AUTONOMOUSLY DRIVING MOBILE DEVICE FOR LAND MAINTENANCE

Abstract

A self-driving mobile device (1) for land maintenance, comprising a support frame (2) carrying: - movement means (3) configured to allow or determine movement of the mobile device (1) within a work area, said movement means (3) defining a support plane (SP) for the mobile device (1); - at least one work tool (4) configured to perform maintenance operations within the work area; - an operating body (5) housing said working tool (4), wherein said movable device (1) extends: - in length between a front portion (10) and a rear portion (11) to define a longitudinal axis (X) of the movable device (1), and - in height along a vertical axis (Z) orthogonal to said longitudinal axis (X) and said support plane (SP), - in width along a transverse axis (W) between a left side (12), interposed as a connection between the front portion (10) and the rear portion (11) of the movable device (1), and a right side (13), also interposed as a connection between the front portion (10) and the rear portion (11) of the movable device (1), said right side (13) being opposite and separated from said left side (12), said transverse axis (W) being orthogonal to said longitudinal axis (X), wherein said movable device (1) comprises at least: - a traction motor, operatively connected to the movement means (3) to actuate and moving the mobile device (1) within the work area, - at least one obstacle detector (9) configured to detect one or more obstacles in the work area during a movement of the mobile device (1) in the work area, characterized in that it comprises: - at least one effective actuator between said operating body (5) and said support frame (2) and configured to allow said operating body (5) to move transversely to said support frame (2), - at least one control unit (50) operatively connected to said traction motor, said obstacle detector (9) and said actuator.

Description

Autonomous driving mobile device FIELD OF INVENTION The present invention relates to a mobile device for land maintenance, for example, gardens, lawns, or agricultural land. In particular, the mobile device may be a lawnmower having a working tool, for example, a cutting blade. The present invention further relates to a method of soil maintenance by means of said mobile device. BACKGROUND OF THE TECHNIQUE The use of mobile devices, such as lawnmowers, soil cultivators, soil aerators or similar, manually operated or autonomously driven, configured to perform their functions to fully cover the work area is known in the field of gardening and, in general, in the field related to land maintenance. During work, some parts of the work area, such as peripheral zones, edge zones, or specific areas centrally located within the work area, may be particularly difficult to reach effectively due to obstacles like hedges, flowerbeds, trees, or similar features. Because of these obstacles, the mobile device may struggle to reach certain areas of the work area, resulting in lower work quality compared to areas that are more easily accessible. In the specific case where the mobile device is moved manually, the operator may encounter difficulties moving the mobile device in peripheral and edge areas due to the presence of the obstacles indicated above. Furthermore, the dimensions of the mobile device itself, in height and / or width, may interfere with the obstacles mentioned above, for example, with a peripheral hedge, thus preventing proper processing of peripheral or edge areas. Furthermore, the mobile device drive handle adjustment systems belonging to the prior art, for example, height adjustment, tend to wear out quickly, especially if used extensively: once the adjustment system has worn out, the handle tends to "fall off," becoming unusable for guiding and controlling the mobile device. Document DE8709285U1 discloses a restricted rail-mounted lawnmower, the frame of which can move transversely in the space between the rails. Document US5,771,672 describes a lawnmower in which the cutting plate can be moved laterally to the right and left with respect to the frame. Document EP3738424A1 describes a lawnmower comprising a mechanism for coupling the cutting plate to the frame that allows displacement of the cutting plate in a transverse direction. Documents DE102004057043A1 and EP1791415A1 describe a lawnmower comprising two mutually rotatable subassemblies about a vertical axis, the first subassembly belonging to the handlebar and cutting tool, and the second subassembly belonging to a pair of wheels.EP3466237A1 describes a lawnmower with a handlebar assembly, the handlebar assembly comprising a coupling component and a gripping segment rotatable with respect to the coupling component. AU462048B2 describes a lawnmower with a gripping assembly, the gripping assembly comprising a lower portion fixed to the frame and an upper portion rotatable to be movable laterally to the forward direction of the lawnmower. US2011 / 0302893A1 discloses a lawnmower comprising a handle rotatably connected to the frame and a tilt-adjustment device interposed between the handle and the frame. DE4428373C1 describes a lawnmower whose handlebar is rotatable with respect to the frame and can be locked at different tilt positions.Document EP3498073A1 describes a lawnmower whose handlebar is connected to the frame by a joint, the joint comprising a handle clamping body, a pair of arms attached to the frame, and means for selectively locking the body with respect to the arms. Document US2014 / 0290006A1 discloses a lawnmower with a handlebar height adjustment mechanism, the adjustment mechanism comprising a pair of toothed disc elements and an interconnecting disc element. Document EP1902608A2 describes a lawnmower with a handlebar assembly comprising a lower structural element and an upper structural element that is rotatable with respect to the lower structural element. OBJECT OF THE INVENTION Therefore, the object of the present invention is to solve at least one of the drawbacks and / or limitations of currently known mobile devices for land maintenance. A primary objective is to facilitate land maintenance operations in a peripheral or border area of ​​the work area. An additional objective is to make ground maintenance operations more efficient in a peripheral or edge zone of the work area. An additional objective is to allow the mobile device to reach peripheral or edge areas of the workspace that cannot be reached with ordinary mobile devices. An additional objective is to improve ground maintenance operations in a peripheral or edge zone of the work area when performed by an autonomously driven mobile device. An additional objective is to prevent a mobile autonomous driving device according to the present invention from stopping when it is in a peripheral or edge zone of the work area. These and other objects, which will become clearer from the following description, are substantially achieved by means of a mobile ground maintenance device in accordance with one or more of the appended claims. BRIEF DESCRIPTION OF THE DRAWINGS Some embodiments and aspects of the invention will be described hereinafter with reference to the accompanying drawings, which are provided for illustrative purposes only and are not intended to be limiting, in which: - Figure 1 is a perspective view of a manually operated device that is not part of the invention; - Figures 2, 3 and 4 are front and schematic views of a manually operated mobile device that is not part of the invention during an operating condition; - Figure 5 is a top view of a mobile autonomous driving device according to the present invention; - Figure 6 is a top view of a mobile autonomous driving device. DEFINITIONS AND CONVENTIONS It should be noted that, in this detailed description, corresponding parts illustrated in the various figures are indicated by the same numerical references. The figures may illustrate the object of the invention through representations that are not to scale; therefore, the parts and components illustrated in the figures in relation to the object of the invention may refer exclusively to schematic representations. Control unit The control unit can be a single unit or consist of a plurality of different control units, depending on design choices and operational needs. The term "control unit" means an electronic component that may comprise at least one of the following: a digital CPU, an analog circuit, or a combination of one or more digital processors with one or more analog circuits. The control unit may be "configured" or "programmed" to perform certain steps; in practice, this may be achieved by any means that allows the control unit to be configured or programmed. For example, in the case of a control unit comprising one or more CPUs and one or more memories, one or more programs may be stored in appropriate memory banks connected to the CPU(s); the program(s) contains instructions that, when executed by the CPU(s), program or configure the control unit to perform the operations described in relation to the control unit.Alternatively, if the control unit is or comprises analog circuitry, then the control unit circuitry can be designed to include circuitry configured, during use, to process electrical signals to carry out the control unit-related steps. Actuator The term actuator means any device capable of causing movement in a body, for example, following a command from the control unit, a command sent by the control unit and received by the actuator. The actuator can be electrical, pneumatic, mechanical (such as spring-driven), hydraulic, or of another type. Obstacle The term obstacle refers to any object or element capable of limiting, reducing, or obstructing the path of the mobile device within the work area. An obstacle could be a hedge, a flowerbed, the outer edge of the work area, an inner edge of the work area, a rock, a tree, a plant, or something similar. This obstacle may also include a safety boundary, for example, if the obstacle is defined by a ditch, a ravine, or a step. In other words, the obstacle may actively impede the path of the mobile device or define a boundary that must not be crossed for safety reasons. DETAILED DESCRIPTION Mobile device This disclosure relates to a mobile device 1 configured to move and perform maintenance operations within a work area, such as a lawn, garden, or agricultural land, ranging in size from 10 to 10,000 square meters, and in particular from 500 to 3,000 square meters. The maintenance operations may include, for example, mowing. Specifically, the mobile device 1 may be, for example, a lawnmower as shown in the accompanying drawings. Alternatively, the mobile device 1 may be a tiller, cultivator, aerator, or similar equipment. Mobile device 1 is an autonomous driving device. The movement means 3 may comprise one or more electric motors operatively connected to a control unit and at least one drive wheel of the movable device 1 to determine its forward movement. The electric motor of the movement means 3 preferably has a rated power between 1000 W and 2000 W. Alternatively, the mobile device 1 may comprise a combustion engine, for example an Otto cycle or diesel engine, operatively connected to the motion means 3 to determine the motion of the mobile device 1. Mobile device 1 is autonomously driven. Mobile device 1 comprises the movement means 3 described above and is further configured to move and drive autonomously within the work area 1 by using one or more sensors to orient itself and avoid obstacles, according to the prior art. For example, the autonomously driven mobile device 1 may comprise one or more proximity sensors and / or one or more position sensors configured to send signals to a control unit configured to command the drive movement means 3 to guide the mobile device 1 within the work area to carry out maintenance activities. The mobile autonomous driving device 1 preferably has a width of between 30 cm and 125 cm. The onboard battery of mobile device 1 can be a rechargeable battery with a capacity between 2.5 Wh and 40 Wh. The battery can be configured to supply a voltage, preferably between 26 volts for autonomous robots and 48 volts for tractors. More specifically, the battery can be configured to supply a current, under standard operating conditions, between 2 amps and 5 amps for autonomous robots, and between 5 amps and 60 amps for tractors. The battery can be rechargeable via a standard household outlet, such as a 110 V, 200 V, or 380 V power supply. The mobile device 1 may carry an onboard control unit, in particular a first controller, configured to carry out one or more commands according to the present invention. It should be noted that, in the present description, when reference is made to a "control unit," the latter may be arranged onboard the mobile device 1, or it may be carried by a remote device, such as, for example, a PC, a server, a tablet, or a smartphone, separate from and distinct from the mobile device 1. The mobile device 1 of the present invention, which is autonomously driven, comprises at least one working tool 4, for example, one or two rotary blades, configured to perform maintenance operations in the work area. An electric motor 80 or combustion engine, optionally the same motor as the drive means 3, is configured to activate the working tool 4. A control unit can be connected to the electric motor of the working tool 4 and configured to command its activation. The mobile device 1, equipped with the rotary blade, can therefore be a lawnmower. Similarly, if the mobile device is a lawnmower, the operating body is a cutting plate that defines a protective volume for the cutting blade. In particular, the cutting plate has a bell shape, with the internal volume facing the ground in an operating condition. In one embodiment, the mobile device 1 comprises a single electric motor 80 or combustion engine, operatively connected to the working tool 4 and to the drive means 3 to actuate such drive means 3. Alternatively, the mobile device 1 may comprise an electric motor or combustion engine, connected to the working tool 4, and an additional electric motor or combustion engine, operatively connected to the drive means 3. In a further embodiment, the mobile device 1 is an electrically powered device, in which the movement means 3 and the working tool 4 are driven by one or more electric motors powered by an on-board battery. Working tool 4 preferably comprises a cutting blade for mowing grass, which rotates around an axis A: alternatively, working tool 4 may comprise an aerator configured to make a plurality of holes in the ground, or a cultivator or a rotary tiller. Therefore, it should be noted that the present invention does not relate solely to a lawnmower, but can be used in conjunction with other devices in the field of gardening and land maintenance, such as aerators and tillers. The mobile device 1 of the present invention comprises a support frame 2 that carries the movement means 3, whether actuated or inactive, one or more working tools configured to perform maintenance operations within the work area, and an operating body 5 that carries and / or houses the working tool 4 and defines a drive region of the mobile device 1 configured to perform maintenance operations. In detail, the means of movement 3 may comprise wheels, in particular four wheels or tracks. The wheels may be arranged at the four respective vertices of the support frame 2, to define a rectangular or square polygonal shape. Mobile device 1 comprises a front portion 10, a rear portion 11 opposite, and spaced away from, the front portion 10, a left side 12 interposed as a connection between the front portion 10 and the rear portion 11 of mobile device 1, and a right side 13 interposed as a connection between the front portion 10 and the rear portion 11 of mobile device 1: the right side 13 is opposite and spaced away from the left side 12. The words "right" and "left" are a convention that can be arbitrarily defined according to a front or rear view of the mobile device 1, provided that such a convention remains unchanged during the reading of such a description, the claims, and the accompanying aspects. The left side 12 and the right side 13 may comprise the means of movement 3, in particular wheels or tracks of movement: for example, the left side 12 and the right side 13 of the mobile device 1 may each comprise two wheels of movement, one positioned in the front portion 10 and the other in the rear portion 11. In other words, the mobile device 1 may have a front wheel axle 3a positioned in the front portion 10 and comprising a left front wheel 3a' and a right front wheel 3a", and a rear wheel axle 3b positioned in the rear portion 11 and comprising a left rear wheel 3b' and a right rear wheel 3b". A four-wheeled enclosure, in particular an enclosure defined by the left and right front wheels and the left and right rear wheels, defines a peripheral shape 7 of the mobile device 1. The mobile device 1 extends in length between the front portion 10 and the rear portion 11, defining a longitudinal axis X of the mobile device 1: in particular, the longitudinal axis X of the mobile device 1 intersects the front portion 10 and the rear portion 11 substantially orthogonally. More specifically, the longitudinal axis X of the mobile device 1 may define an axis of symmetry between the left side 12 and the right side 13 of the mobile device 1 and pass through a central portion of the mobile device 1 itself. Similarly, a straight forward motion of the mobile device 1 may coincide with the longitudinal axis X of the mobile device 1. Furthermore, the longitudinal axis X may be substantially orthogonal to the axis of the front and / or rear wheel of the mobile device 1, at least during a straight motion condition.Furthermore, the longitudinal axis X can be equidistant from the left and right wheels of the same axle: in such a case, the longitudinal axis defines a central longitudinal axis of the mobile device. In particular, the longitudinal axis X, in the present description, is considered to be centrally located on the mobile device. The means of movement 3 define a support plane SP for the mobile device 1: in fact, such a support plane SP coincides with the ground during an operating condition of the mobile device 1. In more detail, the support plane is passing through the contact points between the wheels of the mobile device 1 and the ground on which the mobile device 1 is positioned. It should be noted that the rotating blade of the working tool 4 is mobile about a rotation axis A that is transverse or substantially orthogonal to the support plane SP. The means of movement 3 can further define a straight advance of the moving device 1 along a longitudinal advance direction substantially coincident with the longitudinal axis X of the moving device 1: in particular, the longitudinal advance direction is substantially orthogonal to an axis of rotation of the wheels of the moving device 1. Such a longitudinal advance direction is substantially parallel to the support plane SP: similarly, the longitudinal axis X is parallel to the support plane SP. The mobile device 1 extends further in height along a vertical axis Z orthogonal to the longitudinal axis X and the support plane SP defined by the movement means 3. In other words, the longitudinal axis X is orthogonal to the ground itself when the mobile device 1 is supported on the ground by its movement means 3. The operating body 5 is movable in height along the vertical axis Z between a distal position and a near position with respect to the support plane SP: in particular, during an operating condition, the operating body 5 is movable in height along the vertical axis Z between a distal position and a near position with respect to the ground, to allow for a variable cutting height.A variation along the vertical Z axis of the operating body 5 determines a simultaneous variation in the height of the working tool 4 and, consequently, a variation in the distance between the working tool 4 and the ground and / or the support plane. Similarly, the mobile device 1 extends in width along a transverse axis W between a left side 12, interposed as a connection between the front portion 10 and the rear portion 11 of the mobile device 1, and a right side 13, also interposed as a connection between the front portion 10 and the rear portion 11 of the mobile device 1: the right side 13 is opposite and distanced from said left side 12. In particular, the transverse axis W is orthogonal to the longitudinal axis X and the vertical axis Z. In other words, the longitudinal axis X, the transverse axis W, and the vertical axis Z define a reference system for the mobile device 1, as shown in Figure 1. The origin of this reference system can be the mass or geometric center of gravity of the mobile device. According to such a reference system, the rotation axis A of the rotating blade is substantially parallel or coincident with the vertical axis Z of the moving device 1. One axle of the front and / or rear wheels is parallel to the transverse axis W and, optionally, substantially parallel to the support plane SP. The operating body 5 defines a cover for the working tool 4, in particular the rotary blade: the operating body 5 covers the rotary blade at least laterally and above, while the operating body 5 is open below to allow contact between the grass and the rotary blade. According to one embodiment, the operating body 5 has a circular or semicircular shape; alternatively, the operating body 5 can have a polygonal shape, for example, rectangular or square. In particular, the operating body 5 comprises a disc-shaped upper portion that carries the motor and the related working tool 4, for example, the rotary blade; the operating body 5 further comprises a side wall that extends transversely from the upper portion, in particular from a peripheral area of ​​the upper portion.The operating body 5 therefore has a bell shape that defines an internal volume that houses the working tool 4. The working body 5 can be made of metallic material, for example, steel or aluminum, or plastic or composite material. It should be noted that the working body is rigidly constrained to the working tool and the relative motor: consequently, any movement of the working plane necessarily determines a similar movement of the working tool and the relative motor. In other words, the working body and the working tool form a single unit: the only degree of freedom of the working tool with respect to the working plane is rotation about the axis of rotation A. The mobile device 1 further comprises a discharge chute 14 configured to convey the cut grass, during an operating condition, to a rear or side portion of the mobile device 1. In particular, said discharge chute 14 extends between a first end oriented towards an outlet of the operating body 5 and a second end adapted to discharge the cut grass and, optionally, to be restricted to a storage box for the cut grass. In an embodiment shown schematically in Figure 6, the working tool 4 of the mobile device 1 comprises a first rotary blade 4a movable by rotation about a rotation axis A and a second rotary blade 4b movable by rotation about an auxiliary rotation axis A'.The first and second rotary blades 4b are both supported by the same operating body 5 and arranged side by side: in particular, the rotation axis A is substantially parallel and spaced apart from the auxiliary rotation axis A'. It should be noted that the rotation axis A and the auxiliary rotation axis A' may be substantially orthogonal to the support plane defined by the movement means 3. The first and second blades can have the same diameter or, alternatively, they can have different diameters, for example, where the first rotary blade 4a has a smaller diameter compared to the second rotary blade 4b. The first and second blades preferably rotate in opposite directions, to direct the cut grass towards the discharge chute: the term counter-rotation indicates that if the first blade rotates clockwise, the second blade rotates counter-clockwise and vice versa. According to the embodiment comprising two rotating blades, the operating body 5 can have an elongated shape to completely cover the two rotating blades: in particular, the operating body 5 can have an elongated shape and be circular at its lateral ends as in figure 6. According to the embodiment comprising two rotating blades, the movable device 1 further comprises a flexible conduit 139 extending from a first end restricted to a central portion of the operating body 5, and a second end restricted to an inlet of the discharge conduit. The flexible conduit 139 is thus interposed between the discharge conduit 14 and the operating body 5 and is configured to allow the passage of cut grass into the discharge conduit whether the operating body 5 is in the left-side or right-side position. The flexible conduit 139 may be bellows-shaped and made of textile material, or alternatively, of plastic material. MOBILE OPERATING BODY AND DRIVE SYSTEM According to one embodiment, the operating body 5 is movable, specifically for translation, along a translation axis Y horizontal to the ground. The translation axis Y is also substantially parallel to the support plane SP and substantially orthogonal to the longitudinal axis X. Furthermore, the translation axis Y can be substantially orthogonal to the vertical axis Z of the movable device 1. In other words, during an operating condition of the device, such a configuration allows for the lateral movement of the operating body 5 as shown in Figures 2, 3, and 4, defining a leftward and rightward movement of the operating body 5. Indeed, such lateral movement allows maintenance operations to be carried out in hard-to-reach areas, for example, near a slope as in Figure 2 or under a hedge as in Figure 3, or to avoid obstacles as shown in Figure 4. It should also be noted that the rotation axis A of the working tool 4 is substantially parallel to the vertical axis of the moving device 1 and orthogonal to the translation axis Y of the operating body 5. Specifically, the operative body 5 is movable along the translation axis Y between a right-side position and a left-side position, where the left-side and right-side positions define the maximum limits within which the operative body 5 is movable along the translation axis. In the right-side position, a first end portion 5a of the operative body 5 has a maximum distance from the central axis of the movable device 1, while a second end portion 5b of the operative body 5, opposite the first end portion 5a, has a minimum distance from the central axis. The first and second end portions 5b are positioned along the translation axis Y: optionally, the first end portion 5a is symmetrical with respect to the second end portion 5b with respect to the central axis of the movable device 1.When the operating body 5 is in the left lateral position, the first end portion 5a of the operating body 5 has a minimum distance from the central axis, while the second end portion 5b of the operating body 5 has a maximum distance from the central axis. It should be noted that a line passing through the first and second end portions 5b of the operating body 5 may be aligned with or parallel to the Y-axis of translation. The operating body 5 can be further positioned in a central position interposed between the left lateral and right lateral positions: in the central position, the first and second end portions 5b of the operating body 5 can be equidistant with respect to the central axis of the moving device 1. In other words, the central position defines a midpoint of the operating body 5 between the left and right lateral positions. A maximum movement value of the operating body 5 along the Y-axis of translation, with respect to the central position, is between 5 cm and 40 cm, and in particular between 10 cm and 30 cm. To allow movement of the operating body 5 along the Y-axis of translation, the device may comprise one or more rails 6 firmly restricted to the support frame 2 and carrying the operating body 5: such rails 6 may be bolted or welded to the support frame 2 and fixed relative to the frame. In particular, the rails 6 extend in length parallel to the transverse axis W of the moving device 1. In particular, the rails 6 have an elongated cylindrical shape. The mobile device 1 preferably comprises a first and a second rail 6a, 6b parallel to each other and extending in length along a respective direction parallel to the Y translation axis: the first and second rail 6a, 6b extend in length between a respective first end oriented towards the right side 13 of the mobile device 1, and a second end oriented towards the left side 12 of the mobile device 1. The first rail 6a is preferably arranged substantially in the front portion 10 of the mobile device 1, while the second rail 6b is preferably arranged in the rear portion 11 of the mobile device 1. It should be noted that the guides support the operating body 5 vertically and prevent its movement along the longitudinal X axis, while simultaneously allowing the operating body to move along the translation Y axis. The movable device 1 further comprises one or more guides firmly constrained to the operating body 5 to form a single body that cooperates with the respective rails 6. In particular, the guides cooperate with the rails 6 to support the operating body 5 vertically and simultaneously permit its movement along the Y-axis of translation: the guides are therefore movable together with the operating body 5 along the Y-axis of translation. It should be noted that the guides support the operating body 5 vertically and prevent its movement along the X-axis of translation. In particular, the movable device 1 comprises a first and a second guide 8a, 8b, each comprising a respective eyelet having a through opening: the first rail 6a is inserted into the through opening of the eyelet of the first guide, while the second rail 6b is inserted into the through opening of the eyelet of the second guide. The first and second guides 8a, 8b are therefore slidable on the respective first and second rails 6a, 6b, allowing the operative body 5 to move along the Y-axis of translation. In particular, the first guide is placed on the front portion 10 of mobile device 1, while the second guide is placed on the rear portion 11 of mobile device 1. The through opening of each eyelet defines a central axis parallel to the Y translation axis: in particular, this central axis of each eyelet is substantially coincident with the length extension of the rail passing through it. The eyelet can be made of metal or plastic. In particular, a bushing made of low-friction material, such as plastic or PTFE, can be inserted between the eyelet and the rail to facilitate relative sliding. Alternatively, a recirculating ball bearing can be inserted between the eyelet and the rail to further improve relative sliding. The operating body 5 is movable along the Y translation axis automatically.

Claims

1. A self-driving mobile device (1) for land maintenance, comprising a support frame (2) carrying: - movement means (3) configured to enable or determine movement of the mobile device (1) within a work area, said movement means (3) defining a support plane (SP) for the mobile device (1); - at least one working tool (4) configured to perform maintenance operations within the work area; - an operating body (5) housing said working tool (4), wherein said mobile device (1) extends: - in length between a front portion (10) and a rear portion (11) to define a longitudinal axis (X) of the mobile device (1), and - in height along a vertical axis (Z) orthogonal to said longitudinal axis (X) and said support plane (SP), - in width along a transverse axis (W) between a left side (12),interposed as a connection between the front portion (10) and the rear portion (11) of the mobile device (1), and a right side (13), also interposed as a connection between the front portion (10) and the rear portion (11) of the mobile device (1), said right side (13) being opposite and separate with respect to said left side (12), said transverse axis (W) being orthogonal to said longitudinal axis (X), wherein said mobile device (1) comprises at least: - a traction motor, operatively connected to the movement means (3) for actuating and moving the mobile device (1) within the work area, - at least one obstacle detector (9) configured to detect one or more obstacles in the work area during a movement of the mobile device (1) in the work area,characterized in that it comprises: - at least one effective actuator between said operating body (5) and said support frame (2) and configured to permit said operating body (5) to move transversely to said support frame (2), - at least one control unit (50) operatively connected to said traction motor, said obstacle detector (9), and said actuator.

2. Mobile device (1) according to claim 1, wherein said mobile device (1) comprises one or more rails (6) that constrain the operating body (5) to the support frame (2) and are configured to permit movement of the operating body (5) along at least one translation axis (Y), said translation axis (Y) being parallel to or coincident with said transverse axis (W) or defining said translation axis (Y) with said transverse axis at an angle of less than 45°.

3. Mobile device (2) according to claim 1 or claim 2,wherein the operative body (5) is movable along said translation axis (Y) towards said left side (12) and towards said right side (13) of the movable device (1).

4. Movable device (1) according to any one of claims 1 to 3, wherein said translation axis (Y) is parallel to said support plane (SP), said translation axis (Y) being: - transverse to said longitudinal axis (X) of the movable device (1), and - transverse to said vertical axis (Z).

5. Movable device (1) according to any one of claims 1 to 4, wherein a rectilinear motion condition of the movable device (1) defines a longitudinal advance direction, said longitudinal advance direction coinciding with said longitudinal axis (X) of the movable device (1).

6. Movable device (1) according to any one of claims 1 to 5, wherein the movement means (3) comprise a forward movement axis (3a),which includes a left front wheel (3a') and a right front wheel (3''), and a rear movement axis (3b), which includes a left rear wheel (3b') and a right rear wheel (3b''), said longitudinal axis (X) being orthogonal to said front movement axis (3a) and / or said rear movement axis (3b) of the movable device (1), said translation axis (Y) being parallel to said front movement axis (3a) and / or said rear movement axis (3b), wherein a first point is given by the intersection between said longitudinal axis (X) and the projection of said translation axis (Y) onto a plane parallel to said support plane (SP) and passing through said longitudinal axis (X),a second point being given by the intersection between said longitudinal axis (X) and the projection of said front movement axis (3a) onto a plane parallel to said support plane (SP) and passing through said longitudinal axis (X), and a third point being given by the intersection between said longitudinal axis (X) and the projection of said rear movement axis (3b) onto a plane parallel to said support plane (SP) and passing through said longitudinal axis (X), it is possible that said first point may be interposed between said second point and said third point.

7. Movable device (2) according to claim 6, wherein said longitudinal axis (X) is substantially equidistant with respect to a left wheel and a right wheel from the same movement axis of the movable device (1).

8. Movable device (1) according to any one of claims 1 to 7,wherein the operating body (5) is movable along the translation axis (Y) between a right lateral position and a left lateral position, said left and right lateral positions defining the maximum end limits within which said operating body (5) is movable along the translation axis (Y).

9. Movable device (2) according to claim 8, wherein a maximum translation between said longitudinal axis (X) and said right and / or left lateral position is between 10 cm and 80 cm.

10. Movable device (1) according to any one of claims 1 to 9, wherein: - when the operating body (5) is in the right lateral position, either a first end portion (5a) of the operating body (5) has a maximum distance with respect to said longitudinal axis (X), or a second end portion (5b) of the operating body (5), opposite said first end portion (5a),has a minimum distance from the longitudinal axis (X), - when the operating body (5) is in the left lateral position, or the first end portion (5a) of the operating body (5) has a minimum distance from said longitudinal axis (X), and the second end portion (5b) of the operating body (5), opposite said first end portion (5a), has a maximum distance from the longitudinal axis (X), and wherein a line passing through said first and said second end portion (5b) of the operating body (5) is coincident with or parallel to the translation axis (Y).

11. Mobile device (1) according to any one of claims 1 to 10, wherein the operating body (5) can be positioned in a central position interposed between said left lateral position and said right lateral position,12. Mobile device (1) according to any one of claims 1 to 11, wherein an enclosure of the movement means (3) defines a peripheral shape (7) of the mobile device (1), and wherein a movement of the operational body (5) along the translation axis (Y) allows the operational body (5) to emerge at a variable height with respect to said peripheral shape (7), wherein the movement means (3) comprise: - at least two wheels positioned on a front portion (10) of the mobile device (1), and - at least two wheels on a rear portion (11) of the mobile device (1), said wheels defining the peripheral shape (7) of the mobile device (1), in particular an enclosure of said wheels defining the peripheral shape (7) of the mobile device (1).

13. Mobile device (1) according to any one of claims 1 to 12,wherein the movable device (1) is a lawnmower and the working tool (4) is a rotary blade movable by rotation about a rotation axis (A).

14. Movable device (1) according to any one of claims 1 to 13, wherein said rotation axis (A) of the rotary blade is movable for translation along said translation axis (Y) at the same time as the operating body (5).

15. Movable device (1) according to claim 14, wherein said rotation axis (A) of the rotary blade is orthogonal to the support plane when arranged in the right-side, left-side, and center positions of the operating body (5).

16. Movable device (1) according to any one of claims 1 to 15, wherein said one or more rails (6) comprise a first and a second rail (6a,6b) parallel to each other and extending longitudinally along a respective direction parallel to the translation axis (Y), wherein the first rail (6a) is disposed in the front portion (10) of the movable device (1), while the second rail (6b) is disposed in the rear portion (11) of the movable device (1), wherein said longitudinal direction of the first rail (6a) and the second rail (6b) is orthogonal to the longitudinal axis (X) and parallel to the support plane (SP), said longitudinal direction of the first rail (6a) and the second rail (6b) being parallel to the transverse axis (W) defined by the width extension of the movable device (1), and wherein the operating body (5) comprises a first and a second guide (8a, 8b), each of which cooperates with the first and second rail (6a, 6b), respectively, to allow relative movement between the rail and the operating body (5), each of said first and second guide (8a,8b) at least one respective eyelet having a through opening, the first rail (6a) being inserted into the through opening of the eyelet of the first guide (8a), while the second rail (6b) is inserted into the through opening of the eyelet of the second guide (8b), the first and second guides (8a, 8b) being slidable on the respective first and second rails (6a, 6b) to allow mobility of the operating body (5) along the translation axis (Y), wherein the first guide (6a) is located in the front portion (10) of the movable device (1), while the second guide (6b) is located in the rear portion (11) of the movable device (1).

17. Movable device (1) according to any one of claims 1 to 16,wherein said at least one actuator is operatively connected to the operative body (5) and is configured to move the operative body (5) along the translation axis (Y).

18. Mobile device (1) according to any one of claims 1 to 17, wherein the obstacle detector (9) comprises an ultrasonic or optical proximity sensor.

19. Mobile device (1) according to any one of claims 1 to 18, wherein the obstacle detector (9) comprises an inertial sensor.

20. Mobile device (1) according to any one of claims 1 to 19, wherein the obstacle detector (9) comprises a video camera.

21. Mobile device (1) according to any one of claims 1 to 20, wherein the obstacle detector (9) comprises a time-of-flight sensor.

22. Mobile device (1) according to any one of claims 1 to 21,wherein the obstacle detector (9) comprises an impact detector configured to detect an obstacle (100) in response to an impact with said obstacle (100).

23. Movable device (1) according to claim 22, wherein said impact detector comprises a movable flap between: - an extended position, in which said flap emerges laterally to define a detection extent, said flap emerging with respect to a peripheral form (7) of the movable device (1), and - a closed position in which said flap reduces its lateral dimension with respect to said detection extent, and wherein said impact detector comprises an elastic element operatively connected to said flap and configured to exert an elastic force on said flap in a direction adapted to dispose said flap in the extended position.

24. Movable device (1) according to any one of claims 1 to 23,wherein the mobile device (1) comprises an autonomous driving system comprising a peripheral wire system.

25. Mobile device (1) according to any one of claims 1 to 24, wherein the mobile device (1) comprises an autonomous driving system comprising a guidance system by means of a GNSS sensor.

26. Mobile device (1) according to any one of claims 1 to 25, wherein the mobile device (1) comprises an autonomous driving system comprising a vision system provided with one or more cameras.