. The first blade disc 120 is set at a first position or a second position relative to the fuselage 110.

[0222] The first position is defined as: at least a portion of the first cutter head 120 is located outside the orthographic projection of the fuselage 110 toward the ground.

[0223] Exemplarily, when the first cutter disc is located at the first position, a horizontal distance h2 from an outer edge of the first cutter disc 120 located outside the fuselage 110 to an outer edge of the fuselage 110 may be greater than or equal to 0 and less than or equal to 60 mm.

[0224] Such a configuration can expand the cutting range of the smart lawn mower 100 and solve the problem that the smart lawn mower 100 cannot cut the edge in the related art. Exemplarily, the horizontal distance h2 from the outer edge of the first blade disc 120 located outside the fuselage 110 to the outer edge of the fuselage 110 can be 60 mm, 55 mm, 50 mm, 45 mm, 40 mm, 35 mm, 30 mm, 25 mm, 20 mm, 15 mm, 10 mm, 5 mm, 0 mm, etc. In the embodiment of the present application, the horizontal distance h2 from the outer edge of the first blade disc 120 located outside the fuselage 110 to the outer edge of the fuselage 110 is not further limited.

[0225] Of course, in other embodiments, the horizontal distance h2 from the outer edge of the first blade disc 120 located outside the fuselage 110 to the outer edge of the fuselage 110 may be greater than 0, and even the entire first blade disc 120 may be located outside the fuselage 110 .

[0226] The second position is defined as: the first cutter head 120 is located within the orthographic projection of the fuselage 110 toward the ground, and the minimum horizontal distance between the outer edge of the cutting blade and the outer edge of the fuselage 110 (see Figure 4 h1 in ) is greater than or equal to 0 and less than or equal to 50 mm. Exemplarily, the minimum horizontal distance h1 from the outer edge of the first cutter disc 120 to the outer edge of the fuselage 110 may be 50 mm, 45 mm, 40 mm, 35 mm, 30 mm, 25 mm, 20 mm, 15 mm, 10 mm, 5 mm, 0 mm, etc. In the embodiment of the present application, the minimum horizontal distance from the outer edge of the first cutter disc 120 to the outer edge of the fuselage 110 is not further limited.

[0227] The first blade disc 120 is configured such that when the smart lawn mower 100 is located at the first position or the second position and the smart lawn mower is in a mowing working state and is not stuck in the grass, the rotation speed of the first blade disc is between 1800 rpm and 3500 rpm.

[0228] The detection device 140 is disposed on the body 110 , and is used to detect biological information. The smart lawn mower 100 is used to perform safety protection actions according to the biological information.

[0229] The smart lawn mower 100 provided in the present application can make the first blade disc 120 face the lawn to be cut (the area to be cut) by setting the first blade disc 120 below the fuselage 110, so that the first blade disc 120 can be conveniently directed toward the lawn to be cut (the area to be cut). By setting a metal cutting blade on the outer side of the first blade disc 120, the sharpness of the first blade disc 120 can be improved, which is conducive to improving the cutting efficiency of the first blade disc 120. By setting the first blade disc 120 at the first position or the second position, when the smart lawn mower 100 is close to the boundary line for edge cutting in the area to be cut, the first blade disc 120 can be close to the boundary line for mowing, cutting closer to the edge, greatly reducing the grass retention rate in the area to be cut, thereby improving the overall cutting efficiency of the smart lawn mower 100, so that the lawn is neater and more beautiful after being mowed.

[0230] In addition, when the first blade disc 120 is located in the first position, at least part of the first blade disc 120 is located outside the outer edge of the body 110. This can increase the cutting width outside the body 110 and thus expand the cutting range of the smart lawn mower 100, so that the smart lawn mower 100 has a smaller cutting blind area at the boundary line and can cut to the edge, thereby solving the problem in the related art that the smart lawn mower 100 has a high grass retention rate and cannot cut to the edge.

[0231] When the first blade disc 120 is in the second position, the first blade disc 120 is located inside the body 110, and the distance from the outer edge of the body 110 is greater than or equal to 0 and less than or equal to 50 mm, so that cutting to the edge can be achieved while ensuring cutting safety to the greatest extent. By reducing the distance from the first blade disc 120 to the outer edge of the body 110, the cutting blind area of ​​the first blade disc 120 of the smart lawn mower 100 from the boundary line is small, so cutting to the edge can be achieved, thereby solving the problem of high grass retention rate and inability to cut to the edge of the smart lawn mower 100 in the related art.

[0232] In a possible implementation, the relative position of the first cutter disc 120 and the fuselage 110 is fixed, and the first cutter disc 120 is fixed in the first position or the second position. When the first cutter disc 120 is in the first position, at least a portion of the first cutter disc 120 is located outside the orthographic projection of the fuselage 110 toward the ground, and is exposed on the outside of the fuselage 110. When the first cutter disc 120 is in the second position, the first cutter disc 120 is located within the orthographic projection of the fuselage 110 toward the ground, and the minimum horizontal distance from the outer edge of the cutting blade to the outer edge of the fuselage 110 is greater than or equal to 0 and less than or equal to 50 mm. The reason why the rotation speed of the first cutter disc is between 1800 rpm and 3500 rpm can be referred to in the content of the invention. Figure 1A and Figure 1B The explanation will not be repeated here.

[0233] It should be noted that the first position and the second position are Figure 19-21 The first position and the second position in the embodiment shown in are the same, so the description of the first position and the second position can refer to the following Figure 19-21 The description in the embodiments shown in the figure will not be repeated in the implementation of this application.

[0234] For example, Figure 2 As shown, the body 110 includes a first end 113 and a second end 114 that are arranged opposite to each other along the forward direction of the intelligent lawn mower 100. The intelligent lawn mower 100 may also include a front wheel 161 and a rear wheel 162 that are arranged at intervals along the forward direction of the intelligent lawn mower 100, wherein the front wheel 161 and the rear wheel 162 are both arranged on the side of the body 110 facing the ground, and in the x direction, the front wheel 161 and the rear wheel 162 are arranged at intervals, and the front wheel 161 is located between the rear wheel 162 and the first end 113, and the rear wheel 162 is located between the front wheel 161 and the second end 114. That is, the front wheel 161 is installed at the front end of the body 110, and the rear wheel 162 is installed at the rear end of the body 110.

[0235] In the x direction, the first cutter disc 120 is located between the first section a of the front wheel 161 and the second section b of the rear wheel 162. The first section a is perpendicular to the x direction and passes through the first end point of the front wheel, which is defined as the farthest point of the front wheel 161 from the first end 113.

[0236] The second section b is perpendicular to the x-direction and passes through the second end point of the rear wheel 162, where the second end point is defined as the farthest point of the rear wheel 162 from the second end 114. The first cutter disc 120 may be disposed between the front wheel 161 and the rear wheel 162.

[0237] It should be noted that the smart lawn mower can be a rear-drive smart lawn mower, in which case the rear wheel 162 has a driving force for driving the smart lawn mower 100 forward or backward, and the front wheel 161 can be used to adjust the direction. Exemplarily, the front wheel 161 can be a universal wheel, which can facilitate the smart lawn mower 100 to adjust the direction.

[0238] It should be noted that the number of rear wheels 162 is generally two, and of course, in some embodiments, one rear wheel may be provided, and in the embodiment of the present application, the number of rear wheels is not further limited. Similarly, the number of front wheels 161 may also be two, and of course, in some embodiments, the number of front wheels 161 may also be one, and in the embodiment of the present application, the number of front wheels 161 is not further limited.

[0239] In one possible implementation, the body 110 may include a first side edge 111 and a second side edge 112 that are relatively arranged along a transverse direction (y direction), and the transverse direction is perpendicular to the forward direction of the smart lawn mower 100, wherein when the first blade disc 120 is in the first position, the first blade disc 120 is at least partially exposed to the outside of the body through the first side edge 111, or the first blade disc 120 is at least partially exposed to the outside of the body through the second side edge 112.

[0240] Exemplarily, the first cutter disc 120 is installed on a side of the fuselage 110 facing the ground, wherein the relative position of the first cutter disc 120 and the fuselage 110 is fixed, and the first cutter disc 120 is located at the first position.

[0241] The intelligent lawn mower 100 is usually used to cut lawns, so the first blade disc 120 is arranged below the body 110 to facilitate cutting of lawns.

[0242] In some embodiments, the first blade disc 120 may be disposed near the first side edge 111 of the body 110, and at least a portion of the structure of the first blade disc 120 may be exposed from the first side edge 111 to the outside of the body 110 (eg, Figure 2Alternatively, the first blade disc 120 may be disposed close to the second side edge 112 of the fuselage 110, and at least a portion of the structure of the first blade disc 120 may be exposed from the second side edge 112 to the outside of the fuselage 110 (not shown in the figure).

[0243] In the embodiment of the present application, by fixing the first blade disc 120 at the first position, the first blade disc 120 of the smart lawn mower 100 can cut to a position outside the body 110, so that the smart lawn mower 100 can cut to the edge, thereby solving the problem in the related art that the smart lawn mower 100 cannot cut to the edge.

[0244] Of course, in some embodiments, such as Figure 3 As shown, the first blade disc 120 can be arranged at a position close to the central axis of the fuselage 110, and both sides of the first blade disc 120 in the transverse direction can be exposed to the outside of the fuselage 110 from the first side edge 111 and the second side edge 112 respectively. In the embodiment of the present application, there is no further limitation on which side of the fuselage 110 of the first blade disc 120 is exposed to the outside of the fuselage 110.

[0245] In a possible implementation, when the first blade disc 120 is in the first position, the intelligent lawn mower 100 may include a protective member 180, wherein the protective member 180 is located between the first blade disc 120 and the body 110, and the first blade disc 120 is located in the first position through the protective member 180. Exemplarily, the protective member 180 is located above the first blade disc 120 to cover the first blade disc 120.

[0246] Exemplarily, when the first blade disc 120 is located in the first position, the outer edge of the portion of the first blade disc 120 located outside the fuselage 110 is flush with the outer edge of the protective member 180 in the vertical direction, or the horizontal distance between the outer edge of the portion of the first blade disc 120 located outside the fuselage 110 and the outer edge of the protective member 180 is greater than 0 mm and less than 50 mm.

[0247] One end of the protective member 180 is connected to the fuselage 110, and the other end extends toward the outside of the fuselage 110 along the lateral direction of the fuselage. In the vertical direction, the outer edge of the first blade disc 120 located outside the fuselage 110 is flush with the outer edge of the protective member 180, so that the first blade disc 120 is exposed to the fuselage 110 through the protective member 180.

[0248] It should be noted that in the embodiment of the present application, the protective member 180 can be a plate-like structure, which is located on the top of the first blade disc 120 and can be used to shield the first blade disc 120. Of course, in other embodiments, the protective member 180 can also be other structures. In the embodiment of the present application, the specific structure of the protective member 180 is not further limited.

[0249] In one possible implementation, the positions of the first cutter disc 120 and the fuselage 110 are relatively fixed, and the first cutter disc 120 is located at the second position, and the minimum horizontal distance h1 from the outer edge of the cutting blade of the first cutter disc 120 to the outer edge of the fuselage 110 is greater than or equal to 0 and less than or equal to 50 mm.

[0250] In some embodiments, Figure 4 As shown, the first cutter disc 120 can be set at the position of the central axis of the fuselage 110 in the transverse direction, and the minimum horizontal distance h1 from the outer edge of the first cutter disc 120 facing the first side edge 111 to the outer edge of the fuselage 110 is greater than or equal to 0 and less than or equal to 50 mm, and the minimum horizontal distance h1 from the outer edge of the first cutter disc 120 facing the second side edge 112 to the outer edge of the fuselage 110 is also greater than or equal to 0 and less than or equal to 50 mm.

[0251] In some other embodiments, the first cutter disc 120 may be disposed eccentrically, that is, the first cutter disc 120 is disposed close to the first side edge 111 or the second side edge 112 of the body 110. Figure 5 As shown, the first blade disc 120 is disposed close to the first side edge 111 of the body 110. The minimum horizontal distance h1 from the outer edge of the first blade disc 120 facing the first side edge 111 to the outer edge of the body 110 is greater than or equal to 0 and less than or equal to 50 mm. It should be noted that the outer edge of the first blade disc 120 is the outer edge of the cutting blade.

[0252] Of course, in other embodiments, the first blade disc 120 may also be disposed close to the second side edge 112 of the body 110, and the minimum horizontal distance h1 from the outer edge of the first blade disc 120 facing the second side edge 112 to the outer edge of the body 110 is greater than or equal to 0 and less than or equal to 50 mm. In the embodiment of the present application, the location of the first blade disc 120 is not further limited.

[0253] In the embodiment of the present application, by setting the minimum horizontal distance h1 from the outer edge of the first blade disc 120 to the outer edge of the fuselage 110 to be greater than or equal to 0 and less than or equal to 50 mm, the horizontal distance from the first blade disc 120 to the outer edge of the fuselage 110 can be reduced, so that the smart lawn mower 100 can cut to the edge. Compared with the situation in the related art where the horizontal distance from the first blade disc to the outer edge of the fuselage is large (generally more than 50 mm), this solution can solve the problem that the smart lawn mower 100 cannot cut to the edge in the related art. In addition, by setting the first blade disc 120 in the second position, the first blade disc 120 can be located inside the fuselage 110, thereby improving the safety performance of the smart lawn mower 100.

[0254] In one possible implementation, the first position is defined as: at least a portion of the first cutter disc 120 is located outside the orthographic projection of the fuselage 110 toward the ground, and in the lateral direction (y direction) of the fuselage, the minimum horizontal distance h2 between the farthest point of the first cutter disc 120 away from the fuselage 110 and the fuselage 110 is greater than 1 / 10 of the diameter of the first cutter disc 120, and the minimum horizontal distance h2 between the farthest point of the first cutter disc 120 away from the fuselage 110 and the fuselage 110 is less than 2 / 3 of the diameter of the first cutter disc 120.

[0255] In one possible implementation, when the first cutter disc 120 is located at the first position, in the y direction, the minimum horizontal distance h2 between the farthest point of the first cutter disc 120 away from the fuselage 110 and the fuselage 110 is greater than 1 / 10 of the diameter of the first cutter disc, and the minimum horizontal distance h2 between the farthest point of the first cutter disc 120 away from the fuselage 110 and the fuselage 110 is less than 1 / 3 of the first cutter disc diameter.

[0256] In one possible implementation, when the first cutter disc 120 is located at the first position, in the y direction, the minimum horizontal distance h2 between the farthest point of the first cutter disc 120 away from the fuselage 110 and the fuselage 110 is greater than 1 / 8 of the diameter of the first cutter disc, and the minimum horizontal distance h2 between the farthest point of the first cutter disc 120 away from the fuselage 110 and the fuselage 110 is less than 1 / 4 of the first cutter disc diameter.

[0257] Exemplarily, the minimum horizontal distance h2 between the farthest point of the first cutter disc 120 from the fuselage 110 and the fuselage 110 can be 1 / 10, 1 / 9, 1 / 8, 1 / 7, 1 / 6, 1 / 5, 1 / 4, 1 / 3, 1 / 2, etc. of the diameter of the first cutter disc 120. In the embodiment of the present application, the minimum horizontal distance h2 between the farthest point of the first cutter disc 120 from the fuselage 110 and the fuselage 110 is not further limited to a few fractions of the diameter of the first cutter disc 120.

[0258] For the convenience of description, in the embodiments of the present application, Figure 6 As shown, the lawn area to be processed is taken as the area to be cut 200, wherein the area to be cut 200 includes at least two adjacent boundary lines 300 (for example, walls, fences, steps, etc.), and the area surrounded by multiple boundary lines 300 is the area to be cut 200. The area to be cut 200 may include an edge area 210 and a middle area 220, wherein the middle area 220 refers to an area with a distance from the boundary greater than a first preset width, and the edge area 210 refers to an area between the middle area 220 and the boundary line 300, that is, the position of the area to be cut 200 close to the outer peripheral edge of the boundary line 300. The edge area includes a corner area 230, which is adjacent to the middle area 220, and the width of the edge area is equal to the first preset distance.

[0259] In some embodiments, two adjacent boundary lines 300 in the edge region 210 intersect to form a corner region or the extension lines of two adjacent boundary lines 300 intersect to form a corner region. In the corner region 230, the problem of not being able to cut the edge is also easy to occur.

[0260] In some embodiments, the first blade disc 120 is configured such that when the intelligent lawn mower 100 is in the process of mowing and is not stuck, the rotation speed of the first blade disc 120 is between 1800-2500 rpm. In some other embodiments, the first blade disc 120 is configured such that when the intelligent lawn mower 100 is in the process of mowing and is not stuck, the rotation speed of the first blade disc 120 is between 2000-2500 rpm. For example, the rotation speed of the first blade disc 120 can be 1800 rpm, 1600 rpm, 1700 rpm, 1800 rpm, 1900 rpm, 2000 rpm, 2100 rpm, 2200 rpm, 2300 rpm, 2400 rpm, 2500 rpm, etc. In the embodiments of the present application, the rotation speed of the first blade disc 120 is not further limited.

[0261] By setting the rotation speed of the first cutter disc between 1800 rpm and 2500 rpm, or between 2000 rpm and 2500 rpm, it is possible to save energy, reduce noise, improve safety factor, and extend the service life of the first cutter disc while ensuring cutting efficiency.

[0262] It should be noted that the rotation speed of the motor 130 in the embodiment of the present application refers to the rotation speed of the smart lawn mower 100 when it is working stably, and does not represent the rotation speed when it is started or shut down.

[0263] In one possible implementation, Figure 7 As shown, the first cutter disc 120 includes a plurality of blades 121 and a rotating disc 123, wherein the blades 121 are metal parts. The plurality of blades 121 are arranged at intervals along the circumference of the rotating disc 123, and a cutting edge is arranged on the outer side of the blade 121, and the outer edge of the cutting edge is the outer edge of the first cutter disc 120 and also the outer edge of the blade 121.

[0264] The first blade disc 120 can have a cutting function by providing the blade 121, so that the intelligent lawn mower 100 can perform a cutting operation. The blade 121 has good rigidity and is relatively sharp, which can improve cutting efficiency.

[0265] Exemplarily, the number of blades 121 can be multiple, and multiple blades 121 are arranged at intervals around the first cutter disc 120. This can improve the cutting efficiency. By providing multiple blades 121, the cutting efficiency of the first cutter disc 120 can be improved. When one of the blades 121 fails, the other blades 121 can still operate normally, thereby extending the service life of the first cutter disc 120.

[0266] In a possible implementation, the first cutter disc 120 may include a rebound device 124, wherein the rebound device 124 is disposed between the blade 121 and the rotating disc 123 of the first cutter disc 120. When the first cutter disc 120 performs a cutting operation, when the resistance of the blade 121 is greater than a preset threshold, the blade 121 automatically moves a preset horizontal distance toward the central axis of the first cutter disc 120 through the rebound device 124. When the resistance disappears, the blade 121 automatically rebounds to its original position through the rebound device 124 and continues to work.

[0267] In some embodiments, a pressure sensor may be provided on the first cutter disc 120, wherein the pressure sensor is used to detect the force applied to the blade 121. When the pressure applied to the blade 121 is greater than a preset threshold, the blade 121 is moved by a preset horizontal distance toward the central axis of the first cutter disc 120 through the rebound device 124. This can relieve instantaneous pressure and prevent the blade 121 from being damaged.

[0268] In some embodiments, the rebound device 124 may be a spring structure, which is disposed between the blade 121 and the first knife disc 120. The two spring structures may be disposed on both sides of the blade 121 along the circumference of the first knife disc 120, wherein one end of the spring structure is connected to the first knife disc 120, and the other end is connected to the blade 121. In this way, when the pressure on the blade 121 is greater than a preset threshold, the spring structure on one side will be stretched, and the spring structure on the other side will be compressed, causing a certain offset of the blade 121, which is equivalent to the blade 121 moving a preset horizontal distance in the direction close to the central axis of the first knife disc 120. It should be noted that the preset horizontal distance is related to the elasticity of the spring structure. In the embodiment of the present application, the preset horizontal distance is not further limited.

[0269] Of course, in other embodiments, the rebound device 124 may also be other structures, for example, it may be a spring sheet, a gear, a connecting rod, a cylinder, etc. In the implementation of this application, the structure of the rebound device 124 is not further limited.

[0270] Exemplarily, the smart lawn mower 100 may further include a control device, which may be connected to the detection device, and the control device is used to control the smart lawn mower 100 to perform safety protection actions according to the biological information.

[0271] In the embodiment of the present application, the safety protection action includes one or more of the following combinations: the smart lawn mower 100 slows down, the smart lawn mower 100 stops, the first blade disc 120 slows down, the first blade disc 120 stops rotating, the smart lawn mower 100 performs obstacle avoidance, and the smart lawn mower 100 performs obstacle bypassing. Such a setting can improve the safety performance of the smart lawn mower 100. When the smart lawn mower 100 performs obstacle avoidance, the first blade disc 120 can be shielded in the protective cover 125.

[0272] It should be noted that the smart lawn mower 100 performs safety protection actions, usually to prevent the cutting operation of the first blade disc 120 from causing damage to the organism. The first blade disc 120 decelerates, the first blade disc 120 stops, the first blade disc 120 stops and is shielded in the protective cover 125, the first blade disc 120 works normally and the first blade disc 120 is shielded in the protective cover 125. These methods can prevent the first blade disc 120 from causing damage to the organism, or reduce the damage to the organism. Therefore, by controlling the smart lawn mower 100 to perform safety protection actions according to biological information, the safety of the smart lawn mower 100 can be improved.

[0273] Of course, in other embodiments, there may be other forms of safety protection actions, for example, the intelligent lawn mower 100 may be controlled to avoid obstacles or to slow down, etc. It may also be possible to automatically move away from the creature according to the horizontal distance between the creature and the body 110, the first blade 120 may stop rotating and the blade 121 may be retracted, etc. In the embodiments of the present application, the form of the safety protection action is not further limited.

[0274] It should be noted that "biological information" refers to information about living things. The basis for controlling the smart lawn mower 100 to perform safety protection actions may be whether there are living things in the area to be cut 200, whether the horizontal distance between the living things and the smart lawn mower 100 is less than a preset horizontal distance, or whether the horizontal distance between the living things and the smart lawn mower 100 is gradually decreasing. In the embodiment of the present application, the basis for controlling the smart lawn mower 100 to perform safety protection actions is not further limited.

[0275] Exemplarily, the detection device 140 may include one or more of an infrared sensor, a line laser sensor, a camera, a distance sensor, a laser ranging sensor, an edge sensor, and a flight sensor.

[0276] Exemplarily, the detection device 140 can be set on the first blade disc 120, or on the fuselage 110, or at the edge of the fuselage 110. In the embodiment of the present application, the setting position of the detection device 140 is not further described.

[0277] In one possible implementation, the detection device 140 may include an infrared sensor and a distance sensor. The infrared sensor is used to detect whether there are any living organisms in the area to be cut 200, and the distance sensor is used to detect the horizontal distance between the smart lawn mower 100 and the living organisms. The biological information then refers to the horizontal distance from the living organisms to the smart lawn mower 100. In this way, whether the smart lawn mower 100 performs safety protection actions can be controlled based on the biological information.

[0278] In a possible implementation, the detection device 140 may include a camera and a laser ranging sensor, wherein the camera is used to capture an image within the area to be cut 200 and analyze whether there are any living organisms in the image, and the laser ranging sensor is used to measure the horizontal distance between the smart lawn mower 100 and the living organisms. At this time, the biological information refers to the horizontal distance from the living organism to the smart lawn mower 100. In this way, the detection device 140 can control whether the smart lawn mower 100 performs a safety protection action based on the biological information.

[0279] Of course, in other embodiments, the detection device 140 may also be other devices. In the embodiments of the present application, the specific structure of the detection device 140 is not further limited.

[0280] In a possible implementation, the smart lawn mower 100 may further include a protective cover 125. The protective cover 125 is disposed on the outer side of the first blade disc 120. The protective cover 125 may include an open state and a retracted state. Figure 8 As shown, when the protective cover 125 is in the open state, the protective cover 125 is disposed on the outer side of the first blade disc 120. Fig. 9 As shown, when the protective cover 125 is in the retracted state, the protective cover 125 is not covered on the outside of the first blade disc 120. Specifically, the protective cover 125 can be stored on the side of the fuselage 110 facing the ground or on the side of the first blade disc 120 facing away from the ground.

[0281] Exemplarily, the control device may be connected to the protective cover 125, and the control device is used to control the protective cover 125 to switch between the retracted state and the open state according to the biometric information. The safety protection action at least includes controlling the protective cover 125 to switch to the open state, that is, when performing the safety protection action, the control device can control the protective cover 125 to adjust to the open state.

[0282] Such a configuration can improve the safety performance of the smart lawn mower 100. When the horizontal distance between a creature and the smart lawn mower 100 is less than the safety distance, the protective cover 125 can cover the first blade disc 120, thereby preventing the smart lawn mower 100 from accidentally injuring creatures entering the mowing area, thereby improving the safety performance of the smart lawn mower 100. At the same time, it can also quickly block the heat on the first blade disc from being transferred to the outside to avoid scalding surrounding creatures.

[0283] See also Figure 8 and Fig. 9 As shown, the protective cover 125 may include a main support 1251 and a telescopic arm 1252 located outside the main support 1251. The main support 1251 may be a telescopic structure. Specifically, the main support 1251 may include a support portion 1253 and a telescopic portion 1254. The telescopic portion 1254 is movably connected to the support portion 1253 so that the telescopic portion 1254 can telescopically move relative to the support portion 1253 along the radial direction of the first blade disc 120, so that the protective cover 125 is located inside the first blade disc 120 when in the retracted state, and part of the structure is located outside the first blade disc 120 when in the extended state. The telescopic arm 1252 is disposed at one end of the main support 1251 facing the outer edge of the first blade disc 120 and is connected to the main support 1251. The telescopic arm 1252 is a telescopic structure, and the telescopic arm 1252 can telescopically move relative to the main support 1251 in the vertical direction.

[0284] When the protective cover 125 is in the open state, Figure 8 As shown, the main support 1251 extends radially outwardly to the outside of the first cutter disc 120, and the telescopic arm 1252 extends vertically toward the ground until the first cutter disc 120 is shielded. Fig. 9 As shown, the telescopic arm 1252 is retracted to one end of the main support 1251 facing the outer edge of the first cutter disc 120 , and the main support 1251 is retracted into the first cutter disc 120 .

[0285] Exemplarily, the control device may be connected to the main support 1251 and the telescopic arm 1252 of the protective cover 125, so that the control device can control the protective cover 125 to switch between the retracted state and the open state.

[0286] It should be noted that the structure of the protective cover 125 includes but is not limited to the structure in the above-mentioned embodiment. In some other embodiments, the protective cover 125 can also be other structures. In the embodiment of the present application, the structure of the protective cover 125 is not further limited.

[0287] In a possible implementation, the detection device 140 may be connected to the control device, which may be connected to the motor 130. The detection device 140 may transmit the detected biological information to the control device, and the control device may control the motor 130 to decelerate and / or stop rotating according to the biological information. For example, when the detection device 140 detects that there are organisms in the area 200 to be cut, the control device may control the motor 130 to decelerate and / or stop rotating. When the detection device 140 detects that there are no organisms in the area 200 to be cut, the control device may control the motor 130 to operate at a cutting speed, etc.

[0288] With such a configuration, the motor 130 can be controlled to slow down or stop rotating after the biological information is detected, thereby preventing the first blade disc 120 from cutting the organisms entering the cutting area 200 , thereby improving the safety performance of the smart lawn mower 100 .

[0289] In one possible implementation, Fig.10 As shown, the smart lawn mower 100 in the implementation of the present application may further include a second blade disc 122, which is mounted on the side of the body 110 facing the ground. The first blade disc 120 and the second blade disc 122 are both located between the front wheel 161 and the rear wheel 162 of the smart lawn mower 100, and the second blade disc 122 is spaced apart from the first blade disc 120. The orthographic projections of the second blade disc 122 and the first blade disc 120 in the x direction at least partially overlap, or the second blade disc 122 and the first blade disc 120 are arranged side by side in the y direction.

[0290] When the first cutter disc 120 and the second cutter disc 122 at least partially overlap in the forward direction, it is helpful to prevent missed cutting, and when the first cutter disc 120 and the second cutter disc 122 are staggered in the forward direction, the heat generated by the first cutter disc 120 and the second cutter disc 122 will not be more concentrated, which is beneficial to the heat dispersion of the first cutter disc 120 and the second cutter disc 122, thereby facilitating the heat dissipation efficiency of the first cutter disc 120 and the second cutter disc 122.

[0291] Exemplarily, a cutting blade is provided on the outer side of the second blade disc 122, and the cutting blade is a metal part. The second blade disc 122 also performs cutting operations.

[0292] It should be noted that the structure and principle of the second cutter disc 122 may be the same as those of the first cutter disc 120. Therefore, the specific structure of the second cutter disc 122 may refer to the structure of the first cutter disc 120. In the embodiment of the present application, the structure and principle of the second cutter disc 122 will not be further described.

[0293] It should be noted that both the first cutter disc 120 and the second cutter disc 122 need to be driven by motors, and the number of motors is the same as the number of cutter discs, that is, one first cutter disc 120 corresponds to one motor, and one second cutter disc 122 corresponds to one motor, so that both the first cutter disc 120 and the second cutter disc 122 can perform a rotational cutting action. Among them, the motors corresponding to the first cutter disc 120 and the second cutter disc 122 can be motors of the same model, and the rotation speeds of the first cutter disc 120 and the second cutter disc 122 when working can be the same or different. In the embodiment of the present application, the motors corresponding to the first cutter disc 120 and the second cutter disc 122, and the rotation speeds of the first cutter disc 120 and the second cutter disc 122 when working are not further described.

[0294] In some embodiments, the first blade disc 120 may be detachably connected to the body 110. Alternatively, the smart lawn mower 100 includes a motor 130, which is connected to the first blade disc 120, and the motor 130 is used to drive the first blade disc 120 to rotate, and the motor 130 is detachably connected to the body 110.

[0295] With such a configuration, it is possible to choose whether to install the first blade disc 120 when cutting different areas, which can improve the application flexibility of the smart lawn mower 100. For example, when cutting the edge area 210, the first blade disc 120 close to the outside of the body 110 can be installed, so that the smart lawn mower 100 can cut the edge. When cutting an area that does not involve the edge area 210, the first blade disc 120 close to the outside of the body 110 can be removed, and only the second blade disc 122 can be used for cutting operations. Since the second blade disc 122 is located inside the body, this can improve safety performance.

[0296] In some embodiments, Fig.10 As shown, the intelligent lawn mower 100 includes a first blade disc 120 and a second blade disc 122. In the transverse direction of the body, the second blade disc 122 can be arranged at the position where the central axis of the body 110 is located, that is, at the center position of the transverse direction of the body 110, so that the second blade disc 122 can cut the area at the center below the body 110. The first blade disc 120 is located at the first position, and the first blade disc 120 is arranged close to the first side edge 111 of the body 110, that is, it is eccentrically arranged.

[0297] Of course, in other embodiments, such as Fig.11 As shown, the first cutter disc 120 can also be located in the second position.

[0298] Exemplarily, the size of the second cutter disc 122 may be larger than the first cutter disc 120, the second cutter disc 122 may be disposed at the center of the fuselage 110, and the orthographic projection of the second cutter disc 122 on the ground is located within the orthographic projection of the fuselage 110 on the ground. In some embodiments, the minimum horizontal distance from the outer edge of the second cutter disc 122 to the outer edge of the fuselage 110 may be greater than 50 mm. The first cutter disc 120 is located at the first position, and the maximum horizontal distance h2 from the outer edge of the first cutter disc 120 located outside the fuselage 110 to the outer edge of the fuselage 110 is less than or equal to 60 mm.

[0299] It should be noted that the second blade disc 122 is larger in size and can be used to perform the main cutting operation. For example, when cutting the middle area 220 of the area to be cut 200, or when the area to be cut 200 does not have an edge area 210, because the edge area 210 is not involved and there is no problem of not being able to cut the edge, only the second blade disc 122 can be used to perform the cutting operation. Since the second blade disc 122 is located on the inner side of the body 110, this can improve the safety performance of the smart lawn mower 100.

[0300] When cutting the edge area 210 of the area to be cut 200, the first blade disc 120 can be installed on the body 110. Since the first blade disc 120 is eccentrically arranged and part of the structure is located outside the body 110, or is arranged close to the outside of the body 110, the first blade disc 120 can intelligently mow the area outside the body 110, thereby solving the problem that the smart lawn mower 100 cannot cut the edge.

[0301] It should be noted that the edge area 210 is usually a position close to the boundary of the to-be-cut area 200, for example, an area close to a corner, a fence, a step, etc. that cannot be cut. Since the smart lawn mower 100 needs to have a certain distance from the corner, the fence, and the step when moving to ensure that the smart lawn mower 100 is not scratched, if the first blade 120 is located inside the body 110, a part of the area cannot be cut, resulting in the problem of not being able to cut the edge.

[0302] In one possible implementation, see Fig.10 As shown, the smart lawn mower 100 may further include a balancing structure 170, wherein the balancing structure 170 is disposed on the body 110, and the balancing structure 170 is used to balance the mass of the first blade disc 120 and the motor 130. Such a configuration can keep the body 110 balanced, and prevent the smart lawn mower 100 from tipping over when mowing.

[0303] Exemplarily, when the number of the first cutter disc 120 is one, the balancing structure 170 is disposed opposite to the first cutter disc 120 in the y direction to balance the mass of the first cutter disc 120. When the number of the first cutter disc 120 is two, the two first cutter discs 120 are disposed side by side in the y direction, and one of the first cutter discs 120 acts as the balancing structure 170 to balance the mass of the other first cutter disc 120.

[0304] It should be noted that when the first blade disc 120 and the second blade disc 122 are in an eccentric position as a whole, for example, the number of the first blade disc 120 and the second blade disc 122 is one, and the first blade disc 120 is located at an eccentric position, and the second blade disc 122 is located at the position of the central axis of the fuselage 110. In this way, the combined center of gravity of the two first blade discs 120 and the second blade disc 122 is in an eccentric position, resulting in a shift in the center of gravity of the fuselage 110. In this way, when performing a cutting operation, the fuselage 110 can easily tip over due to uneven force on both sides of the fuselage 110. Therefore, the balancing structure 170 is provided to prevent the intelligent lawn mower 100 from tipping over when mowing.

[0305] Exemplarily, the balancing structure 170 may be an iron block or a battery.

[0306] By setting the balancing structure 170 as an iron block, due to the high density of the iron block, the volume of the balancing structure 170 can be reduced relative to the balancing structure 170 with a higher density, thereby reducing the installation space required for the iron block, facilitating layout, and reducing assembly difficulty.

[0307] By setting the balancing structure 170 as a battery, the effect of balancing the body 110 can be achieved by reasonably arranging the positions of the batteries without adding other devices. This can simplify the structure of the smart lawn mower 100 and achieve a balancing effect, thereby reducing costs and making the smart lawn mower 100 lighter.

[0308] It should be noted that the balance structure 170 includes but is not limited to an iron block or a battery, and may also be a lead block, a copper block, etc. The specific structure of the balance structure 170 is not further limited in the embodiment of the present application.

[0309] In the embodiment of the present application, the center of gravity of the fuselage 110 is close to the geometric center of the fuselage 110. Therefore, the weight and setting position of the balance structure 170 can be set according to the specific situation. In the embodiment of the present application, the weight and setting position of the balance structure 170 are not further limited.

[0310] In one possible implementation, see Fig.10 As shown, when the outer edge of the first blade disc 120 extends outside the fuselage 110, that is, when the first blade disc 120 is located at the first position, the maximum horizontal distance h2 from the outer edge of the first blade disc 120 located outside the fuselage 110 to the outer edge of the fuselage 110 is greater than or equal to 0 and less than or equal to 60 mm.

[0311] Such a configuration can expand the cutting range of the smart lawn mower 100, and solve the problem that the smart lawn mower 100 cannot cut the edge in the related art. Exemplarily, the maximum horizontal distance h2 from the outer edge of the first blade disc 120 located outside the fuselage 110 to the outer edge of the fuselage 110 can be 60 mm, 55 mm, 50 mm, 45 mm, 40 mm, 35 mm, 30 mm, 25 mm, 20 mm, 15 mm, 10 mm, 5 mm, 0 mm, etc. In the embodiment of the present application, the maximum horizontal distance from the outer edge of the first blade disc 120 located outside the fuselage 110 to the outer edge of the fuselage 110 is not further limited.

[0312] In one possible implementation, when the outer edge of the first blade disc 120 extends outside the fuselage 110, that is, when the first blade disc 120 is located at the first position, the maximum horizontal distance h2 from the outer edge of the first blade disc 120 located outside the fuselage 110 to the outer edge of the fuselage 110 may be greater than or equal to 0 and less than or equal to 40 mm.

[0313] Such a configuration can expand the cutting range of the smart lawn mower 100 and solve the problem in the related art that the smart lawn mower 100 cannot cut the edge.

[0314] In the embodiment of the present application, a first cutter disc 120 and a second cutter disc 122 may be provided, and the first cutter disc 120 is located on one side of the second cutter disc 122 and does not interfere with each other.

[0315] In some embodiments, two first cutter discs 120 and one second cutter disc 122 may be provided, and the two first cutter discs 120 are respectively located on both sides of the second cutter disc 122 (see Fig.12 ) and do not interfere with each other.

[0316] In a possible implementation, there are two first blade discs 120 , and the two first blade discs 120 are arranged side by side in the lateral direction of the body 110 , and the lateral direction of the body 110 is perpendicular to the forward direction of the intelligent lawn mower 100 .

[0317] Of course, in other embodiments, there may be other configurations. In the embodiment of the present application, the number of the first blade disc 120 and the second blade disc 122 is not further limited.

[0318] In a possible implementation, the moving speed of the smart lawn mower 100 is between 1m / s and 3m / s. Exemplarily, the moving speed of the smart lawn mower 100 can be 1m / s, 1.5m / s, 2.0m / s, 2.5m / s, 3m / s, etc. In the embodiment of the present application, the moving speed of the smart lawn mower 100 is not further limited. It can be set specifically according to the situation of the area to be cut 200. For example, if the grass in the area to be cut 200 is lush, the moving speed of the smart lawn mower 100 is relatively slow. When the grass in the area to be cut 200 is sparse, the moving speed of the smart lawn mower 100 is relatively fast.

[0319] It should be noted that the moving speed of the smart lawn mower 100 refers to the moving speed of the smart lawn mower on the ground.

[0320] Such an arrangement can keep the moving speed of the intelligent lawn mower 100 within a reasonable range, thereby improving the mowing efficiency while ensuring neat cutting.

[0321] In a possible implementation, the minimum vertical distances from the first cutter disc 120 and the second cutter disc 122 to the ground are both between 2-8 cm. Exemplarily, the minimum vertical distances from the first cutter disc 120 and the second cutter disc 122 to the ground are the same, which can be 2 cm, 3 cm, 4 cm, 5 cm, 6 cm, 7 cm, 8 cm, etc. In the embodiment of the present application, the minimum vertical distances from the first cutter disc 120 and the second cutter disc 122 to the ground are not further limited.

[0322] Such a configuration can improve the obstacle-crossing capability of the smart lawn mower 100 , that is, it can cross some smaller raised or sunken positions, thereby improving the adaptability of the smart lawn mower 100 .

[0323] In a possible implementation, the mass of the first cutter disc 120 is between 150-250 g. For example, the mass of the first cutter disc 120 may be 150 g, 160 g, 170 g, 180 g, 190 g, 200 g, 210 g, 220 g, 230 g, 240 g, 250 g, etc. In the embodiment of the present application, the mass of the first cutter disc 120 is not further limited.

[0324] Such an arrangement can make the first blade disc 120 relatively light, which is beneficial to the lightweight development of the intelligent lawn mower 100.

[0325] It should be noted that the above embodiment introduces a technical solution in which the first blade disc 120 is fixedly connected to the fuselage, and the first blade disc 120 is located at the first position or the second position. Of course, in other embodiments, the first blade disc 120 can also be movably connected to the fuselage, so that the first blade disc 120 can move relative to the fuselage 110, so that it can be located inside the fuselage 110 in some cases, and outside the fuselage 110 in other cases. The embodiment in which the first blade disc 120 is movably connected to the fuselage 110 is described below in conjunction with the accompanying drawings.

[0326] like Fig.13 As shown, the intelligent lawn mower 100 may include a body 110, a first blade disc 120, a driving device 150, a motor 130 and a detection device 140. The body 110 is a main component of the intelligent lawn mower 100, and is used to install components such as the first blade disc 120, the motor 130 and the detection device 140. The first blade disc 120 is arranged on the side of the body 110 facing the ground, and a cutting blade is arranged on the outer side of the first blade disc 120. The cutting blade is a metal part, and the first blade disc 120 performs a cutting operation on the grass in the cutting area through the cutting blade.

[0327] In the embodiments of this application, see Fig.14 As shown, the body 110 includes a first end 113 and a second end 114 that are arranged opposite to each other along the forward direction of the intelligent lawn mower 100. The intelligent lawn mower 100 may also include a front wheel 161 and a rear wheel 162 that are arranged at intervals along the forward direction of the intelligent lawn mower 100, wherein the front wheel 161 and the rear wheel 162 are both arranged on the side of the body 110 facing the ground, and in the x direction, the front wheel 161 and the rear wheel 162 are arranged at intervals, and the front wheel 161 is located between the rear wheel 162 and the first end 113, and the rear wheel 162 is located between the front wheel 161 and the second end 114. That is, the front wheel 161 is installed at the front end of the body 110, and the rear wheel 162 is installed at the rear end of the body 110.

[0328] In the x-direction, the first cutter disc 120 is located between the first cut surface a of the front wheel 161 and the second cut surface b of the rear wheel 162. The first cut surface a is perpendicular to the x-direction and passes through the first end point of the front wheel, which is defined as the farthest point of the front wheel 161 from the first end 113. The second cut surface b is perpendicular to the x-direction and passes through the second end point of the rear wheel 162, which is defined as the farthest point of the rear wheel 162 from the second end 114. The first cutter disc 120 may be disposed between the front wheel 161 and the rear wheel 162.

[0329] The first cutter head 120 at least passes through a first position and a second position during the movement relative to the body 110 .

[0330] The first position is defined as: at least a portion of the first cutter head 120 is located outside the orthographic projection of the fuselage 110 toward the ground.

[0331] Exemplarily, when the first cutter disc is located at the first position, a horizontal distance h2 from an outer edge of the first cutter disc 120 located outside the fuselage 110 to an outer edge of the fuselage 110 may be greater than or equal to 0 and less than or equal to 60 mm.

[0332] Such a configuration can expand the cutting range of the smart lawn mower 100 and solve the problem that the smart lawn mower 100 cannot cut the edge in the related art. Exemplarily, the horizontal distance h2 from the outer edge of the first blade disc 120 located outside the fuselage 110 to the outer edge of the fuselage 110 can be 60 mm, 55 mm, 50 mm, 45 mm, 40 mm, 35 mm, 30 mm, 25 mm, 20 mm, 15 mm, 10 mm, 5 mm, 0 mm, etc. In the embodiment of the present application, the horizontal distance h2 from the outer edge of the first blade disc 120 located outside the fuselage 110 to the outer edge of the fuselage 110 is not further limited.

[0333] The second position is defined as: the first cutter head 120 is located within the orthographic projection of the fuselage 110 toward the ground, and the minimum horizontal distance between the outer edge of the cutting blade and the outer edge of the fuselage 110 (see Figure 4 h1 in ) is greater than or equal to 0 and less than or equal to 50 mm. Exemplarily, the minimum horizontal distance h1 from the outer edge of the first cutter disc 120 to the outer edge of the fuselage 110 may be 50 mm, 45 mm, 40 mm, 35 mm, 30 mm, 25 mm, 20 mm, 15 mm, 10 mm, 5 mm, 0 mm, etc. In the embodiment of the present application, the minimum horizontal distance from the outer edge of the first cutter disc 120 to the outer edge of the fuselage 110 is not further limited.

[0334] It should be noted that, in the embodiment of the present application, the first position and the second position are Figure 1-Figure 12 The first position and the second position in the embodiment shown in are the same. Figure 1-Figure 12 Description of the first position and the second position in the illustrated embodiment.

[0335] The first blade disc 120 is configured such that when the smart lawn mower 100 is in a mowing state and is not stuck, the rotation speed of the first blade disc 120 is V1, and the rotation speed of the first blade disc 120 during the movement of the first blade disc 120 relative to the body 110 is less than or equal to V1, and V1 is between 1800 rpm and 3500 rpm.

[0336] The detection device 140 is disposed on the body 110 . The detection device 140 is used to detect biological information. The smart lawn mower 100 is used to perform safety protection actions according to the biological information.

[0337] In a possible implementation, the first cutter disc 120 passes through a third position during the movement relative to the body 110 .

[0338] The third position is defined as: the first cutter head 120 is located within the orthographic projection of the fuselage 110 toward the ground, and the minimum distance between the outer edge of the cutting blade and the outer edge of the fuselage 110 is greater than 50 mm;

[0339] The first blade disc 120 at least passes through a first position, a second position and a third position during the movement relative to the body 110 .

[0340] Exemplarily, the driving device 150 is disposed between the body 110 and the first cutter disc 120, and the driving device 150 is used to drive the first cutter disc 120 to switch between the first position and the second position.

[0341] In some other embodiments, the driving device 150 may also be used to drive the first cutter disc 120 to switch between the first position, the second position and the third position.

[0342] By providing the driving device 150, the first blade disc 120 can be switched among the first position, the second position and the third position, so that the intelligent lawn mower 100 is suitable for different application scenarios and can ensure cutting to the edge.

[0343] In the embodiment of the present application, the smart lawn mower 100 may further include a detection device 140 disposed on the body 110 , the detection device 140 being used to detect biological information, and the smart lawn mower 100 being used to perform safety protection actions according to the biological information.

[0344] Exemplarily, the safety protection action includes at least one or more combinations of the following: the smart lawn mower 100 slows down, the smart lawn mower 100 stops moving, the first blade disc 120 slows down, the first blade disc 120 stops rotating, the smart lawn mower 100 performs obstacle avoidance, the smart lawn mower 100 performs obstacle detours, etc.

[0345] When the smart lawn mower 100 performs obstacle avoidance, the first blade disc 120 may be controlled to be in the second position or the third position, and / or the first blade disc 120 may be decelerated and / or the first blade disc 120 may be stopped and / or the first blade disc 120 may be shielded in the protective cover 125 .

[0346] By setting the first blade disc 120 to be movable relative to the body 110, so that the first blade disc 120 can be switched between the first position, the second position or the third position, the smart lawn mower 100 can be adapted to different application scenarios. For example, when it is necessary to cut the edge area 210, the first blade disc 120 can be adjusted to the first position or the second position to cut the edge or the outer area of ​​the smart lawn mower body 110, thereby solving the problem that the smart lawn mower 100 in the related art cannot cut the edge. When it is not necessary to cut the edge area 210, for example, when cutting the middle area 220, the first blade disc 120 can be adjusted to the third position so that the first blade disc 120 is located below the body 110, thereby improving the safety performance of the smart lawn mower 100.

[0347] In a possible implementation, the smart lawn mower 100 may include a protective member 180, wherein the protective member 180 is located between the first blade disc 120 and the body 110, and in the vertical direction, the outer edge of the first blade disc 120 is flush with the outer edge of the protective member 180. The protective member 180 is fixedly connected to the first blade disc so that the protective member can telescope together with the first blade disc 120.

[0348] By providing the protective member 180, the first blade disc 120 can be protected to a certain extent, and the grass cut by the first blade disc 120 can be prevented from splashing onto the fuselage. In addition, in some cases, the protective member 180 can also provide an installation position for the first blade disc 120 so that the first blade disc 120 is exposed outside the fuselage 110.

[0349] In a possible implementation, the intelligent lawn mower 100 may include a second blade disc 122 and at least one first blade disc 120, wherein the second blade disc 122 may be fixedly connected to the body 110, and the first blade disc 120 may be movably connected to the body 110. When there is one first blade disc 120 and it is located at the first position, the first blade disc 120 may extend from the first side edge 111 or the second side edge 112 to the outside of the body 110; when there are multiple first blade discs 120 and they are all located at the first position, the multiple first blade discs 120 extend from the first side edge 111 and / or the second side edge 112 to the outside of the body 110 respectively.

[0350] The cutting efficiency can be improved by providing the second blade disc 122 and the first blade disc 120. By movably connecting the first blade disc 120 with the body 110, the first blade disc 120 can be extended out of the body 110 when cutting the edge area 210, ensuring that the smart lawn mower 100 can cut the edge. When cutting an area not involving the edge area 210, the first blade disc 120 can be retracted, which can improve safety performance.

[0351] When the number of the first blade disc 120 is one, cutting to the edge can be achieved, and the structure of the intelligent lawn mower 100 can be simplified to reduce costs.

[0352] When there are multiple first blade discs 120, the multiple first blade discs 120 can be arranged on both sides of the second blade disc 122, and the multiple first blade discs 120 can be extended from the first side edge 111 and / or the second side edge 112 to the outside of the body 110 respectively, so that the smart lawn mower 100 can be suitable for different application scenarios, thereby improving the applicability of the smart lawn mower 100.

[0353] like Fig.14 As shown, the number of the first blade disc 120 and the second blade disc 122 is one. In the transverse direction of the fuselage, the second blade disc 122 can be set at the position where the central axis of the fuselage 110 is located, and the orthographic projection of the second blade disc 122 on the ground is located within the orthographic projection of the fuselage 110 on the ground. That is, it is set at the center position of the transverse direction of the fuselage 110, so that the second blade disc 122 can cut the area at the center below the fuselage 110. The first blade disc 120 is located at the first position, and the first blade disc 120 is set close to the first side edge 111 of the fuselage 110, that is, it is eccentrically set. That is to say, the first blade disc 120 can be set on one side of the second blade disc 122, and the first blade disc 120 is movably connected to the fuselage 110, and the first blade disc 120 can extend from the first side edge 111 of the fuselage 110 to the outside of the fuselage 110.

[0354] Of course, in some other embodiments, the first blade disc 120 may also extend from the second side edge 112 of the body 110 to outside the body 110 .

[0355] It should be noted that the first blade disc 120 can extend from a side closer to the edge of the fuselage 110 to the outside of the fuselage 110, or can extend from a side farther from the edge of the fuselage 110 to the outside of the fuselage 110 horizontally, as long as it does not interfere with other structures during the extension and retraction process. In the embodiment of the present application, the direction in which the first blade disc 120 extends outward is not further limited.

[0356] When cutting the edge area 210 of the area to be cut 200, the first blade disc 120 can be moved to the first position. At this time, the first blade disc 120 extends out of the body 110, so that the first blade disc 120 can intelligently mow the area outside the body 110, thereby solving the problem that the smart lawn mower 100 cannot cut the edge.

[0357] It should be noted that the method for adjusting the movement of the first cutter disc 120 can be controlled by a remote control or by setting up other devices for automatic control. In the embodiment of the present application, the method for adjusting the movement of the first cutter disc 120 is not further limited.

[0358] In other embodiments, Fig.12 As shown, the intelligent lawn mower 100 may include two first blade discs 120 and one second blade disc 122, wherein the second blade disc 122 is arranged at the center of the body 110, and the two first blade discs 120 are arranged on both sides of the second blade disc 122, respectively. When the first blade discs 120 are in the first position, one of the first blade discs 120 extends from the first side edge 111 of the body 110 to the outside of the body 110, and the other first blade disc 120 extends from the second side edge 112 of the body 110 to the outside of the body 110, so as to enlarge the cutting area.

[0359] Of course, in other embodiments, the number of the first cutter discs 120 may be set to other values. Fig.15 As shown, only one first blade disc 120 is provided, wherein the first blade disc 120 is movably connected to the fuselage 110, and when in the first position, the first blade disc 120 extends from the first side edge 111 to the outside of the fuselage 110. In some other embodiments, when in the first position, the first blade disc 120 may also extend from the second side edge 112 of the fuselage 110 to the outside of the fuselage 110.

[0360] By providing a first blade disc 120, the structure of the smart lawn mower 100 can be simplified. By movably connecting the first blade disc 120 to the body 110, the first blade disc 120 can be extended out of the body 110 to ensure that the edge can be cut. The first blade disc 120 can also be retracted inside the body 110 to improve safety performance, so that the smart lawn mower 100 can be suitable for different environments.

[0361] For example, Fig.16 As shown, the intelligent lawn mower 100 may further include a control device 190, which may be connected to the detection device 140, and the control device 190 is used to control the intelligent lawn mower 100 to perform safety protection actions according to the biological information. The control device 190 may be connected to the drive device 150, and when the detection device 140 detects the biological information, the control device 190 may control the drive device 150 to move the first blade disc 120 to the first position, and when the detection device 140 does not detect the biological information, the control device 190 may control the drive device 150 to move the first blade disc 120 to the second position.

[0362] It should be noted that in the embodiment of the present application, the connection method between the control device 190 and the detection device 140, and the connection method between the control device 190 and the driving device 150 will not be further described.

[0363] In a possible implementation, the smart lawn mower 100 may further include a first acquisition unit (not shown in the figure), which is used to detect position information of the smart lawn mower 100 in the area to be cut 200. The first acquisition unit may be connected to a control device, and the control device is used to control the driving device to move the first blade disc 120 to the first position or the second position according to the position information.

[0364] For example, when the position information indicates that the smart lawn mower 100 is located in the corner area 230, the first blade disc 120 can be moved to the first position to cut the edge of the smart lawn mower body 110 or the area outside the edge, thereby solving the problem that the smart lawn mower 100 cannot cut the edge in the related art. When the position information indicates the middle area 220, the first blade disc 120 can be moved to the second position so that the first blade disc 120 is located below the body 110, thereby improving the safety performance of the smart lawn mower 100.

[0365] Exemplarily, the first acquisition unit may include one or more of a radar, a time of flight sensor (TOF), a depth camera, a binocular camera, a camera, a horizontal distance sensor, a laser ranging sensor, and an edge sensor, so that the position information of the smart lawn mower in the area to be cut can be obtained, so that the smart lawn mower can control the position of the first blade according to the position information.

[0366] In a possible implementation, the driving device 150 may be a combination of one or more of a worm gear driving device, a connecting rod driving device, and a gear driving device. Among them, a worm gear structure, a connecting rod driving device 150, a connecting rod mechanism, or a gear assembly is more common as the driving device 150, and it is relatively simple to assemble, so setting the driving device 150 as a worm gear structure, a connecting rod driving device 150, a connecting rod mechanism, or a gear assembly can simplify the driving device 150 and reduce the cost of the intelligent lawn mower 100.

[0367] It should be noted that in the embodiment of the present application, the specific structure of the driving device 150 is not further limited, as long as it can control the first cutter disc 120 to switch between the first position and the second position.

[0368] It should be noted that the smart lawn mower 100 performs safety protection actions, usually to prevent the first blade disc 120 from causing damage to living things. For example, the first blade disc 120 is in the second position, the first blade disc 120 is in the second position and stops rotating, the first blade disc 120 is in the second position and stops rotating and is shielded in the protective cover 125, the first blade disc 120 stops rotating, the first blade disc 120 stops rotating and is shielded in the protective cover 125, the first blade disc 120 works normally and the first blade disc 120 is shielded in the protective cover 125, etc. These methods can ensure that the first blade disc 120 will not cause harm to living things, and can improve the safety of the smart lawn mower 100.

[0369] Of course, in other embodiments, there may be other forms of safety protection actions, for example, the robot may automatically move away from the creature according to the horizontal distance between the creature and the body 110, the first blade disc 120 may stop rotating and the blade 121 may be retracted, etc. In the embodiments of the present application, the form of the safety protection action is not further limited.

[0370] It should be noted that "biological information" refers to information about living things. The basis for controlling the smart lawn mower 100 to perform safety protection actions may be whether there are living things in the area to be cut 200, whether the distance between the living things and the smart lawn mower 100 is less than a preset distance, or whether the distance between the living things and the smart lawn mower 100 is gradually decreasing. In the embodiment of the present application, the basis for controlling the smart lawn mower 100 to perform safety protection actions is not further limited.

[0371] Exemplarily, the detection device 140 may include one or more of an infrared sensor, a line laser sensor, a camera, a distance sensor, a laser ranging sensor, an edge sensor, and a flight sensor.

[0372] Such an arrangement can enable the detection device 140 to have the performance of detecting biological information. In addition, infrared sensors, line laser sensors, cameras, distance sensors, laser ranging sensors, edge sensors, and flight sensors are relatively common and easy to obtain, which can reduce the cost of the smart lawn mower 100.

[0373] Exemplarily, the detection device 140 can be set on the first blade disc 120, or on the fuselage 110, or at the edge of the fuselage 110. In the embodiment of the present application, the setting position of the detection device 140 is not further described.

[0374] In one possible implementation, the detection device 140 may include an infrared sensor and a distance sensor. The infrared sensor is used to detect whether there are any living organisms in the area to be cut 200, and the distance sensor is used to detect the horizontal distance between the smart lawn mower 100 and the living organisms. The biological information then refers to the horizontal distance from the living organisms to the smart lawn mower 100. In this way, whether the smart lawn mower 100 performs safety protection actions can be controlled based on the biological information.

[0375] In a possible implementation, the detection device 140 may include a camera and a laser ranging sensor, wherein the camera is used to capture an image within the area to be cut 200 and analyze whether there are any living organisms in the image, and the laser ranging sensor is used to measure the horizontal distance between the smart lawn mower 100 and the living organisms. At this time, the biological information refers to the horizontal distance from the living organism to the smart lawn mower 100. In this way, the detection device 140 can control whether the smart lawn mower 100 performs a safety protection action based on the biological information.

[0376] Of course, in other embodiments, the detection device 140 may also be other devices. In the embodiments of the present application, the specific structure of the detection device 140 is not further limited.

[0377] It should be noted that in the embodiment of the present application, the shape, structure, principle and setting position of the protective cover 125 are the same as those of the embodiment of the present application. Figure 1-Figure 12 The protective cover 125 in the embodiment shown in FIG. 1 is the same as that in the embodiment shown in FIG. 1 . Therefore, in the embodiment of the present application, the shape, structure, principle and setting position of the protective cover 125 can refer to FIG. Figure 1-Figure 12 The description in the embodiments shown in the examples is not further explained in the present application examples.

[0378] In a possible implementation, a heat sink (not shown in the figure) is provided on the motor 130, and the heat sink is used to dissipate heat from the motor 130. Exemplarily, the heat sink can be a fan, a water cooling device, an air cooling device, etc., and the specific structure of the heat sink is not further limited in the embodiment of the present application. By providing the heat sink, the motor 130 can be cooled to ensure the normal operation of the motor 130.

[0379] It should be noted that, in some implementations, a heat dissipation device may not be provided on the outside of the motor. In the embodiment of the present application, no further limitation is imposed on the specific shape and setting position of the heat dissipation device.

[0380] In a possible implementation, a waterproof structure may be further provided on the outside of the motor 130 .

[0381] It should be noted that, in the embodiment of the present application, except that the first cutter head 120 can move relative to the fuselage, the shapes, structures, principles and settings of other features can be the same as those of the embodiment of the present application. Figure 1-Figure 12For example, the shape, structure, principle and setting position of the front wheel 161, the rear wheel 162, the first blade disc 120, the second blade disc 122 and the balance structure 170 are the same as those in the embodiment shown in FIG. Figure 1-Figure 12 The front wheel 161, the rear wheel 162, the first blade disc 120, the second blade disc 122 and the balancing structure 170 in the embodiment shown in FIG. 1 are the same. Therefore, in the embodiment of the present application, the shape, structure, principle and setting position of the front wheel 161, the rear wheel 162, the first blade disc 120, the second blade disc 122 and the balancing structure 170 can refer to FIG. Figure 1-Figure 12 The description of the front wheel 161, the rear wheel 162, the first blade disc 120, the second blade disc 122 and the balancing structure 170 in the embodiment shown in the figure will not be further explained in the embodiment of the present application.

[0382] In addition, the moving speed of the intelligent lawn mower 100, the minimum vertical distances between the first blade disc 120 and the second blade disc 122 and the ground, and the mass of the first blade disc 120 are respectively Figure 1-Figure 12 The moving speed of the intelligent lawn mower 100 in the embodiment shown in FIG. 1 , the minimum vertical distances from the first blade disc 120 and the second blade disc 122 to the ground, and the mass of the first blade disc 120 are the same. For details, please refer to Figure 1-Figure 12 The description in the embodiments shown in the examples is not further explained in the present application examples.

[0383] The above embodiment introduces an embodiment in which the first blade disc 120 is arranged on the side of the fuselage 110. Of course, in some embodiments, the first blade disc 120 can also be arranged at other positions, for example, it can be arranged at the front end or rear end of the fuselage 110.

[0384] like Fig.17 As shown, the smart lawn mower 100 provided in the embodiment of the present application includes a body 110, a rear wheel 162, a front wheel 161, and a first blade disc 120. The body 110 includes a first end 113 and a second end 114 which are relatively arranged along the forward direction (x direction) of the smart lawn mower 100. Exemplarily, the first end 113 of the smart lawn mower 100 is the front end of the body 110, and the second end 114 is the rear end of the body 110. It should be noted that the front end and the rear end refer to the front end and the rear end in a macroscopic sense, indicating the front and the rear of the smart lawn mower 100 that people usually think of.

[0385] In the embodiment of the present application, the front wheel 161 and the rear wheel 162 are both arranged on the side of the fuselage 110 facing the ground, and in the x direction, the front wheel 161 and the rear wheel 162 are arranged at intervals, and the front wheel 161 is located between the rear wheel 162 and the first end 113, that is, the rear wheel 162 is arranged close to the rear end of the fuselage 110, and the front wheel 161 is arranged close to the front end of the fuselage 110.

[0386] like Fig.17 As shown, the first blade disc 120 is installed on the side of the body 110 facing the ground, and is used to perform a cutting operation on the to-be-cut area 200. In the forward direction of the intelligent lawn mower, at least part of the first blade disc 120 is located between the first section a of the front wheel 161 and the first end 113. The first section a is perpendicular to the x-direction and passes through the first end point of the front wheel, and the first end point is defined as the farthest point of the front wheel 161 from the first end 113.

[0387] In some embodiments, the relative position of the first blade disc 120 to the body 110 may remain fixed, and the first blade disc 120 is fixed at the first position or the second position.

[0388] The first position is defined as: at least a portion of the first cutter head 120 is located outside the orthographic projection of the fuselage 110 toward the ground.

[0389] Exemplarily, when the first cutter disc is located at the first position, a horizontal distance h3 from an outer edge of the first cutter disc 120 located outside the fuselage 110 to an outer edge of the fuselage 110 may be greater than or equal to 0 and less than or equal to 60 mm.

[0390] Such a configuration can expand the cutting range of the smart lawn mower 100 and solve the problem that the smart lawn mower 100 cannot cut the edge in the related art. Exemplarily, the horizontal distance h3 from the outer edge of the first blade disc 120 located outside the fuselage 110 to the outer edge of the fuselage 110 can be 60 mm, 55 mm, 50 mm, 45 mm, 40 mm, 35 mm, 30 mm, 25 mm, 20 mm, 15 mm, 10 mm, 5 mm, 0 mm, etc. In the embodiment of the present application, the horizontal distance h3 from the outer edge of the first blade disc 120 located outside the fuselage 110 to the outer edge of the fuselage 110 is not further limited.

[0391] The second position is defined as: the first cutter head 120 is located within the orthographic projection of the fuselage 110 toward the ground, and the minimum horizontal distance between the outer edge of the cutting blade and the outer edge of the fuselage 110 (see Figure 4 h1) in the formula is greater than or equal to 0 and less than or equal to 50 mm.

[0392] For example, the minimum horizontal distance h1 from the outer edge of the first cutter disc 120 to the outer edge of the fuselage 110 may be 50 mm, 45 mm, 40 mm, 35 mm, 30 mm, 25 mm, 20 mm, 15 mm, 10 mm, 5 mm, 0 mm, etc. In the embodiment of the present application, the minimum horizontal distance from the outer edge of the first cutter disc 120 to the outer edge of the fuselage 110 is not further limited.

[0393] It should be noted that, in the embodiment of the present application, the first position and the second position are Figure 1-Figure 12 The first position and the second position in the embodiment shown in are the same. Figure 1-Figure 12 Description of the first position and the second position in the illustrated embodiment.

[0394] The first blade disc 120 is configured such that when the smart lawn mower 100 is in a mowing state and is not stuck, the rotation speed of the first blade disc 120 is between 1800 rpm and 3500 rpm. The smart lawn mower 100 may also include a detection device 140 disposed on the body 110, the detection device 140 is used to detect biological information, and the smart lawn mower 100 is used to perform safety protection actions according to the biological information.

[0395] like Fig.17A As shown, the smart lawn mower 100 provided in the embodiment of the present application includes a body 110, a rear wheel 162, a front wheel 161, a first blade disc 120, and a second blade disc 122. The second blade disc 122 is installed on the side of the body 110 facing the ground. In the forward direction of the smart lawn mower 100, the position of the second blade disc 122 relative to the body 110 remains unchanged, and the second blade disc 122 is arranged between the front wheel 161 and the rear wheel 162, and the first blade disc 120 is located on one side of the front wheel 161.

[0396] Such a configuration can expand the cutting range of the intelligent lawn mower 100, prevent missed cutting, and thus improve cutting efficiency. By arranging the second blade disc 122 between the fuselage 110 and the rear wheel 162, on the one hand, it is possible to prevent interference between the first blade disc 120 and the second blade disc 122, and also to prevent the first blade disc 120 and the second blade disc 122 from interfering with the fuselage 110 and the rear wheel 162 of the intelligent lawn mower 100, thereby scratching the fuselage 110 and the rear wheel 162. On the other hand, the first blade disc 120 and the second blade disc 122 can rotate in coordination with each other to generate a strong rotating airflow, so that the airflow generated by the first blade disc 120 and the second blade disc 122 acting on the fuselage 110 will be stronger, so that the grass clippings stuck on the fuselage 110 can be better blown out, so as to ensure that the fuselage 110 is not prone to slipping, and to ensure the travel stability of the intelligent lawn mower 100, and at the same time, the high-speed rotating airflow can better remove the heat generated by the blade disc during operation, and the heat dissipation effect is better.

[0397] In some embodiments, two first cutter discs 120 and one second cutter disc 122 may be provided, and the two first cutter discs 120 are respectively located on both sides of the second cutter disc 122 (not shown in the figure) and do not interfere with each other.

[0398] By arranging the two first blade discs 120 on both sides of the second blade disc 122, on the one hand, it is beneficial to counterweight balance, and the smart lawn mower 100 can perform edge cutting on both sides in the lateral direction, and there is no need to modify the algorithm due to the position change of the first blade disc 120. No matter which side of the blade disc is used for edge cutting, it is highly versatile. At the same time, since the first blade discs 120 on both sides can be close to or exceed the edge of the fuselage 110, both sides can overlap with the rear wheels 162 in the forward direction, and there can be hollows between the first blade discs 120 on both sides, which can better perform obstacle crossing and airflow. The simultaneous rotation of the two first blade discs 120 can also drive the airflow between them, which has a good heat dissipation effect.

[0399] In a possible implementation, there are two first blade discs 120 , and the two first blade discs 120 are arranged side by side in the lateral direction of the body 110 , and the lateral direction of the body 110 is perpendicular to the forward direction of the intelligent lawn mower 100 .

[0400] With such an arrangement, on the one hand, the two first blade discs 120 arranged side by side play a role in balancing the center of gravity, and there is no need to set up additional counterweights in order to counterweight the entire machine; on the other hand, the first blade discs 120 on both sides can perform cutting work, thereby expanding the cutting range of the first blade disc 120, thereby allowing the smart lawn mower 100 to cut to the edge, and because the first blade disc 120 on any side can be used to cut grass, there is no need to modify the algorithm due to the change in the position of the first blade disc 120, and the universality is stronger; in addition, the rotation of the blade discs on both sides can drive the airflow in the space below the fuselage 110, which has a better heat dissipation effect and can also blow away the grass clippings wrapped around the front wheel 161, thereby preventing the front wheel 161 from slipping due to sticky grass clippings.

[0401] In the embodiments of the present application, Fig.17 As shown, the body 110 further includes a first side edge 111 and a second side edge 112. In the forward direction of the intelligent lawn mower, both ends of the first side edge 111 and the second side edge 112 are respectively connected to the second end 114 and the first end 113, and the first side edge 111 and the second side edge 112 are relatively arranged on both sides of the body 110 in the transverse direction, and the transverse direction of the body 110 is perpendicular to the forward direction.

[0402] The two ends of the first end 113 of the body 110 extend in the opposite direction of the forward direction of the intelligent lawn mower. The two ends of the second end 114 extend in the forward direction of the intelligent lawn mower. Partial structures of the first end 113 and the second end 114 can extend in the lateral direction (y direction).

[0403] By configuring the first end 113 and the second end 114 as components whose partial structure extends along the lateral direction, the smart lawn mower can have a certain lateral direction in the y direction. In this way, when the first blade disc 120 is installed at one end of the first end 113, the first blade disc 120 can be located on one side of the front end of the smart lawn mower. The first blade disc 120 can cut to a position on one side of the front end of the smart lawn mower, thereby expanding the cutting area and ensuring that the edge can be cut.

[0404] In some embodiments, the number of the first blade disc 120 is one, wherein the first blade disc 120 is disposed on the side where the first end portion 113 is connected to the first side edge 111, or the first blade disc 120 may be located on the side where the first end portion 113 is connected to the second side edge 112. In this way, the first blade disc 120 may be located at the outer edge of the body 110, so that when performing a cutting operation, the first blade disc 120 may cover the outer edge of the mower, thereby ensuring cutting to the edge.

[0405] In some embodiments, the number of the first blade discs 120 is at least two, wherein at least one first blade disc 120 is disposed on the side where the first end 113 is connected to the first side edge 111, and at least one first blade disc 120 is disposed on the side where the first end 113 is connected to the second side edge 112. In this way, the first blade disc 120 can be located at the outer edge of the body 110, so that when performing a cutting operation, the first blade disc 120 can cover the outer edge of the mower, thereby ensuring cutting to the edge.

[0406] It should be noted that the first end portion 113 extending along the transverse direction refers to extending along the transverse direction in a macro sense, rather than extending in a strict linear direction. For example, in some embodiments, the first end portion 113 may be an arc-shaped structure, the entire arc is arranged along the transverse direction, and both ends of the arc-shaped structure in the transverse direction gradually bend toward the direction close to the second end portion 114 of the fuselage 110.

[0407] In addition, it should be noted that “relative setting” refers to a relative setting on a macro scale, which may be directly relative or obliquely relative.

[0408] Fig.17A The embodiment shown in the figure includes a first cutter disc 120 and a second cutter disc 122. The first cutter disc 120 is located at the front end of the fuselage, and the second cutter disc 122 is located between the front wheel 161 and the rear wheel 162.

[0409] In one possible implementation, see Fig.17A As shown, the rotation radius of the second cutter disc 122 may be greater than or equal to the rotation radius of the first cutter disc 120 .

[0410] In this way, the second blade disc 122 can perform the main cutting operation, while the first blade disc 120 can be relatively light, so that the difficulty of assembling the first blade disc 120 can be reduced during assembly. When the first blade disc 120 is movably connected to the body 110, the smaller first blade disc 120 is more convenient to assemble and easier to control, which can simplify the structure of the driving device 150 that realizes the movably connection between the first blade disc 120 and the body 110, thereby reducing costs. In addition, the smaller first blade disc 120 can not only save the layout space inside the body 110, but also reduce the wind resistance as much as possible, so as to reduce the power consumption of the entire machine of the intelligent lawn mower 100 during the cutting process, and achieve the effect of low energy consumption and high efficiency cutting.

[0411] Of course, in some embodiments, the first blade disc 120 can also be detachably connected to the body 110, and the first blade disc 120 can be selected to be installed when cutting different areas, which can improve the application flexibility of the intelligent lawn mower 100. For example, when cutting the edge area 210, the first blade disc 120 close to the outside of the body 110 can be installed, so that the intelligent lawn mower 100 can cut to the edge. When cutting an area that does not involve the edge area 210, the first blade disc 120 close to the outside of the body 110 can be removed, and only the second blade disc 122 is used for cutting operations. Since the second blade disc 122 is located on the inside of the body 110, this can improve safety performance.

[0412] Of course, in some embodiments, the number of the first cutter discs 120 may be at least two, and in the lateral direction of the fuselage, at least two first cutter discs 120 are disposed opposite to each other at the first end 113 .

[0413] With such an arrangement, on the one hand, the two relatively arranged first blade discs 120 play a role in balancing the center of gravity, and there is no need to set up additional counterweights in consideration of the counterweight of the entire machine; on the other hand, the first blade discs 120 on both sides can perform cutting work, which expands the cutting range of the first blade discs 120, thereby allowing the smart lawn mower 100 to cut to the edge, and because the first blade disc 120 on any side can be used to mow the grass, there is no need to modify the algorithm due to the change in the position of the first blade disc 120, and the universality is stronger; in addition, the rotation of the blade discs on both sides can drive the air flow in the space below the fuselage, which has a better heat dissipation effect and can also blow away the grass clippings wrapped around the front wheels, thereby preventing the front wheels from slipping due to sticky grass clippings.

[0414] When the first cutter disc 120 and the second cutter disc 122 at least partially overlap in the forward direction, it is helpful to prevent missed cutting, and when the first cutter disc 120 and the second cutter disc 122 are staggered in the forward direction, the heat generated by the first cutter disc 120 and the second cutter disc 122 will not be more concentrated, which is beneficial to the heat dispersion of the first cutter disc 120 and the second cutter disc 122, thereby facilitating the heat dissipation efficiency of the first cutter disc 120 and the second cutter disc 122.

[0415] In addition, in some embodiments, the second cutter disc 122 may not be provided, and only the first cutter disc 120 may be provided. In the embodiments of the present application, the number of first cutter discs 120, whether to provide the second cutter disc 122, and when the second cutter disc 122 is provided, the number of second cutter discs 122 is not further limited.

[0416] It should be noted that, in the embodiment of the present application, when the positions of the first blade disc 120 and the body 110 remain relatively unchanged, the connection method between the first blade disc 120 and the body 110 is the same as the above-mentioned Figure 1-Figure 12 For example, the first blade disc 120 can be detachably connected to the body, and the connection method between the first blade disc 120 and the body 110 in the embodiment of the present application can refer to the above Figure 1-Figure 12 The description of the embodiments in the examples will not be repeated in the embodiments of this application.

[0417] By arranging the second blade disc 122 between the rear wheel 162 and the front wheel 161, and arranging the first blade disc 120 between the first section a and the first end 113 of the front wheel 161, the first blade disc 120 and the second blade disc 122 can be avoided from the front wheel 161 and the rear wheel 162 of the smart lawn mower 100, thereby preventing the first blade disc 120 and the second blade disc 122 from interfering with the front wheel 161 and the rear wheel 162 of the smart lawn mower 100 and scratching the front wheel 161 or the rear wheel 162.

[0418] like Fig.17 As shown, the number of front wheels 161 is one, and in the lateral direction and in the forward direction of the intelligent lawn mower, the front wheel 161 is located on the central axis of the lateral direction of the fuselage. By setting the number of front wheels 161 to one, the structure of the lawn mower can be simplified and the cost can be reduced. In addition, a single front wheel 161 occupies less space, so setting a front wheel 161 can provide enough space for the setting of the first blade disc 120, thereby ensuring that the rotation radius of the first blade disc 120 is large enough, thereby expanding the cutting range of the lawn mower and ensuring that the lawn mower can cut the blade edge.

[0419] Of course, in some other embodiments, the number of front wheels 161 may also be two, and in the forward direction of the smart lawn mower, the front wheels are symmetrically arranged in the lateral direction of the fuselage. Providing two front wheels can improve the obstacle-crossing ability of the smart lawn mower. In the embodiment of the present application, the number of front wheels 161 is not further limited.

[0420] It should be noted that the number of rear wheels 162 is generally two, and the two rear wheels 162 are relatively arranged on both sides of the fuselage 110 in the transverse direction, wherein the outer edges of the rear wheels 162 may be located outside the outer edge of the fuselage 110, may be flush with the outer edge of the fuselage 110, or may be located inside the outer edge of the fuselage 110. In the embodiment of the present application, the number, size, and arrangement position of the rear wheels 162 are not further limited.

[0421] It should be noted that, in the embodiment of the present application, the intelligent lawn mower 100 may also include a motor 130 (see Fig.18 As shown), wherein the motor 130 is connected to the first cutter disc 120, the motor 130 is used to drive the first cutter disc 120 to rotate so that the first cutter disc 120 performs a cutting operation, and the rotation speed of the motor 130 is between 1800 rpm and 3500 rpm.

[0422] It should be noted that the rotation speeds of the first and second cutter discs and the technical effects in the implementation of this application are the same as those in the Figure 1-Figure 12 The rotation speeds of the first and second cutter discs are the same. In the embodiment of the present application, the rotation speeds of the first and second cutter discs and the technical effects can be referred to. Figure 1-Figure 12 The description of the rotational speeds of the first cutter disc and the second cutter disc in the illustrated embodiment will not be repeated in the embodiments of the present application.

[0423] Continue to see Fig.17A As shown, the first cutter disc 120 and the second cutter disc 122 may include blades 121 and a rotating disc 123. The plurality of blades 121 are arranged at intervals along the circumference of the rotating disc 123, and the outer sides of the blades 121 are provided with cutting edges, and the outer edges of the cutting edges are the outer edges of the first cutter disc 120 and the outer edges of the blades 121.

[0424] It should be noted that the shapes, structures and principles of the first blade disc 120 and the second blade disc 122 in the embodiment of the present application are the same as those in the embodiment of the present invention. Figure 1-Figure 12 The first blade disc 120 and the second blade disc 122 in the embodiment shown in FIG. 1 are the same. Therefore, in the embodiment of the present application, the shapes, structures and principles of the first blade disc 120 and the second blade disc 122 can refer to FIG. Figure 1-Figure 12 The description of the first cutter disc 120 and the second cutter disc 122 in the embodiment shown in FIG. 1 is not further explained in the embodiment of the present application.

[0425] In the above embodiment, the first cutter disc 120 is located at the first end 113 of the fuselage 110, and the position of the first cutter disc 120 relative to the fuselage 110 can remain unchanged. The first cutter disc can be located at the first position and the second position.

[0426] In some other embodiments where the first cutter disc 120 is located at the first end 113 of the fuselage 110, the first cutter disc 120 may also be movably connected to the fuselage 110, and the first cutter disc 120 passes through at least a first position and a second position during movement relative to the fuselage 110.

[0427] It should be noted that, the technical solution of the first blade disc 120 being movably connected to the fuselage 110 and the technical solution of the first blade disc 120 and the fuselage 110 being fixed in relative position, except for the different connection methods between the first blade disc 120 and the fuselage 110, other positional relationships and structures of the fuselage, front wheels, rear wheels, etc. are the same as the technical solution of the first blade disc 120 and the fuselage 110 being fixed in relative position. Therefore, in the solution of the first blade disc 120 being movably connected to the fuselage 110, the structures and principles other than the connection method between the first blade disc 120 and the fuselage 110 will not be elaborated herein.

[0428] By arranging the first blade disc 120 to be movably connected with the body 110, when the smart lawn mower 100 recognizes that there is a surmountable obstacle in the path ahead, such as a hard obstacle such as a stone that may damage the blade disc, the first blade disc 120 can be swung from the second position to the first position to cross the obstacle, and the probability of damage to the blade disc is low at this time. For another example, when the smart lawn mower 100 recognizes that there is a hard obstacle on the side, which may cause the first blade disc 120 that is in the first position and is mowing the lawn to be damaged, the first blade disc 120 can be swung from the first position to the second position to pass through, and the probability of damage to the first blade disc 120 can also be reduced at this time. The above method can effectively extend the service life of the first blade disc and the overall safety of the smart lawn mower 100.

[0429] In the embodiment of the present application, the first position is defined as: at least a portion of the first cutter disc 120 is located outside the orthographic projection of the fuselage 110 toward the ground, and in the lateral direction (y direction) of the fuselage, the minimum horizontal distance h2 between the farthest point of the first cutter disc 120 away from the fuselage 110 and the fuselage 110 is greater than 1 / 10 of the diameter of the first cutter disc 120, and the minimum horizontal distance h2 between the farthest point of the first cutter disc 120 away from the fuselage 110 and the fuselage 110 is less than 2 / 3 of the diameter of the first cutter disc 120.

[0430] In some embodiments, the first blade disc 120 is configured such that when the smart lawn mower 100 is in a mowing state and is not stuck, the rotation speed of the first blade disc 120 is V1, and the rotation speed of the first blade disc 120 during the movement of the first blade disc 120 relative to the body 110 is less than or equal to V1, and V1 is between 1800 rpm and 3500 rpm.

[0431] When the first blade disc 120 is located at the first position and the distance beyond the body 110 is less than 1 / 10 of the diameter of the first blade disc 120, the grass retention rate is high. By setting the distance of the first blade disc 120 beyond the body 110 to be greater than 1 / 10 of the diameter of the first blade disc 120 and less than 2 / 3 of the diameter of the first blade disc 120, the first blade disc 120 can be operated at a more suitable temperature when the smart lawn mower 100 is cutting. However, when the distance exceeds 2 / 3, the area of ​​the blade disc exposed to sunlight is larger, and heat is also generated during the high-speed operation of the blade disc, which increases the probability of the blade disc cracking. At the same time, since the blade disc is far away from the body 110, the vibration generated is also larger, which affects the working efficiency of the smart lawn mower 100.

[0432] In a possible implementation, the first blade disc 120 is configured such that when the smart lawn mower 100 is in a mowing state and is not stuck in the grass, the rotation speed of the first blade disc 120 is V1, and when the first blade disc 120 moves relative to the body 110, the rotation speed of the first blade disc 120 is less than V1. When the first blade disc 120 is moving, the rotation speed of the blade disc is less than V1. On the one hand, the shaking of the first blade disc 120 during the movement process can be reduced, and the stability of the first blade disc 120 during the movement process can be improved; on the other hand, the resistance encountered by the first blade disc 120 during the movement process can be reduced, saving energy consumption; on the other hand, when the movement action is performed, the cutting position of the first blade disc 120 is adjusted. For example, when adjusting the first blade disc 120 from the first position to the second position, during the process of adjusting the cutting position of the first blade disc 120, there are often people or animals around, causing safety hazards. At this time, an alarm needs to be sounded to drive away the people or animals. The faster the rotation speed of the first blade disc 120, the greater the noise emitted by the smart lawn mower 100. The excessive noise will block the alarm sound, and people or animals cannot be driven away normally, affecting the normal mowing work. When the rotation speed of the first blade disc 120 during the movement is less than the rotation speed V1 of the first blade disc 120 during normal mowing, the noise emitted by the rotation of the first blade disc 120 is small, and the noise will not block the alarm sound, thereby ensuring the smooth removal of living obstacles.

[0433] The first blade disc 120 is configured such that when the smart lawn mower 100 is in a mowing state and is not stuck in the grass, the rotation speed of the first blade disc 120 is V1, and when the first blade disc 120 is moving relative to the body 110, the rotation speed of the first blade disc 120 is equal to V1, and when the first blade disc 120 is moving, the rotation speed of the blade disc is consistent with the rotation speed V1 of the blade disc when it is mowing the grass. On the one hand, the speed-up and speed-down actions of the first blade disc 120 can be reduced, and the speed of the position adjustment of the first blade disc 120 can be increased, thereby improving the working efficiency of the lawn mower; on the other hand, the speed-up and speed-down actions of the first blade disc 120 are reduced, which can reduce the load on the motor of the first blade disc 120 and increase the service life of the motor.

[0434] In a possible implementation, when the first blade disc 120 is movably connected to the fuselage 110, the first blade disc 120 further includes a third position (not shown in the figure), when the first blade disc 120 is in the third position, the first blade disc 120 is located within the orthographic projection of the fuselage 110 toward the ground, and the minimum distance from the outer edge of the cutting blade to the outer edge of the fuselage 110 is greater than 50 mm. Exemplarily, the minimum distance from the outer edge of the cutting blade to the outer edge of the fuselage 110 can be 51 mm, 52 mm, 53 mm, 54 mm, etc.

[0435] In a possible implementation, the first cutter disc 120 passes through at least a first position, a second position, and a third position during movement relative to the body 110 .

[0436] By setting the first blade disc 120 to include the third position, the first blade disc 120 can be located inside the fuselage 110 and farther from the edge of the fuselage 110. When the second position does not need to be cut, the first blade disc 120 can be moved to the third position, which can improve the safety performance of the intelligent lawn mower. When the second position needs to be cut, the first blade disc 120 can be moved to the first position or the second position to expand the cutting range of the first blade disc 120, so that the intelligent lawn mower can cut to a position outside the fuselage 110, thereby ensuring cutting to the edge and improving the cutting efficiency of the lawn mower. In this way, the position of the first blade disc 120 can be determined according to the cutting situation, thereby improving the adaptability of the intelligent lawn mower.

[0437] In a possible implementation, the first blade disc 120 passes through at least the first position and the second position during the movement relative to the body 110. This arrangement can expand the cutting area of ​​the first blade disc 120, thereby ensuring that the cutting reaches the edge and improving the cutting efficiency of the lawn mower.

[0438] When cutting at the first position or the second position, the rotation speed of the first cutter disc 120 is greater than or equal to the rotation speed of the first cutter disc 120 during the movement of the first cutter disc 120 relative to the body. In this way, the shaking of the first cutter disc 120 can be reduced by reducing the rotation speed when the first cutter disc 120 moves relative to the body, thereby improving safety and stability. When in the first position or the second position, setting the rotation speed higher can improve cutting efficiency.

[0439] In a possible implementation, the smart lawn mower 100 further includes that, when the first blade disc 120 is in the third position, at least part of the first blade disc 120 and the second blade disc 122 have their orthographic projections toward the ground in the forward direction of the smart lawn mower 100 overlap.

[0440] Such a configuration can ensure that when the first cutter disc 120 is in the third position, on the one hand, there is no missed cutting area between the first cutter disc 120 and the second cutter disc 122, which can prevent missed cutting and improve cutting efficiency. On the other hand, the first cutter disc 120 and the second cutter disc 122 partially overlap in the forward direction, and the space outside the overlap has a certain obstacle utilization rate, which can cross more complex terrain.

[0441] In one possible implementation, Fig.18 As shown, the intelligent lawn mower 100 may include a driving device 150 and a control device 190, wherein the driving device 150 is arranged between the body 110 and the first blade disc 120, the driving device 150 is used to drive the first blade disc 120 to move radially along the first blade disc 120, and the control device 190 is connected to the driving device 150, and the control device 190 is used to control the driving device 150 to move the first blade disc 120 to the first position, the second position or the third position.

[0442] By setting up a driving device 150 and a control device 190, and connecting the driving device 150 to the first cutter disc 120, and connecting the control device 190 to the driving device 150, the first cutter disc 120 can be controlled to switch between the first position, the second position or the third position, thereby improving the position switching efficiency of the first cutter disc 120.

[0443] Exemplarily, the driving device 150 is a combination of one or more of a worm gear structure, a connecting rod driving device, a connecting rod mechanism or a gear assembly. Among them, the worm gear structure, the connecting rod driving device, the connecting rod mechanism or the gear assembly are more common as driving devices and are relatively simple to assemble, so setting the driving device 150 as a worm gear structure, a connecting rod driving device, a connecting rod mechanism or a gear assembly can simplify the driving device 150 and reduce the cost of the intelligent lawn mower 100.

[0444] In some embodiments, the smart lawn mower 100 may further include a first acquisition unit 191, which is used to collect position information of the smart lawn mower 100 in the area to be cut 200. The first acquisition unit 191 is electrically connected to the control device 190. The control device 190 is used to control the drive device 150 to move the first blade disc 120 to the first position, the second position or the third position according to the position information of the smart lawn mower 100 in the area to be cut 200.

[0445] It should be noted that the position information of the smart lawn mower 100 in the to-be-cut area 200 refers to whether the smart lawn mower 100 is located in the edge area 210 , the middle area 220 or the corner area 230 .

[0446] By controlling the state of the first blade disc 120 according to the position information of the smart lawn mower 100 in the area to be cut 200, the first blade disc 120 can be located at a suitable position when the smart lawn mower 100 performs cutting operations on different areas, thereby improving the cutting efficiency and ensuring that the edge can be cut.

[0447] For example, when the position information indicates that the smart lawn mower 100 is located in the edge area 210, the first blade disc 120 can be adjusted to the first position or the second position to cut the edge of the body 110 or the area outside the edge of the body 110, thereby solving the problem that the smart lawn mower 100 in the related art cannot cut the edge. When the position information indicates the middle area 220, the first blade disc 120 can be moved to the third position so that the first blade disc 120 is located below the body 110, thereby improving the safety performance of the smart lawn mower 100. When the position information indicates the corner area, the first blade disc 120 can be moved to the first position to cut the edge of the body 110 and the area outside the edge of the body 110, thereby solving the problem that the smart lawn mower 100 in the related art cannot cut the edge.

[0448] Of course, in other embodiments, the first cutter disc 120 may be moved to other states according to the position information, which may be set according to specific circumstances and is not further limited in the embodiments of the present application.

[0449] Exemplarily, the first acquisition unit 191 may include one or more of a radar, a time of flight sensor (TOF), a depth camera, a binocular camera, a camera, a distance sensor, a laser ranging sensor, an edge sensor, and a flight sensor, so that the position information of the smart lawn mower 100 in the area to be cut 200 can be obtained, so that the smart lawn mower 100 can control the position of the first blade 120 according to the position information.

[0450] In a possible implementation, the intelligent lawn mower 100 may further include a second acquisition unit 192, wherein the second acquisition unit 192 is used to acquire minimum horizontal distance information from the first blade disc 120 to the boundary line 300 of the to-be-cut area 200. The second acquisition unit 192 is connected to the control device 190, and the control device 190 is used to drive the drive device 150 to move the first blade disc 120 to the first position, the second position, or the third position according to the minimum horizontal distance information.

[0451] Exemplarily, when the first cutter disc 120 is in the first position, the control device 190 is further used to control the driving device 150 to extend the first cutter disc 120 to the first preset length outside the first end portion 113 according to the minimum horizontal distance information, and the minimum horizontal distance from the first cutter disc 120 to the boundary line 300 of the area to be cut 200 is greater than the first preset length. In other words, the control device 190 can control the horizontal distance of the first cutter disc 120 according to the minimum horizontal distance, so as to prevent the first cutter disc 120 from colliding with the boundary line 300 and the like, and prevent the first cutter disc 120 from being damaged. In other words, the first cutter disc 120 can expand the cutting range without colliding, and thus cut to the edge.

[0452] Exemplarily, the first preset length is between 10-20 cm. For example, the first preset length can be 10 cm, 11 cm, 12 cm, 13 cm, 14 cm, 15 cm, 16 cm, 17 cm, 18 cm, 19 cm, 20 cm, etc. Of course, in some other embodiments, the first preset length can also be other values. In the embodiment of the present application, the first preset length is not further limited. By setting the first preset length to 10-20 cm, the cutting range of the first cutter disc can be expanded to ensure cutting to the edge. In addition, the problem of the first cutter disc being difficult to retract due to excessive extension can be prevented.

[0453] In one possible implementation, when the first cutter disc 120 is located at the first position, in the y direction, the minimum horizontal distance h3 between the farthest point of the first cutter disc 120 away from the fuselage 110 and the fuselage 110 is greater than 1 / 10 of the diameter of the first cutter disc, and the minimum horizontal distance h3 between the farthest point of the first cutter disc 120 away from the fuselage 110 and the fuselage 110 is less than 1 / 3 of the first cutter disc diameter.

[0454] In one possible implementation, when the first cutter disc 120 is located at the first position, in the y direction, the minimum horizontal distance h3 between the farthest point of the first cutter disc 120 away from the fuselage 110 and the fuselage 110 is greater than 1 / 8 of the diameter of the first cutter disc, and the minimum horizontal distance h3 between the farthest point of the first cutter disc 120 away from the fuselage 110 and the fuselage 110 is less than 1 / 4 of the first cutter disc diameter.

[0455] Exemplarily, the minimum horizontal distance h3 between the farthest point of the first cutter disc 120 away from the fuselage 110 and the fuselage 110 can be 1 / 10, 1 / 9, 1 / 8, 1 / 7, 1 / 6, 1 / 5, 1 / 4, 1 / 3, 1 / 2, etc. of the diameter of the first cutter disc 120. In the embodiment of the present application, the minimum horizontal distance h3 between the farthest point of the first cutter disc 120 away from the fuselage 110 and the fuselage 110 is not further limited to a few fractions of the diameter of the first cutter disc 120.

[0456] Exemplarily, the second acquisition unit 192 may be a distance sensor, an edge sensor, an edge radar, or other device that can measure distance. In the implementation of the present application, the structure of the second acquisition unit 192 is not further limited.

[0457] In a possible implementation, the smart lawn mower 100 may further include a detection device 140 , which is disposed on the body 110 . The detection device 140 is used to detect biological information, and the smart lawn mower 100 is used to perform safety protection actions according to the biological information.

[0458] In the embodiment of the present application, the safety protection action includes one or more of the following combinations: the smart lawn mower 100 slows down, the smart lawn mower 100 stops, the first blade disc 120 slows down, the first blade disc 120 stops rotating, the smart lawn mower 100 performs obstacle avoidance, and the smart lawn mower 100 performs obstacle bypassing. Such a setting can improve the safety performance of the smart lawn mower 100. When the smart lawn mower 100 performs obstacle avoidance, the first blade disc 120 can be shielded in the protective cover 125.

[0459] Of course, in other embodiments, the safety protection action may also include controlling the first cutter disc 120 to move to a third position, controlling the first cutter disc 120 to slow down, etc. In the embodiment of the present application, the safety protection action may have a variety of settings. In the embodiment of the present application, the safety protection action is not further limited.

[0460] By setting up the detection device 140, the lawn mower can be controlled to enter a safety protection action based on the biological information detected by the detection device 140, and in the safety protection action, the first blade disc can be slowed down and / or stopped and / or the first blade disc can be shielded in the protective cover 125, which can improve the safety performance of the smart lawn mower.

[0461] It should be noted that in the embodiment of the present application, when the first blade 120 is fixedly connected to the body 110, the safety protection action is Figure 1-Figure 12 The safety protection actions in the embodiment shown in are the same. For the description of the safety protection actions in this embodiment, please refer to Figure 1-Figure 12 The description of the safety protection action in the embodiment shown in FIG. 1 is not further described in this embodiment. When the first blade 120 is movably connected to the body 110, the safety protection action and Figure 13-Figure 16 The safety protection actions in the embodiment shown in are the same. For the description of the safety protection actions in this embodiment, please refer to Figure 13-Figure 16 The description of the safety protection action in the embodiment shown in is not further explained in this embodiment.

[0462] Exemplarily, the smart lawn mower 100 may further include a balancing structure 170, which is disposed on the body 110 and is used to balance the mass of the first blade disc 120 and the motor 130. This arrangement can keep the body 110 balanced and prevent the smart lawn mower 100 from tipping over when mowing.

[0463] In a possible implementation, a heat sink is provided on the motor 130, and the heat sink is used to dissipate heat from the motor 130. Exemplarily, the heat sink may be a fan, a water cooling device, an air cooling device, etc., and the specific structure of the heat sink is not further limited in the embodiment of the present application. By providing the heat sink, the motor 130 can be cooled to ensure the normal operation of the motor 130.

[0464] It should be noted that, in some implementations, a heat dissipation device may not be provided on the outside of the motor 130 . In the embodiment of the present application, no further limitation is imposed on the specific shape and the location of the heat dissipation device.

[0465] In a possible implementation, a waterproof structure may be further provided on the outside of the motor 130 .

[0466] By providing a waterproof structure on the outside of the motor 130 , the motor 130 can be prevented from being infiltrated with water or being damp, thereby ensuring the normal operation of the motor 130 .

[0467] It should be noted that a waterproof structure can be provided between the output shaft of the motor 130 and the motor 130 body, so that the output shaft of the motor 130 can leak out while the motor 130 is not exposed, thereby effectively preventing the motor 130 from entering water or getting damp, and ensuring the normal operation of the motor 130.

[0468] It should be noted that, in the embodiment of the present application, the shape, structure, principle and setting position of the rear wheel 162, the detection device 140, the protective cover 125 and the balance structure 170 are all the same as those of the embodiment of the present application. Figure 1-Figure 12 The rear wheel 162, the detection device 140, the protective cover 125 and the balancing structure 170 in the embodiment shown in FIG. 1 are the same. Therefore, in the embodiment of the present application, the shape, structure, principle and setting position of the rear wheel 162, the detection device 140, the protective cover 125 and the balancing structure 170 can refer to FIG. Figure 1-Figure 12 The description of the rear wheel 162, the detection device 140, the protective cover 125 and the balance structure 170 in the embodiment shown in the figure will not be further explained in the embodiment of the present application.

[0469] In addition, the moving speed of the intelligent lawn mower 100, the minimum horizontal distance between the first blade disc 120 and the second blade disc 122 and the ground, and the mass of the first blade disc 120 are respectively Figure 1-Figure 12The moving speed of the intelligent lawn mower 100 in the embodiment shown in FIG. 1 , the minimum horizontal distance between the first blade disc 120 and the second blade disc 122 and the ground, and the mass of the first blade disc 120 are the same. For details, please refer to Figure 1-Figure 12 The description in the embodiments shown in the examples is not further explained in the present application examples.

[0470] Fig.17 The embodiment shown in introduces an embodiment in which the first cutter disc 120 is set at the first end 113 of the fuselage 110. Of course, in some embodiments, the first cutter disc 120 can also be set at other positions. For example, the first cutter disc 120 can also be set at the second end 114 of the fuselage 110.

[0471] like Fig.19 As shown, the smart lawn mower 100 provided in the embodiment of the present application includes a body 110, a rear wheel 162, a front wheel 161, and a first blade disc 120. The body 110 includes a first end 113 and a second end 114 which are relatively arranged along the forward direction (x direction) of the smart lawn mower 100. Exemplarily, the first end 113 of the smart lawn mower 100 is the front end of the body 110, and the second end 114 is the rear end of the body 110. It should be noted that the front end and the rear end refer to the front end and the rear end in a macroscopic sense, indicating the front and the rear end of the smart lawn mower 100 that people usually think of.

[0472] In the embodiment of the present application, the front wheel 161 and the rear wheel 162 are both arranged on the side of the fuselage 110 facing the ground, and in the x direction, the front wheel 161 and the rear wheel 162 are arranged at intervals, and the front wheel 161 is located between the rear wheel 162 and the first end 113, that is, the rear wheel 162 is arranged close to the rear end of the fuselage 110, and the front wheel 161 is arranged close to the front end of the fuselage 110.

[0473] like Fig.19 As shown, the first blade disc 120 is installed below the body 110 and is used to perform cutting operations on the to-be-cut area 200. In the forward direction of the intelligent lawn mower, at least part of the first blade disc 120 is located between the second section b and the second end 114 of the rear wheel 162. The second section is perpendicular to the forward direction of the intelligent lawn mower and passes through the second end point of the rear wheel 162, and the second end point is defined as the farthest point of the rear wheel 162 from the second end 114.

[0474] In some embodiments, the relative position of the first blade disc 120 to the body 110 may remain fixed, and the first blade disc 120 is fixed at the first position or the second position.

[0475] The first position is defined as: at least part of the first cutter disc 120 is located outside the orthographic projection of the fuselage 110 toward the ground. Exemplarily, when the first cutter disc is located at the first position, a horizontal distance h4 from an outer edge of the first cutter disc 120 located outside the fuselage 110 to an outer edge of the fuselage 110 may be greater than or equal to 0 and less than or equal to 60 mm.

[0476] Such a configuration can expand the cutting range of the smart lawn mower 100 and solve the problem that the smart lawn mower 100 cannot cut the edge in the related art. Exemplarily, the horizontal distance h4 from the outer edge of the first blade disc 120 located outside the fuselage 110 to the outer edge of the fuselage 110 can be 60 mm, 55 mm, 50 mm, 45 mm, 40 mm, 35 mm, 30 mm, 25 mm, 20 mm, 15 mm, 10 mm, 5 mm, 0 mm, etc. In the embodiment of the present application, the horizontal distance h3 from the outer edge of the first blade disc 120 located outside the fuselage 110 to the outer edge of the fuselage 110 is not further limited.

[0477] The second position is defined as: the first cutter head 120 is located within the orthographic projection of the fuselage 110 toward the ground, and the minimum horizontal distance between the outer edge of the cutting blade and the outer edge of the fuselage 110 (see Figure 4 h1) in the formula is greater than or equal to 0 and less than or equal to 50 mm.

[0478] For example, the minimum horizontal distance h1 from the outer edge of the first cutter disc 120 to the outer edge of the fuselage 110 may be 50 mm, 45 mm, 40 mm, 35 mm, 30 mm, 25 mm, 20 mm, 15 mm, 10 mm, 5 mm, 0 mm, etc. In the embodiment of the present application, the minimum horizontal distance from the outer edge of the first cutter disc 120 to the outer edge of the fuselage 110 is not further limited.

[0479] It should be noted that, in the embodiment of the present application, the first position and the second position are Figure 1-Figure 12 The first position and the second position in the embodiment shown in are the same. Figure 1-Figure 12 Description of the first position and the second position in the illustrated embodiment.

[0480] The first blade disc 120 is configured such that when the smart lawn mower 100 is in a mowing state and is not stuck, the rotation speed of the first blade disc 120 is between 1800 rpm and 3500 rpm. The smart lawn mower 100 may also include a detection device 140 disposed on the body 110, the detection device 140 is used to detect biological information, and the smart lawn mower 100 is used to perform safety protection actions according to the biological information.

[0481] The smart lawn mower 100 provided in the present application can make the first blade disc 120 face the lawn to be cut by arranging the first blade disc 120 below the body 110, so that the smart lawn mower 100 can perform cutting operations conveniently. By arranging a metal cutting blade on the outer side of the first blade disc 120, the sharpness of the first blade disc 120 can be improved, which is conducive to improving the cutting efficiency of the first blade disc 120.

[0482] By arranging at least a portion of the first blade disc 120 at the rear end of the fuselage 110, on the one hand, when the blade disc needs to be urgently stopped or decelerated, such as to avoid, bypass or overcome obstacles, the blade disc can be controlled to decelerate or stop in time. Since the blade disc is located at the rear side of the fuselage 110, there is a longer reaction time when the blade disc is controlled to decelerate or stop, so as to ensure that before the smart lawn mower 100 performs these actions, the blade disc has enough time to switch to a preset deceleration or preset stop state, so as to avoid the blade disc from colliding with obstacles or gravel due to untimely switching, thereby causing damage to the blade disc. In this way, there is no need to increase the accuracy and cost too much at the software level and the sensor level to achieve the timeliness of the blade disc state switching, and further cost investment at the software level and the sensor level can be effectively saved. On the other hand, when the smart lawn mower 100 performs backward mowing, the problem of inconsistent cutting height caused by the rear wheel bending the lawn affecting the mowing efficiency is avoided.

[0483] When the first blade disc 120 is located at the first position, at least part of the first blade disc 120 is located outside the outer edge of the body 110, so that the cutting range of the smart lawn mower 100 can be expanded by increasing the cutting width outside the body 110, so that the smart lawn mower 100 has a smaller cutting blind area at the boundary line, and can cut to the edge, thereby solving the problem of the smart lawn mower 100 having a high grass retention rate and being unable to cut to the edge in the related art.

[0484] When the first blade disc 120 is in the second position, the first blade disc 120 is located inside the body 110, and the distance from the outer edge of the body 110 is greater than or equal to 0 and less than or equal to 50 mm, so that cutting to the edge can be achieved while ensuring cutting safety to the greatest extent. By reducing the distance from the first blade disc 120 to the outer edge of the body 110, the cutting blind area of ​​the first blade disc 120 of the smart lawn mower 100 from the boundary line is small, so cutting to the edge can be achieved, thereby solving the problem of high grass retention rate and inability to cut to the edge of the smart lawn mower 100 in the related art.

[0485] like Fig.19AAs shown, the smart lawn mower 100 provided in the embodiment of the present application may further include a second blade disc 122. In the forward direction of the smart lawn mower 100, the position of the second blade disc 122 relative to the fuselage remains unchanged, and the second blade disc 122 is arranged between the front wheel 161 and the rear wheel 162, and the first blade disc 120 is located on one side of the rear wheel 162. And the first blade disc 120 and the second blade disc 122 are arranged at intervals. The first blade disc 120 and the second blade disc 122 are both installed below the fuselage 110, and are used to perform cutting operations on the area to be cut 200.

[0486] Such a configuration can expand the cutting range of the intelligent lawn mower 100, prevent missed cutting, and thus improve cutting efficiency. By arranging the second blade disc 122 between the fuselage 110 and the rear wheel 162, on the one hand, it is possible to prevent interference between the first blade disc 120 and the second blade disc 122, and also to prevent the first blade disc 120 and the second blade disc 122 from interfering with the fuselage 110 and the rear wheel 162 of the intelligent lawn mower 100, thereby scratching the fuselage 110 and the rear wheel 162. On the other hand, the first blade disc 120 and the second blade disc 122 can rotate in coordination with each other to generate a strong rotating airflow, so that the airflow generated by the first blade disc 120 and the second blade disc 122 acting on the fuselage 110 will be stronger, so that the grass clippings stuck on the fuselage 110 can be better blown out, so as to ensure that the fuselage 110 is not prone to slipping, and to ensure the travel stability of the intelligent lawn mower 100, and at the same time, the high-speed rotating airflow can better remove the heat generated by the blade disc during operation, and the heat dissipation effect is better.

[0487] It should be noted that the rear wheel 162 may be a roller with driving force, used to drive the intelligent lawn mower 100 forward or backward. The front wheel 161 may be used to adjust the direction. Exemplarily, the front wheel 161 may be a universal wheel.

[0488] In the embodiments of the present application, Fig.19 As shown, the body 110 further includes a first side edge 111 and a second side edge 112. The first side edge 111 and the second side edge 112 both extend along the forward direction (x direction) of the intelligent lawn mower 100. In the forward direction of the intelligent lawn mower, both ends of the first side edge 111 and the second side edge 112 are respectively connected to the second end 114 and the first end 113, and the first side edge 111 and the second side edge 112 are relatively arranged on both sides of the body 110 in the transverse direction, and the transverse direction of the body 110 is perpendicular to the forward direction.

[0489] The two ends of the first end 113 of the body 110 extend in the opposite direction of the forward direction of the intelligent lawn mower. The two ends of the second end 114 extend in the forward direction of the intelligent lawn mower. Partial structures of the first end 113 and the second end 114 can extend in the lateral direction (y direction).

[0490] By configuring the first end 113 and the second end 114 as components whose partial structure extends along the lateral direction, the smart lawn mower can have a certain lateral direction in the y direction. In this way, when the first blade disc 120 is installed at one end of the second end 114, the first blade disc 120 can be located on one side of the rear end of the smart lawn mower. The first blade disc 120 can cut to a position on one side of the rear end of the smart lawn mower, thereby expanding the cutting area and ensuring that the edge can be cut.

[0491] In some embodiments, the number of the first blade disc 120 is one, wherein the first blade disc 120 is disposed on the side where the second end 114 is connected to the first side edge 111, or the first blade disc 120 can be located on the side where the second end 114 is connected to the second side edge 112. In this way, the first blade disc 120 can be located at the outer edge of the body 110, so that when performing a cutting operation, the first blade disc 120 can cover the outer edge of the lawn mower, thereby ensuring cutting to the edge.

[0492] In some embodiments, the number of the first blade discs 120 is at least two, wherein at least one first blade disc 120 is disposed on a side where the second end 114 is connected to the first side edge 111, and at least one first blade disc 120 is disposed on a side where the second end 114 is connected to the second side edge 112 (see Fig.21 As shown). In this way, the first blade disc 120 can be located at the outer edge of the body 110. When cutting, the first blade disc 120 can cover the outer edge of the lawn mower, thereby ensuring cutting to the edge.

[0493] It should be noted that the second end portion 114 extending along the transverse direction refers to extending along the transverse direction in a macro sense, rather than extending in a strict linear direction. For example, in some embodiments, the second end portion 114 may be an arc-shaped structure, the entire arc is arranged along the transverse direction, and both ends of the arc-shaped structure in the transverse direction gradually bend toward the direction close to the first end portion 113 of the fuselage 110.

[0494] In addition, it should be noted that “relative setting” refers to a relative setting on a macro scale, which may be directly relative or obliquely relative.

[0495] Fig.19A The embodiment shown in FIG. 1 includes a first blade disc 120 and a second blade disc 122. In one possible implementation, continue to refer to Fig.19A As shown, the rotation radius of the second cutter disc 122 is greater than or equal to the rotation radius of the first cutter disc 120 .

[0496] In this way, the second blade disc 122 can perform the main cutting operation, while the first blade disc 120 can be relatively light, so that the difficulty of assembling the first blade disc 120 can be reduced during assembly. When the first blade disc 120 is movably connected to the body 110, the smaller first blade disc 120 is more convenient to assemble and easier to control, which can simplify the structure of the driving device 150 that realizes the movably connection between the first blade disc 120 and the body 110, thereby reducing costs. On the other hand, the smaller first blade disc 120 can not only save the layout space inside the body 110, but also reduce the wind resistance as much as possible, so as to reduce the power consumption of the whole machine of the intelligent lawn mower 100 during the cutting process, and achieve the effect of low energy consumption and high efficiency cutting.

[0497] Of course, in some embodiments, the first blade disc 120 can also be detachably connected to the body 110, and the first blade disc 120 can be selected to be installed when cutting different areas, which can improve the application flexibility of the intelligent lawn mower 100. For example, when cutting the corner area 230, the first blade disc 120 close to the outside of the body 110 can be installed, so that the intelligent lawn mower 100 can cut to the edge. When cutting an area that does not involve the corner area 230, the first blade disc 120 close to the outside of the body 110 can be removed, and only the second blade disc 122 can be used for cutting operations. Since the second blade disc 122 is located on the inside of the body 110, this can improve safety performance.

[0498] Of course, in some embodiments, the number of the first cutter discs 120 may be at least two, and in the lateral direction of the fuselage, at least two first cutter discs 120 are disposed opposite to each other at the second end 114 .

[0499] With such an arrangement, on the one hand, the two relatively arranged first blade discs 120 play a role in balancing the center of gravity, and there is no need to set up additional counterweights in consideration of the counterweight of the entire machine; on the other hand, the first blade discs 120 on both sides can perform cutting work, which expands the cutting range of the first blade discs 120, thereby allowing the smart lawn mower 100 to cut to the edge, and because the first blade disc 120 on any side can be used to mow the grass, there is no need to modify the algorithm due to the change in the position of the first blade disc 120, and the universality is stronger; in addition, the rotation of the blade discs on both sides can drive the air flow in the space below the fuselage, which has a better heat dissipation effect and can also blow away the grass clippings wrapped around the front wheels, thereby preventing the front wheels from slipping due to sticky grass clippings.

[0500] When the first cutter disc 120 and the second cutter disc 122 at least partially overlap in the forward direction, it is helpful to prevent missed cutting, and when the first cutter disc 120 and the second cutter disc 122 are staggered in the forward direction, the heat generated by the first cutter disc 120 and the second cutter disc 122 will not be more concentrated, which is beneficial to the heat dispersion of the first cutter disc 120 and the second cutter disc 122, thereby facilitating the heat dissipation efficiency of the first cutter disc 120 and the second cutter disc 122.

[0501] In addition, in some embodiments, the second cutter disc 122 may not be provided, and only the first cutter disc 120 may be provided. In the embodiments of the present application, the number of first cutter discs 120, whether to provide the second cutter disc 122, and when the second cutter disc 122 is provided, the number of second cutter discs 122 is not further limited.

[0502] It should be noted that, in the embodiment of the present application, when the positions of the first blade disc 120 and the body 110 remain relatively unchanged, the connection method between the first blade disc 120 and the body 110 is the same as the above-mentioned Figure 1-Figure 12 For example, the first blade disc 120 can be detachably connected to the body, and the connection method between the first blade disc 120 and the body 110 in the embodiment of the present application can refer to the above Figure 1-Figure 12 The description of the embodiments in the examples will not be repeated in the embodiments of this application.

[0503] like Fig.19A As shown, the number of the front wheel 161 can be one, and in the first direction, the front wheel 161 is located at the center of the body 110. By setting the number of the front wheel 161 to one, the structure of the lawn mower can be simplified and the cost can be reduced.

[0504] Of course, in other embodiments, such as Fig.21 As shown, the number of the front wheels 161 can also be two, wherein in the lateral direction, the two front wheels 161 are spaced apart and symmetrically distributed relative to the central axis of the fuselage 110. By setting the number of the front wheels 161 to two, the stability of the lawn mower can be improved, and the obstacle crossing ability of the lawn mower can be improved.

[0505] It should be noted that the number of rear wheels 162 is generally two, and the two rear wheels 162 are symmetrically arranged on both sides of the fuselage 110 in the transverse direction, wherein the outer edges of the rear wheels 162 may be located outside the outer edge of the fuselage 110, may be flush with the outer edge of the fuselage 110, or may be located inside the outer edge of the fuselage 110. In the embodiment of the present application, the number, size, and arrangement position of the rear wheels 162 are not further limited.

[0506] For example, the first blade disc 120 may be located at the connection between the second end 114 and the first side edge 111, or the first blade disc 120 may be located at the connection between the second end 114 and the second side edge 112. In this way, the first blade disc 120 can be located at the outer edge of the body 110, so that when performing a cutting operation, the first blade disc 120 can cover the outer edge of the mower, thereby ensuring cutting to the edge.

[0507] It should be noted that the second end portion 114 extending along the transverse direction refers to extending along the transverse direction in a macro sense, rather than extending in a strict linear direction. For example, in some embodiments, the second end portion 114 may be an arc-shaped structure, the entire arc is arranged along the transverse direction, and both ends of the arc-shaped structure in the transverse direction gradually bend toward the direction close to the first end portion 113 of the fuselage 110.

[0508] It should be noted that, in the embodiment of the present application, the intelligent lawn mower 100 may also include a motor 130 (see Fig. 20 As shown), wherein the motor is connected to the first cutter disc 120, and the motor 130 is used to drive the first cutter disc 120 to rotate so that the first cutter disc 120 performs a cutting operation, and the rotation speed of the motor 130 is between 1800 rpm and 3500 rpm.

[0509] It should be noted that the rotation speeds of the first and second cutter discs and the technical effects in the implementation of this application are the same as those in the Figure 1-Figure 12 The rotation speeds of the first and second cutter discs are the same. In the embodiment of the present application, the rotation speeds of the first and second cutter discs and the technical effects can be referred to. Figure 1-Figure 12 The description of the rotational speeds of the first cutter disc and the second cutter disc in the illustrated embodiment will not be repeated in the embodiments of the present application.

[0510] Continue to see Fig.19A As shown, the first cutter disc 120 and the second cutter disc 122 may include blades 121 and a rotating disc 123. The plurality of blades 121 are arranged at intervals along the circumference of the rotating disc 123, and the outer sides of the blades 121 are provided with cutting edges, and the outer edges of the cutting edges are the outer edges of the first cutter disc 120 and the outer edges of the blades 121.

[0511] It should be noted that the shapes, structures and principles of the first blade disc 120 and the second blade disc 122 in the embodiment of the present application are the same as those in the embodiment of the present invention. Figure 1-Figure 12 The first blade disc 120 and the second blade disc 122 in the embodiment shown in FIG. 1 are the same. Therefore, in the embodiment of the present application, the shapes, structures and principles of the first blade disc 120 and the second blade disc 122 can refer to FIG. Figure 1-Figure 12 The description of the first cutter disc 120 and the second cutter disc 122 in the embodiment shown in FIG. 1 is not further explained in the embodiment of the present application.

[0512] In the above embodiments, the first cutter disc 120 is located at the second end 114 of the fuselage 110, and the position of the first cutter disc 120 relative to the fuselage 110 can remain unchanged, and the first cutter disc can be located at a first position and a second position. In other embodiments in which the first cutter disc 120 is located at the second end 114 of the fuselage 110, the first cutter disc 120 can also be movably connected to the fuselage 110, and the first cutter disc 120 passes through at least the first position and the second position during movement relative to the fuselage 110.

[0513] It should be noted that, the technical solution of the first blade disc 120 being movably connected to the fuselage 110 and the technical solution of the first blade disc 120 and the fuselage 110 being fixed in relative position, except for the different connection methods between the first blade disc 120 and the fuselage 110, other positional relationships and structures of the fuselage, front wheels, rear wheels, etc. are the same as the technical solution of the first blade disc 120 and the fuselage 110 being fixed in relative position. Therefore, in the solution of the first blade disc 120 being movably connected to the fuselage 110, the structures and principles other than the connection method between the first blade disc 120 and the fuselage 110 will not be elaborated herein.

[0514] By arranging the first blade disc 120 to be movably connected with the body 110, when the smart lawn mower 100 recognizes that there is a surmountable obstacle in the path ahead, such as a hard obstacle such as a stone that may damage the blade disc, the first blade disc 120 can be swung from the second position to the first position to cross the obstacle, and the probability of damage to the blade disc is low at this time. For another example, when the smart lawn mower 100 recognizes that there is a hard obstacle on the side, which may cause the first blade disc 120 that is in the first position and is mowing the lawn to be damaged, the first blade disc 120 can be swung from the first position to the second position to pass through, and the probability of damage to the first blade disc 120 can also be reduced at this time. The above method can effectively extend the service life of the first blade disc and the overall safety of the smart lawn mower 100.

[0515] In the embodiment of the present application, the first position is defined as: at least a portion of the first cutter disc 120 is located outside the orthographic projection of the fuselage 110 toward the ground, and in the lateral direction (y direction) of the fuselage, the minimum horizontal distance h2 between the farthest point of the first cutter disc 120 away from the fuselage 110 and the fuselage 110 is greater than 1 / 10 of the diameter of the first cutter disc 120, and the minimum horizontal distance h2 between the farthest point of the first cutter disc 120 away from the fuselage 110 and the fuselage 110 is less than 2 / 3 of the diameter of the first cutter disc 120.

[0516] When the first blade disc 120 is located at the first position and the distance beyond the body 110 is less than 1 / 10 of the diameter of the first blade disc 120, the grass retention rate is high. By setting the distance of the first blade disc 120 beyond the body 110 to be greater than 1 / 10 of the diameter of the first blade disc 120 and less than 2 / 3 of the diameter of the first blade disc 120, the first blade disc 120 can be operated at a more suitable temperature when the smart lawn mower 100 is cutting. However, when the distance exceeds 2 / 3, the area of ​​the blade disc exposed to sunlight is larger, and heat is also generated during the high-speed operation of the blade disc, which increases the probability of the blade disc cracking. At the same time, since the blade disc is far away from the body 110, the vibration generated is also larger, which affects the working efficiency of the smart lawn mower 100.

[0517] In one possible implementation, the first blade disc 120 is configured such that when the smart lawn mower 100 is in a mowing state and is not stuck, the rotation speed of the first blade disc 120 is V1, and the rotation speed of the first blade disc 120 during the movement of the first blade disc 120 relative to the body 110 is less than or equal to V1, and V1 is between 1800 rpm and 3500 rpm.

[0518] The first blade disc 120 is configured such that when the smart lawn mower 100 is in a mowing state and is not stuck in the grass, the rotation speed of the first blade disc 120 is V1, and when the first blade disc 120 moves relative to the body 110, the rotation speed of the first blade disc 120 is less than V1. When the first blade disc 120 is moving, the rotation speed of the blade disc is less than V1. On the one hand, the shaking of the first blade disc 120 during the movement process can be reduced, and the stability of the first blade disc 120 during the movement process can be improved; on the other hand, the resistance encountered by the first blade disc 120 during the movement process can be reduced, saving energy consumption; on the other hand, when performing the moving action, the cutting position of the first blade disc 120 can be adjusted, for example, the first blade disc 120 can be moved to a certain position. The disc 120 is adjusted from the first position to the second position. During the process of adjusting the cutting position of the first blade disc 120, there are often people or animals around, causing safety hazards. At this time, an alarm needs to be sounded to drive away the people or animals. The faster the rotation speed of the first blade disc 120, the greater the noise emitted by the smart lawn mower 100. The excessive noise will block the alarm sound, and people or animals cannot be driven away normally, affecting the normal mowing work. When the rotation speed of the first blade disc 120 during the movement is less than the rotation speed V1 of the first blade disc 120 during normal mowing, the noise emitted by the rotation of the first blade disc 120 is small, and the noise will not block the alarm sound, thereby ensuring the smooth removal of living obstacles.

[0519] The first blade disc 120 is configured such that when the smart lawn mower 100 is in a mowing state and is not stuck in the grass, the rotation speed of the first blade disc 120 is V1, and when the first blade disc 120 is moving relative to the body 110, the rotation speed of the first blade disc 120 is equal to V1, and when the first blade disc 120 is moving, the rotation speed of the blade disc is consistent with the rotation speed V1 of the blade disc when it is mowing the grass. On the one hand, the speed-up and speed-down actions of the first blade disc 120 can be reduced, and the speed of the position adjustment of the first blade disc 120 can be increased, thereby improving the working efficiency of the lawn mower; on the other hand, the speed-up and speed-down actions of the first blade disc 120 are reduced, which can reduce the load on the motor of the first blade disc 120 and increase the service life of the motor.

[0520] In a possible implementation, the first cutter disc 120 passes through at least a first position, a second position, and a third position during movement relative to the body 110 .

[0521] By setting the first blade disc 120 to include the third position, the first blade disc 120 can be located inside the fuselage 110 and farther from the edge of the fuselage 110. When the second position does not need to be cut, the first blade disc 120 can be moved to the third position, which can improve the safety performance of the intelligent lawn mower. When the second position needs to be cut, the first blade disc 120 can be moved to the first position or the second position to expand the cutting range of the first blade disc 120, so that the intelligent lawn mower can cut to a position outside the fuselage 110, thereby ensuring cutting to the edge and improving the cutting efficiency of the lawn mower. In this way, the position of the first blade disc 120 can be determined according to the cutting situation, thereby improving the adaptability of the intelligent lawn mower.

[0522] In a possible implementation, the first blade disc 120 passes through at least the first position and the second position during the movement relative to the body 110. This arrangement can expand the cutting area of ​​the first blade disc 120, thereby ensuring that the cutting reaches the edge and improving the cutting efficiency of the lawn mower.

[0523] When cutting at the first position or the second position, the rotation speed of the first cutter disc 120 is greater than or equal to the rotation speed of the first cutter disc 120 during the movement of the first cutter disc 120 relative to the body. In this way, the shaking of the first cutter disc 120 can be reduced by reducing the rotation speed when the first cutter disc 120 moves relative to the body, thereby improving safety and stability. When in the first position or the second position, setting the rotation speed higher can improve cutting efficiency.

[0524] In a possible implementation, the smart lawn mower 100 further includes that, when the first blade disc 120 is in the third position, at least part of the first blade disc 120 and the second blade disc 122 have their orthographic projections toward the ground in the forward direction of the smart lawn mower 100 overlap.

[0525] Such a configuration can ensure that when the first cutter disc 120 is in the third position, there is no missed cutting area between the first cutter disc 120 and the second cutter disc 122, which can prevent missed cutting and improve cutting efficiency. On the other hand, the first cutter disc 120 and the second cutter disc 122 partially overlap in the forward direction, and the space outside the overlap has a certain obstacle utilization rate, which can cross more complex terrain.

[0526] In one possible implementation, Fig. 20 As shown, the intelligent lawn mower 100 may include a driving device 150 and a control device 190, wherein the driving device 150 is arranged between the body 110 and the first blade disc 120, the driving device 150 is used to drive the first blade disc 120 to move radially along the first blade disc 120, and the control device 190 is connected to the driving device 150, and the control device 190 is used to control the driving device 150 to move the first blade disc 120 to the first position, the second position or the third position.

[0527] By setting up a driving device 150 and a control device 190, and connecting the driving device 150 to the first cutter disc 120, and connecting the control device 190 to the driving device 150, the first cutter disc 120 can be controlled to switch between the first position, the second position or the third position, thereby improving the position switching efficiency of the first cutter disc 120.

[0528] Exemplarily, the driving device 150 is a combination of one or more of a worm gear structure, a connecting rod driving device, a connecting rod mechanism or a gear assembly. Among them, the worm gear structure, the connecting rod driving device, the connecting rod mechanism or the gear assembly are more common as driving devices and are relatively simple to assemble, so setting the driving device 150 as a worm gear structure, a connecting rod driving device, a connecting rod mechanism or a gear assembly can simplify the driving device 150 and reduce the cost of the intelligent lawn mower 100.

[0529] In some embodiments, the smart lawn mower 100 may further include a first acquisition unit 191, which is used to collect position information of the smart lawn mower 100 in the area to be cut 200. The first acquisition unit 191 is electrically connected to the control device 190. The control device 190 is used to control the drive device 150 to move the first blade disc 120 to the first position, the second position or the third position according to the position information of the smart lawn mower 100 in the area to be cut 200.

[0530] It should be noted that the position information of the smart lawn mower 100 in the to-be-cut area 200 refers to whether the smart lawn mower 100 is located in the edge area 210 , the middle area 220 or the corner area 230 .

[0531] By controlling the state of the first blade disc 120 according to the position information of the smart lawn mower 100 in the area to be cut 200, the first blade disc 120 can be located at a suitable position when the smart lawn mower 100 performs cutting operations on different areas, thereby improving the cutting efficiency and ensuring that the edge can be cut.

[0532] For example, when the position information indicates that the smart lawn mower 100 is located in the edge area 210, the first blade disc 120 can be adjusted to the first position or the second position to cut the edge of the body 110 or the area outside the edge of the body 110, thereby solving the problem that the smart lawn mower 100 in the related art cannot cut the edge. When the position information indicates the middle area 220, the first blade disc 120 can be moved to the third position so that the first blade disc 120 is located below the body 110, thereby improving the safety performance of the smart lawn mower 100. When the position information indicates the corner area, the first blade disc 120 can be moved to the first position to cut the edge of the body 110 and the area outside the edge of the body 110, thereby solving the problem that the smart lawn mower 100 in the related art cannot cut the edge.

[0533] Of course, in other embodiments, the first cutter disc 120 may be moved to other states according to the position information, which may be set according to specific circumstances and is not further limited in the embodiments of the present application.

[0534] Exemplarily, the first acquisition unit 191 may include one or more of a radar, a time of flight sensor (TOF), a depth camera, a binocular camera, a camera, a distance sensor, a laser ranging sensor, an edge sensor, and a flight sensor, so that the position information of the smart lawn mower 100 in the area to be cut 200 can be obtained, so that the smart lawn mower 100 can control the position of the first blade 120 according to the position information.

[0535] In a possible implementation, the intelligent lawn mower 100 may further include a second acquisition unit 192, wherein the second acquisition unit 192 is used to acquire minimum horizontal distance information from the first blade disc 120 to the boundary line 300 of the to-be-cut area 200. The second acquisition unit 192 is connected to the control device 190, and the control device 190 is used to drive the drive device 150 to move the first blade disc 120 to the first position, the second position, or the third position according to the minimum horizontal distance information.

[0536] Exemplarily, when the first cutter disc 120 is in the first position, the control device 190 is further used to control the driving device 150 to extend the first cutter disc 120 to the first preset length outside the second end portion 114 according to the minimum horizontal distance information, and the minimum horizontal distance from the first cutter disc 120 to the boundary line 300 of the area to be cut 200 is greater than the first preset length. In other words, the control device 190 can control the horizontal distance of the first cutter disc 120 according to the minimum horizontal distance, so as to prevent the first cutter disc 120 from colliding with the boundary line 300 and the like, and prevent the first cutter disc 120 from being damaged. In other words, the first cutter disc 120 can expand the cutting range without colliding, and thus cut to the edge.

[0537] Exemplarily, the first preset length is between 10-20 cm. For example, the first preset length can be 10 cm, 11 cm, 12 cm, 13 cm, 14 cm, 15 cm, 16 cm, 17 cm, 18 cm, 19 cm, 20 cm, etc. Of course, in some other embodiments, the first preset length can also be other values. In the embodiment of the present application, the first preset length is not further limited. By setting the first preset length to 10-20 cm, the cutting range of the first cutter disc can be expanded to ensure cutting to the edge. In addition, the problem of the first cutter disc being difficult to retract due to excessive extension can be prevented.

[0538] In one possible implementation, when the first cutter disc 120 is located at the first position, in the y direction, the minimum horizontal distance h4 between the farthest point of the first cutter disc 120 away from the fuselage 110 and the fuselage 110 is greater than 1 / 10 of the diameter of the first cutter disc, and the minimum horizontal distance h4 between the farthest point of the first cutter disc 120 away from the fuselage 110 and the fuselage 110 is less than 1 / 3 of the first cutter disc diameter.

[0539] In one possible implementation, when the first cutter disc 120 is located at the first position, in the y direction, the minimum horizontal distance h4 between the farthest point of the first cutter disc 120 away from the fuselage 110 and the fuselage 110 is greater than 1 / 8 of the diameter of the first cutter disc, and the minimum horizontal distance h4 between the farthest point of the first cutter disc 120 away from the fuselage 110 and the fuselage 110 is less than 1 / 4 of the first cutter disc diameter.

[0540] Exemplarily, the minimum horizontal distance h4 between the farthest point of the first cutter disc 120 away from the fuselage 110 and the fuselage 110 can be 1 / 10, 1 / 9, 1 / 8, 1 / 7, 1 / 6, 1 / 5, 1 / 4, 1 / 3, 1 / 2, etc. of the diameter of the first cutter disc 120. In the embodiment of the present application, the minimum horizontal distance h4 between the farthest point of the first cutter disc 120 away from the fuselage 110 and the fuselage 110 is not further limited to a few fractions of the diameter of the first cutter disc 120.

[0541] Exemplarily, the second acquisition unit 192 may be a distance sensor, an edge sensor, an edge radar, or other device that can measure distance. In the implementation of the present application, the structure of the second acquisition unit 192 is not further limited.

[0542] In a possible implementation, the smart lawn mower 100 may further include a detection device 140, which is disposed on the body 110, and is used to detect biological information. The smart lawn mower 100 is used to perform safety protection actions based on the biological information, wherein the safety protection actions at least include controlling the first blade disc 120 to slow down and / or stop and / or shielding the first blade disc 120 in a protective cover 125.

[0543] Of course, in other embodiments, the safety protection action may also include controlling the first cutter disc 120 to move to a third position, controlling the first cutter disc 120 to slow down, etc. In the embodiment of the present application, the safety protection action may have a variety of settings. In the embodiment of the present application, the safety protection action is not further limited.

[0544] By setting up the detection device 140, the lawn mower can be controlled to enter a safety protection action based on the biological information detected by the detection device 140, and in the safety protection action, the first cutter disc can be slowed down and / or stopped and / or shielded in the protective cover 125, thereby improving the safety performance of the lawn mower.

[0545] It should be noted that in the embodiment of the present application, when the first blade 120 is fixedly connected to the body 110, the safety protection action is Figure 1-Figure 12 The safety protection actions in the embodiment shown in are the same. For the description of the safety protection actions in this embodiment, please refer to Figure 1-Figure 12 The description of the safety protection action in the embodiment shown in FIG. 1 is not further described in this embodiment. When the first blade 120 is movably connected to the body 110, the safety protection action and Figure 13-Figure 16 The safety protection actions in the embodiment shown in are the same. For the description of the safety protection actions in this embodiment, please refer to Figure 13-Figure 16 The description of the safety protection action in the embodiment shown in is not further explained in this embodiment.

[0546] Exemplarily, the smart lawn mower 100 may further include a balancing structure 170, which is disposed on the body 110 and is used to balance the mass of the first blade disc 120 and the motor 130. This arrangement can keep the body 110 balanced and prevent the smart lawn mower 100 from tipping over when mowing.

[0547] In a possible implementation, a heat sink is provided on the motor 130, and the heat sink is used to dissipate heat from the motor 130. Exemplarily, the heat sink may be a fan, a water cooling device, an air cooling device, etc., and the specific structure of the heat sink is not further limited in the embodiment of the present application. By providing the heat sink, the motor 130 can be cooled to ensure the normal operation of the motor 130.

[0548] It should be noted that, in some implementations, a heat dissipation device may not be provided on the outside of the motor 130 . In the embodiment of the present application, no further limitation is imposed on the specific shape and the location of the heat dissipation device.

[0549] In a possible implementation, a waterproof structure may be further provided on the outside of the motor 130 .

[0550] By providing a waterproof structure on the outside of the motor 130 , the motor 130 can be prevented from being infiltrated with water or being damp, thereby ensuring the normal operation of the motor 130 .

[0551] It should be noted that a waterproof structure can be provided between the output shaft of the motor 130 and the motor 130 body, so that the output shaft of the motor 130 can leak out while the motor 130 is not exposed, thereby effectively preventing the motor 130 from entering water or getting damp, and ensuring the normal operation of the motor 130.

[0552] It should be noted that, in the embodiment of the present application, the shape, structure, principle and setting position of the rear wheel 162, the detection device 140, the protective cover 125 and the balance structure 170 are all the same as those of the embodiment of the present application. Figure 1-Figure 12 The rear wheel 162, the detection device 140, the protective cover 125 and the balancing structure 170 in the embodiment shown in FIG. 1 are the same. Therefore, in the embodiment of the present application, the shape, structure, principle and setting position of the rear wheel 162, the detection device 140, the protective cover 125 and the balancing structure 170 can refer to FIG. Figure 1-Figure 12 The description of the rear wheel 162, the detection device 140, the protective cover 125 and the balance structure 170 in the embodiment shown in the figure will not be further explained in the embodiment of the present application.

[0553] In addition, the moving speed of the intelligent lawn mower 100, the minimum horizontal distance between the first blade disc 120 and the second blade disc 122 and the ground, and the mass of the first blade disc 120 are respectively Figure 1-Figure 12 The moving speed of the intelligent lawn mower 100 in the embodiment shown in FIG. 1 , the minimum horizontal distance between the first blade disc 120 and the second blade disc 122 and the ground, and the mass of the first blade disc 120 are the same. For details, please refer to Figure 1-Figure 12 The description in the embodiments shown in the examples is not further explained in the present application examples.

[0554] like Fig. 22As shown, the control method of the intelligent lawn mower includes the following steps:

[0555] S101. When the smart lawn mower enters a corner area and the forward direction of the smart lawn mower is parallel to a first boundary line in the corner area, the smart lawn mower is controlled to repeatedly execute a first action combination until the forward direction of the smart lawn mower is parallel to a second boundary line in the corner area. The first action combination is defined as first rotating a preset angle and then moving forward a preset distance.

[0556] It should be noted that the forward direction of the smart lawn mower refers to the direction from the rear end to the front end of the smart lawn mower, which refers to the forward direction in a macro sense. It can also be understood as the direction from the rear wheel to the front wheel of the smart lawn mower. For details, please refer to Figure 2 The forward direction shown in . The corner area is a corner with a physical boundary, such as a fence, a wall, or a height difference that cannot be crossed.

[0557] In a possible implementation, the preset angle ranges from 10° to 30°. Exemplarily, the preset angle may be 10°, 11°, 12°, 13°, 14°, 15°, 16°, 17°, 18°, 19°, 20°, 21°, 22°, 23°, 24°, 25°, 26°, 27°, 28°, 29°, 30°. In the embodiment of the present application, the specific value of the preset angle is not further limited.

[0558] The following takes the corner area as a right angle and the preset angle of 10° as an example, and describes in detail step S101: when the smart lawn mower enters the corner area and the forward direction of the smart lawn mower is parallel to the first boundary line in the corner area, the smart lawn mower is controlled to repeatedly execute the first action combination until the forward direction of the smart lawn mower is parallel to the second boundary line of the corner area.

[0559] Specifically, when the smart lawn mower is located in the corner area, the forward direction of the smart lawn mower is parallel to the first boundary line. First, the smart lawn mower is controlled to rotate 10° first, and then move forward a preset distance along the forward direction of the smart lawn mower. Then the smart lawn mower is controlled to rotate 10° first, and then move forward a preset distance along the forward direction of the smart lawn mower. Repeat the cutting action of first rotating the smart lawn mower 10° and then moving forward a preset distance along the forward direction of the smart lawn mower until the smart lawn mower rotates 90°, so that the forward direction of the smart lawn mower is parallel to the second boundary line, and then drives away from the corner area.

[0560] It should be noted that the method provided in the embodiment of the present application can be applied to the above Figure 1-Figure 21 The smart lawn mower of any embodiment.

[0561] In the embodiment of the present application, the intelligent lawn mower can be Fig.17. Exemplarily, in the forward direction of the intelligent lawn mower, at least part of the first blade disc is located between the first cut surface and the first end of the front wheel (see Fig.17 ). The first tangent plane is perpendicular to the advancing direction and passes through the first end point of the front wheel, and the first end point is configured as the farthest point of the front wheel from the first end.

[0562] In a possible implementation, the relative position of the first cutter disc and the fuselage is fixed, and the first cutter disc is fixed at the first position or the second position. When the first cutter disc is in the first position, at least part of the first cutter disc is located outside the orthographic projection of the fuselage toward the ground and is exposed outside the fuselage. When the first cutter disc is in the second position, the first cutter disc is located inside the orthographic projection of the fuselage toward the ground, and the minimum horizontal distance from the outer edge of the cutting blade to the outer edge of the fuselage is greater than or equal to 0 and less than or equal to 50 mm.

[0563] It should be noted that the first position and the second position are Figure 1-Figure 12 The first position and the second position in the embodiment shown in FIG. 1 are the same, so the description of the first position and the second position can refer to the above Figure 1-Figure 12 The description in the embodiments shown in the figure will not be repeated in the implementation of this application.

[0564] In a possible implementation, the smart lawn mower further includes a second blade disc, which is mounted on a side of the body facing the ground, and is located between the rear wheels and the front wheels in the forward direction of the smart lawn mower.

[0565] The method also includes:

[0566] Control the second cutter disc to start or stop cutting operation.

[0567] In a possible implementation, the intelligent lawn mower includes a first collection unit, which is located in the body and is used to collect position information of the intelligent lawn mower in the area to be cut.

[0568] like Fig.22A As shown, step S101, when the smart lawn mower enters the corner area and the forward direction of the smart lawn mower is parallel to the first boundary line in the corner area, the smart lawn mower is controlled to repeatedly perform the first action combination until the forward direction of the smart lawn mower is parallel to the second boundary line of the corner area, and the previous step may also include:

[0569] S102: Control the first acquisition unit to obtain position information of the intelligent lawn mower in the area to be cut.

[0570] In a possible implementation, step S102, controlling the first acquisition unit to obtain the position information of the intelligent lawn mower in the area to be cut, may include:

[0571] The first acquisition unit is controlled to obtain the number and position of the boundary lines, wherein the minimum horizontal distance from the boundary line to the intelligent lawn mower is less than the second preset distance.

[0572] According to the number and positions of the boundary lines, the position information of the intelligent lawn mower in the area to be cut is determined.

[0573] It should be noted that, when the smart lawn mower is located in a corner area, one of two adjacent boundary lines is a first boundary line, and the other is a second boundary line, and the second boundary line is located in front of, or in front of the side of, the smart lawn mower.

[0574] Optionally, the first acquisition unit may be one or more of a camera, an edge sensor, a distance sensor, an angle sensor, an infrared sensor, a radar, a time of flight sensor (TOF), a depth camera, and a binocular camera. In the embodiment of the present application, the specific structure of the first acquisition unit is not further limited.

[0575] In some embodiments, step S102, controlling the first acquisition unit to obtain the position information of the intelligent lawn mower in the area to be cut, may include:

[0576] The first acquisition unit is controlled to acquire at least one image information of the intelligent lawn mower in the area to be cut.

[0577] The position information of the intelligent lawn mower in the area to be cut is obtained according to at least one image information.

[0578] Optionally, the first acquisition unit is controlled to obtain at least one image information of the smart lawn mower in the area to be cut, which can be one, two, three, four or more. For example, image information covering 360°, etc. In this embodiment of the present application, the number of image information of the smart lawn mower in the area to be cut obtained by the first acquisition unit is not further described.

[0579] Controlling the first acquisition unit to acquire at least one image information of the intelligent lawn mower in the area to be cut may specifically be controlling the first acquisition unit to acquire image information of multiple positions of the intelligent lawn mower in the area to be cut.

[0580] The position information of the intelligent lawn mower in the area to be cut is obtained according to at least one image information. Specifically, the position information of the intelligent lawn mower in the area to be cut is obtained according to multiple image information.

[0581] The following is an example of obtaining image information of the front, back, left, and right directions of the smart lawn mower. For example, the front end of the smart lawn mower is the first direction, the left side of the smart lawn mower is the second direction, the right side of the smart lawn mower is the third direction, and the rear end of the smart lawn mower is the fourth direction, wherein the front end and the rear end are arranged relative to each other, the left side and the right side are arranged relative to each other, and the direction from the front end to the rear end is perpendicular to the direction from the left side to the right side. It should be noted that the front, back, left, and right are only used to distinguish directions and do not represent actual positions.

[0582] Optionally, controlling the first acquisition unit to obtain image information of the smart lawn mower at multiple positions within the area to be cut can specifically include controlling the first acquisition unit to obtain first image information of a first orientation, second image information of a second orientation, third image information of a third orientation, and fourth image information of a fourth orientation of the smart lawn mower within the area to be cut.

[0583] The position information of the smart lawn mower in the to-be-cut area is obtained according to the multiple image information. Specifically, the position information of the smart lawn mower is determined according to the first image information, the second image information, the third image information and the fourth image information.

[0584] Exemplarily, it is determined whether the first image information, the second image information, the third image information, and the fourth image information have a boundary, and the number of graphic information with a boundary in the first image information, the second image information, the third image information, and the fourth image information is obtained. According to the first image information, the second image information, the third image information, and the fourth image information, the horizontal distance from the boundary in the first image information, the second image information, the third image information, and the fourth image information to the smart lawn mower is obtained. According to the horizontal distance from the boundary in the first image information, the second image information, the third image information, and the fourth image information to the smart lawn mower, it is determined whether the boundary in the first image information, the second image information, the third image information, and the fourth image information is a boundary line.

[0585] If the first image information, the second image information, the third image information, and the fourth image information include a border line, and the number of graphic information with a border is greater than or equal to 2, it is determined whether the positions corresponding to the image information with a border line are adjacent, for example, the first orientation is adjacent to the second orientation and the third orientation, and the fourth orientation is adjacent to the second orientation and the third orientation. If the positions corresponding to the image information with a border line are adjacent, it is determined that the smart lawn mower is in the corner area. If the first image information, the second image information, the third image information, and the fourth image information include a border line, and the number of graphic information with a border is 1, it is determined that the smart lawn mower is located in the edge area. If the first image information, the second image information, the third image information, and the fourth image information do not include a border line, it is determined that the smart lawn mower is located in the middle area.

[0586] By combining the real-time image acquired by the first acquisition unit with the existing map to make a position judgment, or combining the number of boundary lines to make a logical comprehensive judgment to determine the position information of the smart lawn mower in the area to be cut, it is convenient, fast and highly accurate, and can improve the accuracy of obtaining the position information of the smart lawn mower in the area to be cut. In addition, the image information is easy to obtain, which can reduce the difficulty of obtaining the position information of the smart lawn mower in the area to be cut.

[0587] In a possible implementation, the first acquisition unit may include a camera and a distance sensor, wherein controlling the first acquisition unit to obtain the position information of the intelligent lawn mower in the area to be cut may include:

[0588] The camera in the first acquisition unit is controlled to obtain image information of the outside of the smart lawn mower, and the number of boundaries of the outside of the smart lawn mower and the position of the boundaries relative to the smart lawn mower are obtained according to the image information. The distance sensor in the first acquisition unit is controlled to obtain the horizontal distance from all boundaries in the image information to the smart lawn mower, and when the distance from the boundary in the image information to the smart lawn mower is less than the second preset distance, the boundary is determined to be a boundary line.

[0589] The number and position of the boundary lines are obtained, and the position information of the smart lawn mower in the area to be cut is determined according to the number and position of the boundary lines. For example, when the number of boundary lines is greater than or equal to two, and the multiple boundary lines include two adjacent boundary lines, and one of the two adjacent boundary lines is located in front of the forward direction of the smart lawn mower, the position information can be determined as a corner area. When the number of boundary lines is one, the position information is determined to be an edge area. When the number of boundary lines is zero, the position information is determined to be a middle area.

[0590] In some other embodiments, the first acquisition unit may further include a distance sensor, wherein step S102, controlling the first acquisition unit to obtain the position information of the intelligent lawn mower in the area to be cut, may include:

[0591] The distance sensor is controlled to obtain the distance information and position information from multiple boundary lines around the smart lawn mower to the smart lawn mower, and the number and position of the boundary lines are determined according to the distance information and position information from multiple boundaries around the smart lawn mower to the smart lawn mower, wherein the distance between the boundary line and the smart lawn mower is less than the second preset distance, and the position information of the smart lawn mower is determined according to the number and position of the boundary lines. When the number of boundary lines is greater than or equal to two, and the multiple boundary lines include two adjacent boundary lines, and one of the two adjacent boundary lines is located in front of the forward direction of the smart lawn mower, the position information can be determined as a corner area. When the number of boundary lines is one, the position information is determined to be an edge area. When the number of boundary lines is zero, the position information is determined to be a middle area.

[0592] Of course, in some other embodiments, the first acquisition unit may also be other structures. In the embodiments of the present application, the specific structure of the first acquisition unit is not further limited.

[0593] In a possible implementation, the smart lawn mower may include a detection device, which is arranged on the body, and the detection device is used to detect biological information, and the smart lawn mower is used to perform safety protection actions according to the biological information. Exemplarily, the detection device may include one or more of an infrared sensor, a line laser sensor, a camera, a distance sensor, a laser ranging sensor, an edge sensor, and a flight sensor.

[0594] Exemplarily, the smart lawn mower includes a protective cover, which includes an open state and a retracted state. When the protective cover is in the open state, the protective cover is arranged outside the first blade disc, and when the protective cover is in the retracted state, the protective cover is stored in the machine body or the first blade disc. The specific structure of the protective cover can be referred to Figure 1-Figure 12 The protective cover in the illustrated embodiment will not be further described in the embodiments of the present application.

[0595] In a possible implementation, the control method may further include the following steps:

[0596] The detection device is controlled to obtain biological information of the area to be cut.

[0597] The intelligent lawn mower is controlled to perform a safe cutting action according to the biological information, wherein the safe cutting action at least includes controlling the first blade disc to slow down and / or stop and / or shielding the first blade disc in a protective cover.

[0598] It should be noted that "biological information" refers to information about living things. The basis for controlling the smart lawn mower to perform safety protection actions may be whether there are living things in the area to be cut, whether the distance between the living things and the smart lawn mower is less than a preset distance, or whether the distance between the living things and the smart lawn mower is gradually decreasing. In the embodiment of the present application, the basis for controlling the smart lawn mower to perform safety protection actions is not further limited.

[0599] In a possible implementation, the detection device may include an infrared sensor and a distance sensor, and obtaining biological information of the area to be cut may include controlling the infrared sensor to detect whether there is a biological organism in the area to be cut. When there is a biological organism in the area to be cut, controlling the distance sensor to detect the distance between the smart lawn mower and the biological organism, and determining whether the distance between the smart lawn mower and the biological organism is less than a preset threshold, and when the distance between the smart lawn mower and the biological organism is less than the preset threshold, controlling the smart lawn mower to perform a safety protection action.

[0600] In a possible implementation, the detection device may include a camera and a laser ranging sensor, and obtaining biological information of the area to be cut may include controlling the camera to capture an image of the area to be cut, and analyzing whether there is a biological organism in the image. When there is a biological organism in the area to be cut, the laser ranging sensor is controlled to measure the distance between the smart lawn mower and the biological organism, and it is determined whether the distance between the smart lawn mower and the biological organism is less than a preset threshold. When the distance between the smart lawn mower and the biological organism is less than the preset threshold, the smart lawn mower is controlled to perform a safety protection action.

[0601] Of course, in other embodiments, the detection device may also be other devices. In the embodiments of the present application, the specific structure of the detection device is not further limited.

[0602] It should be noted that in the implementation of this application, the safety protection actions can be referred to Figure 1-Figure 12 The description in the illustrated embodiment will not be repeated in the embodiments of the present application.

[0603] The control method of the smart lawn mower in the above embodiment can be applied to a smart lawn mower in which the first blade disc is fixedly connected to the body. However, in some embodiments, the first blade disc is movably connected to the body. The control method of the smart lawn mower in which the first blade disc is movably connected to the body may also have other steps.

[0604] In a possible implementation, the first cutter disc is movably connected to the fuselage, and the first cutter disc at least passes through a first position and a second position during movement relative to the fuselage.

[0605] When the first cutter disc is in the first position, at least a portion of the first cutter disc is located outside the orthographic projection of the fuselage toward the ground and is exposed on the outer side of the fuselage.

[0606] When the first cutter disc is in the second position, the first cutter disc is located within the orthographic projection of the fuselage toward the ground, and the minimum horizontal distance from the outer edge of the cutting blade to the outer edge of the fuselage is greater than or equal to 0 and less than or equal to 50 mm.

[0607] The method also includes:

[0608] The first cutter disc is controlled to move to a first position and a second position.

[0609] like Fig.23 As shown, the control method of the intelligent lawn mower provided in the embodiment of the present application may include:

[0610] Step S201: When the smart lawn mower enters the corner area and the forward direction of the smart lawn mower is parallel to the first boundary line in the corner area, the smart lawn mower is controlled to repeatedly execute the first action combination until the forward direction of the smart lawn mower is parallel to the second boundary line in the corner area. The first action combination is defined as first rotating a preset angle and then moving forward a preset distance.

[0611] In a possible implementation, the intelligent lawn mower includes a first collection unit, which is located in the body and is used to collect position information of the intelligent lawn mower in the area to be cut.

[0612] Step S201: When the smart lawn mower enters the corner area and the forward direction of the smart lawn mower is parallel to the first boundary line in the corner area, the smart lawn mower is controlled to repeatedly execute the first action combination until the forward direction of the smart lawn mower is parallel to the second boundary line of the corner area. The above steps may also include:

[0613] S202: Control the first acquisition unit to obtain position information of the intelligent lawn mower in the area to be cut.

[0614] It should be noted that step S201 is the same as step S101, and step S202 is the same as step S102. For specific details of step S201 and step S202, please refer to step S101 and step S102, and will not be repeated in the embodiments of the present application.

[0615] like Fig.24 As shown, step S202, controlling the first acquisition unit to obtain the position information of the intelligent lawn mower in the area to be cut, can then include step S203, controlling the first cutter disc to move to the first position and the second position according to the position information.

[0616] For example, when the position information indicates that the smart lawn mower is in a corner area, the first blade disc can be moved to the first position. When the position information indicates that the smart lawn mower is in an edge area, the first blade disc can be moved to the first position. When the position information indicates that the smart lawn mower is in a middle area, the first blade disc can be moved to the second position.

[0617] In a possible implementation, the intelligent lawn mower includes a second acquisition unit, and the second acquisition unit is used to acquire minimum horizontal distance information from the first cutter disc to the boundary line.

[0618] Exemplarily, the second acquisition unit may be a device that can measure horizontal distance, such as a horizontal distance sensor, an edge sensor, or an edge radar. In the implementation of the present application, the structure of the second acquisition unit is not further limited.

[0619] Step S202, controlling the first acquisition unit to obtain the position information of the intelligent lawn mower in the area to be cut, and then further including:

[0620] The second acquisition unit is controlled to obtain information on the minimum horizontal distance from the first cutter head to the boundary line.

[0621] The first cutter head is controlled to move to the first position or the second position according to the minimum horizontal distance information.

[0622] The following is a detailed description of obtaining the minimum horizontal distance information from the first cutter disc to the boundary line. Obtaining the minimum horizontal distance from the first cutter disc to the boundary line refers to obtaining the minimum horizontal distance from all boundary lines outside the first cutter disc to the outer edge of the first cutter disc. The first cutter disc is controlled to move to the first position or the second position according to the minimum horizontal distance information from the first cutter disc to the boundary line.

[0623] In addition, in some embodiments, the horizontal distance from the outer edge of the first knife disc to the outer edge of the fuselage when the first knife disc is in the first position or the second position can also be controlled according to the minimum horizontal distance from the first knife disc to the boundary line. That is, the horizontal distance that the first knife disc retracts relative to the fuselage when the first knife disc is in the second position can be controlled according to the minimum horizontal distance from the first knife disc to the boundary line, and the horizontal distance that the first knife disc extends relative to the fuselage when the first knife disc is in the first position can also be controlled.

[0624] In a possible implementation manner, after controlling the first cutter head to move to the first position or the second position according to the minimum horizontal distance information, the method may further include:

[0625] When the first cutter disc is in the first position, the first cutter disc is controlled to extend a third preset distance from the outer edge of the fuselage projected toward the ground according to the minimum horizontal distance information, wherein the minimum horizontal distance from the first cutter disc to the boundary line is greater than the third preset distance.

[0626] It should be noted that, in the embodiment of the present application, the third preset distance is related to the minimum horizontal distance from the first cutter disc to the boundary line, and no further limitation is given to the third preset distance.

[0627] In a possible implementation, the area to be cut also includes a middle area, the middle area is located on a side of the corner area away from the boundary line, and the distance from the outer edge of the middle area to the boundary line is greater than a first preset distance. In the embodiment of the present application, the first preset distance is not further limited, for example, it can be greater than 100 mm.

[0628] Optionally, the control method of the intelligent lawn mower may further include:

[0629] When the intelligent lawn mower is located in the middle area, the first cutter disc is controlled to move to the first position or the second position.

[0630] Optionally, the area to be cut also includes an edge area, the edge area includes at least one boundary line, the edge area includes a corner area, and is adjacent to the middle area, and the width of the edge area is equal to the first preset distance.

[0631] The control method of the intelligent lawn mower may further include:

[0632] When the intelligent lawn mower is located in the edge area, the first cutter disc is controlled to move to the first position or the second position.

[0633] Optionally, the control method of the intelligent lawn mower may further include:

[0634] When the intelligent lawn mower is located in a corner area, the driving device is controlled to move the first cutter disc to the first position or the second position.

[0635] For example, when the position information is a corner area, the first blade disc can be moved to the first position, which can maximize the cutting of the lawn along the edge area, especially the area close to the boundary line and outside the edge of the body, solving the problem that the smart lawn mower in the related art cannot cut the edge. Alternatively, when the position information is a corner area, the first blade disc can be moved to the second position, which can improve the safety of the smart lawn mower while achieving cutting to the edge.

[0636] It should be noted that when the smart lawn mower is located in a corner area, executing the first action combination and controlling the drive device to move the first blade disc to the first position or the second position can be performed simultaneously. Of course, the first blade disc can also be moved to the first position or the second position first, and then the first action combination is executed. In the embodiment of the present application, the order of the above actions is not further limited.

[0637] In a possible implementation, the first cutter disc is movably connected to the fuselage, and the first cutter disc may include a first position, a second position, and a third position.

[0638] See also Fig.17 As shown, when the first cutter disc is in the first position, at least a portion of the first cutter disc is located outside the orthographic projection of the fuselage toward the ground and is exposed on the outside of the fuselage.

[0639] When the first cutter disc is in the second position, the first cutter disc is located within the orthographic projection of the fuselage toward the ground, and the minimum horizontal distance from the outer edge of the cutting blade to the outer edge of the fuselage is greater than or equal to 0 and less than or equal to 50 mm.

[0640] When the first cutter disc is in the third position, the first cutter disc is located within the orthographic projection of the fuselage toward the ground, and the minimum distance from the outer edge of the cutting blade to the outer edge of the fuselage is greater than 50 mm.

[0641] The first cutter disc at least passes through a first position, a third position and a second position during movement relative to the machine body.

[0642] The method also includes:

[0643] The first cutter disc is controlled to move to a first position, a second position and a third position.

[0644] Correspondingly, such as Fig.25 As shown, step S202, controlling the first acquisition unit to obtain the position information of the intelligent lawn mower in the area to be cut, and then also including step S204, controlling the first cutter disc to move to the first position, the second position and the third position according to the position information.

[0645] For example, when the position information indicates that the smart lawn mower is located in the edge area, the first blade disc can be moved to the first position or the second position to cut the edge of the body or the area outside the edge of the body, thereby solving the problem that the smart lawn mower cannot cut the edge in the related art. When the position information indicates the middle area, the first blade disc can be moved to the third position so that the first blade disc is located below the body, thereby improving the safety performance of the smart lawn mower. When the position information indicates the corner area, the first blade disc can be moved to the first position to cut the edge of the body and the area outside the edge of the body, thereby solving the problem that the smart lawn mower cannot cut the edge in the related art.

[0646] In a possible implementation, when the first blade disc is in the third position, at least part of the first blade disc and the second blade disc have their orthographic projections toward the ground in the forward direction of the intelligent lawn mower overlap. This arrangement ensures that when the first blade disc is in the third position, there is no missed cutting area between the first blade disc and the second blade disc, thereby preventing missed cutting and improving cutting efficiency.

[0647] Optionally, the control method of the intelligent lawn mower further includes:

[0648] Control the first cutter disc and / or the second cutter disc to execute or stop cutting operation.

[0649] In the embodiment where the first blade disc is movably connected to the body, step S202, controlling the first acquisition unit to obtain the position information of the intelligent lawn mower in the area to be cut, may further include:

[0650] The second acquisition unit is controlled to obtain information on the minimum horizontal distance from the first cutter head to the boundary line.

[0651] The first cutter head is controlled to move to the first position, the second position or the third position according to the minimum horizontal distance information.

[0652] The following is a detailed description of obtaining the minimum horizontal distance information from the first cutter disc to the boundary line. Obtaining the minimum horizontal distance from the first cutter disc to the boundary line refers to obtaining the minimum horizontal distance from all boundary lines outside the first cutter disc to the outer edge of the first cutter disc. The first cutter disc is controlled to move to the first position, the second position, or the third position according to the minimum horizontal distance information from the first cutter disc to the boundary line.

[0653] In addition, in some embodiments, the horizontal distance from the outer edge of the first knife disc to the outer edge of the fuselage when the first knife disc is in the first position or the second position can also be controlled according to the minimum horizontal distance from the first knife disc to the boundary line. That is, the horizontal distance that the first knife disc retracts relative to the fuselage when the first knife disc is in the second position can be controlled according to the minimum horizontal distance from the first knife disc to the boundary line, and the horizontal distance that the first knife disc extends relative to the fuselage when the first knife disc is in the first position can also be controlled.

[0654] In a possible implementation manner, after controlling the first cutter head to move to the first position, the second position, or the third position according to the minimum horizontal distance information, the method further includes:

[0655] When the first cutter disc is in the first position, the first cutter disc is controlled to extend a third preset distance from the outer edge of the fuselage projected toward the ground according to the minimum horizontal distance information, wherein the minimum horizontal distance from the first cutter disc to the boundary line is greater than the third preset distance.

[0656] It should be noted that, in the embodiment of the present application, the third preset distance is related to the minimum horizontal distance from the first cutter disc to the boundary line, and no further limitation is given to the third preset distance.

[0657] Such an arrangement can reduce the possibility of collision of the first cutter disc when there is a physical boundary line, while expanding the cutting range, thereby achieving cutting to the edge.

[0658] In a possible implementation, the area to be cut also includes a middle area, the middle area is located on a side of the corner area away from the boundary line, and the distance from the outer edge of the middle area to the boundary line is greater than a first preset distance. In the embodiment of the present application, the first preset distance is not further limited, for example, it can be greater than 100 mm.

[0659] Optionally, the control method of the intelligent lawn mower may further include:

[0660] When the intelligent lawn mower is located in the middle area, the first cutter disc is controlled to move to the first position, the second position or the third position.

[0661] In a possible implementation, the area to be cut also includes an edge area, the edge area includes at least one boundary line, the edge area includes a corner area, and is adjacent to the middle area, and the width of the edge area is equal to the first preset distance.

[0662] Optionally, the control method of the intelligent lawn mower may further include:

[0663] When the intelligent lawn mower is located in the edge area, the first cutter disc is controlled to move to the first position or the second position.

[0664] In a possible implementation, the method further includes:

[0665] When the intelligent lawn mower is located in a corner area, the driving device is controlled to move the first cutter disc to the first position or the second position.

[0666] For example, when the position information indicates that the smart lawn mower is located in a corner area, the first blade disc can be moved to the first position to cut the area outside the edge of the body, solving the problem that the smart lawn mower cannot cut the edge in the related art. Alternatively, when the position information indicates that the smart lawn mower is located in a corner area, the first blade disc can be moved to the second position to cut the position on the lower side of the body, ensuring that the edge is cut and improving safety performance.

[0667] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0668] In the description of the present application, it should be understood that the terms "including" and "having" and any variations thereof used herein are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products or apparatuses.

[0669] Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense, for example, it can be a fixed connection, it can also be a detachable connection, or it can be integrated; it can be directly connected, or it can be indirectly connected through an intermediate medium, it can make the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In addition, the terms "first", "second", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

[0670] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An intelligent lawn mower, characterized in that: include: A body, comprising a first end and a second end arranged opposite to each other along a forward direction of the intelligent lawn mower; The front wheel and the rear wheel are both arranged on the side of the intelligent lawn mower facing the ground, and in the forward direction of the intelligent lawn mower, the front wheel and the rear wheel are arranged at an interval; A first blade disc is connected to a side of the fuselage facing the ground, and a cutting blade is provided on the outer side of the first blade disc, and the cutting blade is a metal part; In the forward direction of the intelligent lawn mower, at least a portion of the first blade disc is located between the first cut surface of the front wheel and the first end portion; The first section is perpendicular to the advancing direction and passes through a first end point of the front wheel, where the first end point is defined as the farthest point of the front wheel from the first end; The relative position between the first blade disc and the fuselage remains unchanged, and the first blade disc is fixed at the first position or the second position. The first position is defined as: at least a portion of the first cutter head is located outside the orthographic projection of the fuselage toward the ground, The second position is defined as: the first cutter disc is located within the orthographic projection of the fuselage toward the ground, and the minimum horizontal distance from the outer edge of the cutting blade to the outer edge of the fuselage is greater than or equal to 0 and less than or equal to 50 mm; The first blade disc is configured such that when the smart lawn mower is in a mowing state and is not stuck, the rotation speed of the first blade disc is between 1800 rpm and 3500 rpm; A detection device is arranged on the body, the detection device is used to detect biological information, and the intelligent lawn mower is used to perform safety protection actions according to the biological information.

2. The intelligent lawn mower according to claim 1, characterized in that: Both ends of the first end portion extend in a direction opposite to the advancing direction.

3. The intelligent lawn mower according to claim 1, characterized in that: Also including a first side edge and a second side edge; In the forward direction of the intelligent lawn mower, both ends of the first side edge and the second side edge are connected to the second end and the first end respectively, and the first side edge and the second side edge are relatively arranged on both sides of the transverse direction of the fuselage, and the transverse direction of the fuselage is perpendicular to the forward direction.

4. The intelligent lawn mower according to claim 3, characterized in that: The number of the first cutter discs is at least two, and in the transverse direction of the fuselage, the at least two first cutter discs are arranged opposite to each other at the first end.

5. The intelligent lawn mower according to claim 3, characterized in that: The first cutter disc is disposed on a side where the first end portion is connected to the first side edge, or the first cutter disc is located on a side where the first end portion is connected to the second side edge.

6. The intelligent lawn mower according to claim 4, characterized in that: At least one of the first cutter discs is located on a side where the first end portion is connected to the first side edge, and at least one of the first cutter discs is located on a side where the first end portion is connected to the second side edge.

7. The intelligent lawn mower according to claim 1, characterized in that: The number of the front wheel is one, and in the forward direction of the intelligent lawn mower, the front wheel is located on the central axis of the transverse direction of the fuselage.

8. The intelligent lawn mower according to claim 1, characterized in that: The number of the front wheels is two, and in the forward direction of the intelligent lawn mower, the front wheels are symmetrically arranged in the lateral direction of the body.

9. The intelligent lawn mower according to claim 1, characterized in that: The safety protection action at least includes controlling the first cutter disc to slow down and / or stopping the first cutter disc and / or shielding the first cutter disc in a protective cover.

10. An intelligent lawn mower, characterized in that: include: A body, comprising a first end and a second end arranged opposite to each other along a forward direction of the intelligent lawn mower; The front wheel and the rear wheel are both arranged on the side of the intelligent lawn mower facing the ground, and in the forward direction of the intelligent lawn mower, the front wheel and the rear wheel are arranged at an interval; A first blade disc is connected to a side of the fuselage facing the ground, and a cutting blade is provided on the outer side of the first blade disc, and the cutting blade is a metal part; In the forward direction of the intelligent lawn mower, at least a portion of the first blade disc is located between the second section surface of the rear wheel and the second end portion; The second section is perpendicular to the advancing direction and passes through the second end point of the rear wheel, where the second end point is defined as the farthest point of the rear wheel from the second end; The relative position between the first blade disc and the fuselage remains unchanged, and the first blade disc is fixed at the first position or the second position. The first position is defined as: at least a portion of the first cutter head is located outside the orthographic projection of the fuselage toward the ground, The second position is defined as: the first cutter disc is located within the orthographic projection of the fuselage toward the ground, and the minimum horizontal distance from the outer edge of the cutting blade to the outer edge of the fuselage is greater than or equal to 0 and less than or equal to 50 mm; The first blade disc is configured such that when the smart lawn mower is in a mowing state and is not stuck, the rotation speed of the first blade disc is between 1800 rpm and 3500 rpm; A detection device is arranged on the body, the detection device is used to detect biological information, and the intelligent lawn mower is used to perform safety protection actions according to the biological information.

11. The intelligent lawn mower according to claim 10, characterized in that: Both ends of the second end portion extend along the advancing direction.

12. The intelligent lawn mower according to claim 10, characterized in that: Also including a first side edge and a second side edge; In the forward direction of the intelligent lawn mower, both ends of the first side edge and the second side edge are respectively connected to the second end and the first end, and the first side edge and the second side edge are relatively arranged on both sides of the transverse direction of the fuselage, and the transverse direction of the fuselage is perpendicular to the forward direction.

13. The intelligent lawn mower according to claim 12, characterized in that: The number of the first cutter discs is at least two, and in the transverse direction, the at least two first cutter discs are arranged opposite to each other at the second end.

14. The intelligent lawn mower according to claim 12, characterized in that: The first cutter disc is disposed on a side where the second end portion is connected to the first side edge, or the first cutter disc is located on a side where the second end portion is connected to the second side edge.

15. The intelligent lawn mower according to claim 13, characterized in that: At least one of the first cutter discs is located on a side where the second end portion is connected to the first side edge, and at least one of the first cutter discs is located on a side where the second end portion is connected to the second side edge.

16. The intelligent lawn mower according to claim 10, characterized in that: The number of the front wheels is two, and in the forward direction of the intelligent lawn mower, the front wheels are symmetrically arranged in the lateral direction of the body.

17. The intelligent lawn mower according to claim 10, characterized in that: The safety protection action at least includes controlling the first cutter disc to slow down and / or stopping the first cutter disc and / or shielding the first cutter disc in a protective cover.

18. A control method for an intelligent lawn mower, applied to an intelligent lawn mower, wherein the intelligent lawn mower is used to perform a cutting operation on a to-be-cut area, wherein the to-be-cut area includes at least two adjacent boundary lines, wherein the two adjacent boundary lines intersect to form a corner area, or the extension lines of the two adjacent boundary lines intersect to form a corner area, wherein the two adjacent boundary lines forming the corner area are respectively a first boundary line and a second boundary line; characterized in that: The smart lawn mower comprises a body and a first blade disc, wherein the body comprises a first end portion and a second end portion which are arranged opposite to each other along a forward direction of the smart lawn mower, wherein the first blade disc is installed on a side of the smart lawn mower facing the ground, and a cutting blade is arranged on the outer side of the first blade disc, wherein the cutting blade is a metal part and is used to perform a cutting operation on a to-be-cut area; The method comprises: When the smart lawn mower enters the corner area and the forward direction of the smart lawn mower is parallel to the first boundary line in the corner area, the smart lawn mower is controlled to repeatedly perform the first action combination until the forward direction of the smart lawn mower is parallel to the second boundary line of the corner area; wherein, The first action combination is defined as first rotating a preset angle and then moving forward a preset distance.

19. The control method according to claim 18, characterized in that: The cutting operation is not stopped during the process of repeatedly executing the first action combination.

20. The control method according to claim 19, characterized in that: The preset angle has a value range of 10°-30°.

21. The control method according to claim 20, characterized in that: The preset angle is 20°.

22. The control method according to any one of claims 18 to 21, characterized in that: The smart lawn mower comprises a front wheel and a rear wheel, wherein the front wheel and the rear wheel are both arranged on a side of the smart lawn mower facing the ground, and in the forward direction of the smart lawn mower, the front wheel and the rear wheel are arranged at an interval; In the forward direction of the intelligent lawn mower, at least a portion of the first blade disc is located between the first cut surface of the front wheel and the first end portion; The first section is perpendicular to the advancing direction and passes through a first endpoint of the front wheel, where the first endpoint is configured as the farthest point of the front wheel from the first end.

23. The control method according to any one of claims 19 to 21, characterized in that: The preset distance is smaller than a minimum horizontal distance from the smart lawn mower to the second boundary line.

24. The control method according to any one of claims 19 to 21, characterized in that: The relative position between the first cutter disc and the fuselage is fixed, and the first cutter disc is fixed at the first position or the second position; When the first cutter disc is in the first position, at least a portion of the first cutter disc is located outside the orthographic projection of the fuselage toward the ground and is exposed on the outer side of the fuselage; When the first cutter disc is in the second position, the first cutter disc is located within the orthographic projection of the fuselage toward the ground, and the minimum horizontal distance from the outer edge of the cutting blade to the outer edge of the fuselage is greater than or equal to 0 and less than or equal to 50 mm.

25. The control method according to any one of claims 19 to 21, characterized in that: The first cutter head is movably connected to the fuselage; The first cutter disc at least passes through a first position and a second position during movement relative to the body; When the first cutter disc is in the first position, at least a portion of the first cutter disc is located outside the orthographic projection of the fuselage toward the ground and is exposed on the outer side of the fuselage; When the first cutter disc is in the second position, the first cutter disc is located within the orthographic projection of the fuselage toward the ground, and the minimum horizontal distance from the outer edge of the cutting blade to the outer edge of the fuselage is greater than or equal to 0 and less than or equal to 50 mm; The method further comprises: The first cutter disc is controlled to move to the first position and the second position.

26. The control method according to claim 25, characterized in that: The first cutterhead further comprises a third position; When the first cutter disc is in the third position, the first cutter disc is located within the orthographic projection of the fuselage toward the ground, and the minimum distance from the outer edge of the cutting blade to the outer edge of the fuselage is greater than 50 mm; The first cutter disc at least passes through a first position, a second position and a third position during movement relative to the machine body; The method further comprises: The first cutter disc is controlled to move to the first position, the second position and the third position.

27. The control method according to claim 26, characterized in that: The smart lawn mower comprises a front wheel and a rear wheel, wherein the front wheel and the rear wheel are both arranged on a side of the smart lawn mower facing the ground, and in the forward direction of the smart lawn mower, the front wheel and the rear wheel are arranged at an interval; The intelligent lawn mower further includes a second blade disc, which is mounted on a side of the body facing the ground, and in the forward direction of the intelligent lawn mower, the second blade disc is located between the rear wheel and the front wheel; The method further comprises: The second cutter disc is controlled to execute or stop the cutting operation.

28. The control method according to claim 27, characterized in that: The method further comprises: when the first blade disc is located at the third position, at least a portion of the first blade disc and the second blade disc have their orthographic projections toward the ground in the forward direction of the intelligent lawn mower overlap; Control the first cutter disc and / or the second cutter disc to perform or stop the cutting operation.

29. The control method according to claim 28, characterized in that: The area to be cut also includes a middle area, and the middle area is located on a side of the corner area away from the boundary line; The distance from the outer edge of the middle area to the boundary line is greater than a first preset distance; The method further comprises: When the intelligent lawn mower is located in the middle area, the first blade disc is controlled to move to the first position, the second position or the third position.

30. The control method according to claim 29, characterized in that: The area to be cut further includes an edge area, the edge area includes at least one boundary line, the edge area includes the corner area, and is adjacent to the middle area, and the width of the edge area is equal to the first preset distance; The method further comprises: When the intelligent lawn mower is located in the edge area, the first blade disc is controlled to move to the first position or the second position.

31. The control method according to claim 30, characterized in that: The intelligent lawn mower comprises a driving device, which is arranged between the body and the first blade disc, and is used to drive the first blade disc to move along the radial direction of the first blade disc; The method comprises: When the intelligent lawn mower is located in the corner area, the driving device is controlled to move the first blade disc to the first position or the second position.

32. The control method according to any one of claims 19 to 21, characterized in that: The intelligent lawn mower comprises a first acquisition unit, the first acquisition unit is located in the body, and the first acquisition unit is used to acquire position information of the intelligent lawn mower in the area to be cut; When the smart lawn mower enters the corner area and the forward direction of the smart lawn mower is parallel to the first boundary line in the corner area, the smart lawn mower is controlled to repeatedly perform the first action combination until the forward direction of the smart lawn mower is parallel to the second boundary line of the corner area, and the above also includes: The first acquisition unit is controlled to obtain the position information of the intelligent lawn mower in the area to be cut.

33. The control method according to claim 32, characterized in that: The controlling the first acquisition unit to obtain the position information of the intelligent lawn mower in the to-be-cut area includes: Controlling the first acquisition unit to acquire the number and position of boundary lines, wherein the minimum horizontal distance from the boundary line to the intelligent lawn mower is less than a second preset distance; According to the number of the boundary lines, the position information of the intelligent lawn mower in the area to be cut is determined.

34. The control method according to claim 32, characterized in that: The controlling the first acquisition unit to obtain the position information of the intelligent lawn mower in the to-be-cut area includes: The first acquisition unit is controlled to obtain at least one image information of the intelligent lawn mower in the area to be cut, and the position information in the area to be cut is determined according to the at least one image information.

35. The control method according to claim 26, characterized in that: The intelligent lawn mower comprises a second acquisition unit, and the second acquisition unit is used to acquire the minimum horizontal distance information from the first blade disc to the boundary line; The method further comprises: Controlling the second acquisition unit to obtain information on the minimum horizontal distance from the first cutter head to the boundary line; The first cutter disc is controlled to move to the first position, the second position or the third position according to the minimum horizontal distance information.

36. The control method according to claim 35, characterized in that: The method further comprises: controlling the first cutter head to move to the first position, the second position and the third position according to the minimum horizontal distance information; When the first cutter disc is in the first position, the first cutter disc is controlled to extend a third preset distance from the outer edge of the fuselage projected toward the ground according to the minimum horizontal distance information, wherein the minimum horizontal distance from the first cutter disc to the boundary line is greater than the third preset distance.

37. The control method according to any one of claims 18 to 21, characterized in that: The smart lawn mower further comprises: a detection device, which is arranged on the body, the detection device is used to detect biological information, and the smart lawn mower is used to perform safety protection actions according to the biological information; The method further comprises: Controlling the detection device to obtain biological information of the area to be cut; The smart lawn mower is controlled to perform a safe cutting action according to the biological information, wherein the safe cutting action at least includes controlling the first blade disc to slow down and / or stop and / or shielding the first blade disc in a protective cover.

38. The control method according to any one of claims 18 to 21, characterized in that: The corner area is a corner with a physical boundary; wherein, The physical boundary includes at least one of a fence, a wall, or a detected insurmountable height difference.

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