Automatic lawn mower

Abstract

An automatic lawn mower comprises a shell with a bottom shell, a movable module, a cutting mechanism with a cutting element and a control module; the automatic lawn mower also comprises a movable protective part and a mechanism protective part, in the horizontal direction, the movable protective wall is located on the outside of the cutting mechanism, and the mechanism protective wall is located between the cutting mechanism and the movable protective wall; under the action of external force, the movable protective part can move relative to the bottom shell to change the distance of the lower end of the movable protective wall from the ground; the mechanism protective part and the cutting mechanism are relatively fixed in the up and down directions, the bottom of the mechanism protective wall in the 360-degree circumferential direction is lower than the lowest point of the cutting element or the bottom of the mechanism protective wall in the 360-degree circumferential direction, at least partially higher than the lowest point of the cutting element, and the length of the part above the lowest point of the cutting element continuously extended in the circumferential direction is less than M, wherein 38mm≤M≤40mm.

Description

Technical Field

[0001] The invention relates to an automatic lawn mower. Background Art

[0002] With the continuous advancement of computer technology and artificial intelligence technology, automatic lawn mowers similar to intelligent robots have begun to slowly enter people's lives. Automatic lawn mowers can automatically mow and charge the user's lawn without user intervention. This automatic working system does not need to be managed after it is set up once, freeing users from boring, time-consuming and laborious housework such as cleaning and lawn maintenance.

[0003] The automatic lawn mower automatically walks on the grass and mows the grass. It includes a cutting element for cutting. In order to prevent the cutting element of the automatic lawn mower from accidentally injuring people's fingers or arms, etc., a protective guard must be provided outside the cutting element to block people's fingers or arms. However, in order to meet the passability of the automatic lawn mower, the protective guard cannot be set too low, because if the protective guard is set too low from the ground, the passability of the automatic lawn mower will be very poor. In order to meet the passability, the protective guard cannot prevent children's fingers and arms from reaching into the automatic lawn mower, which can easily cause children to be accidentally injured by the automatic lawn mower.

[0004] Therefore, it is necessary to design an automatic lawn mower with a new protection assembly to solve the above problems. Summary of the invention

[0005] In order to overcome the above-mentioned defects, the present invention adopts the following technical solutions:

[0006] An automatic lawn mower, comprising:

[0007] A housing, provided with a bottom shell;

[0008] A moving module, disposed below the housing, and used to drive the automatic lawn mower to move;

[0009] A cutting mechanism, disposed on the housing to perform a cutting task at a predetermined cutting height, the cutting mechanism comprising a cutting element for cutting;

[0010] A control module, used for autonomously controlling the moving module to drive the automatic lawn mower to move, and autonomously controlling the cutting mechanism to perform a cutting task;

[0011] The automatic lawn mower also includes a protective assembly, which includes a movable protective part provided with a movable protective wall and a mechanism protective part provided with a mechanism protective wall, in the horizontal direction, the movable protective wall is located on the outside of the cutting mechanism, and the mechanism protective wall is located between the cutting mechanism and the movable protective wall; under the action of external force, the movable protective part can move relative to the bottom shell to change the distance of the lower end of the movable protective wall from the ground; the mechanism protective part and the cutting mechanism are relatively fixed in the up and down directions, the bottom of the mechanism protective wall in the 360-degree circumference is lower than the lowest point of the cutting element or the bottom of the mechanism protective wall in the 360-degree circumference, at least partially higher than the lowest point of the cutting element, and the length of the part that is higher than the lowest point of the cutting element continuously extending in the circumferential direction is less than M, where 38mm≤M≤40mm.

[0012] Furthermore, at at least one cutting height, when the movable protective member is moved upward to the highest point of its movable range by an external force, the lower end of the movable protective wall is higher than the lower end of the mechanism protective wall.

[0013] Furthermore, when the cutting mechanism is at any cutting height, and the movable protective member is in a free state without being subjected to external force, the distance between the lower end of the movable protective wall and the ground is always less than M, and 38mm≤M≤40mm.

[0014] Furthermore, when the cutting mechanism is at any cutting height and the movable protective member is in a free state, the distance H0 between the lower end of the movable protective wall and the ground is in the range of 15-35 mm.

[0015] Furthermore, when the movable protective wall is acted upon by an external force, the lower end of the movable protective wall can move in the up and down directions within a range of 15-80 mm, or 20-40 mm.

[0016] Furthermore, under the action of external force, the mechanism guard and the cutting mechanism can move together in the up and down directions compared to the bottom shell.

[0017] Furthermore, the automatic lawn mower further comprises a guard upward guiding mechanism for connecting the movable guard and a cutting upward guiding mechanism for connecting the cutting mechanism and the housing.

[0018] Furthermore, the minimum distance between the movable protective wall and the mechanism protective wall in the horizontal direction ranges from 2 to 30 mm.

[0019] Furthermore, the minimum distance between the movable protective wall and the mechanism protective wall in the horizontal direction ranges from 2 to 8 mm.

[0020] Furthermore, the movable protective wall includes at least one of a front movable protective wall arranged in front of the cutting mechanism, a rear movable protective wall arranged behind the cutting mechanism, and side movable protective walls arranged on both sides of the cutting mechanism.

[0021] Furthermore, in the horizontal direction, the minimum distance X between the outermost edge of the movable protective wall and the cutting element is in the range of X≥58mm, or 63mm≤X≤75mm.

[0022] Furthermore, the movable protective wall includes a main movable portion, the main movable portion includes an obstacle passing area located at its outermost edge, and the obstacle passing area includes an inclined surface extending downward from the outside to the inside.

[0023] Furthermore, the movable protective wall also includes a locking portion extending downward from the main movable portion, the locking portion includes a safety locking area located at its outermost edge, the lower end of the safety locking area is less than M from the ground, and the safety locking area is located outside the downward extension line of the obstacle passing area on the same radial direction.

[0024] Furthermore, the movable protective member is arranged on the outside of the shell, and / or is arranged between the cutting mechanism and the shell, and / or is connected to a part of the shell.

[0025] The beneficial effect of this solution is that by setting up new mechanism protection parts and movable protection parts, the passability can be ensured while preventing the fingers and arms of children from being accidentally injured at any cutting height. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a three-dimensional diagram of an automatic lawn mower according to an embodiment of the present invention.

[0027] Figure 2 yes Figure 1 Another angle view of the automatic lawn mower is shown.

[0028] Figure 3 yes Figure 1 Another angle view of the automatic lawn mower is shown.

[0029] Figure 4 It is a schematic diagram of a state of a protective component of an automatic lawn mower in one embodiment of the present invention.

[0030] Figure 5 It is a schematic diagram of a state of a protective component of an automatic lawn mower in one embodiment of the present invention.

[0031] Figure 6 It is a schematic diagram of a state of a protective component of an automatic lawn mower in one embodiment of the present invention.

[0032] Figure 7 It is a schematic diagram of a state of a protective component of an automatic lawn mower in one embodiment of the present invention.

[0033] Figure 8 It is a schematic diagram of a state of a protective component of an automatic lawn mower in one embodiment of the present invention.

[0034] Fig. 9 It is a schematic diagram of a state of a protective component of an automatic lawn mower in one embodiment of the present invention.

[0035] Fig.10 It is a schematic diagram showing a cutting mechanism and a protective component of an automatic lawn mower located on one side in one embodiment of the present invention.

[0036] Fig.11 Schematic diagram of a cutting mechanism and a movable protective member of an automatic lawn mower according to an embodiment of the present invention.

[0037] Fig.12 It is a schematic diagram of a state of a protective component of an automatic lawn mower in one embodiment of the present invention.

[0038] Fig.13 It is a schematic diagram of a state of a protective component of an automatic lawn mower in one embodiment of the present invention.

[0039] Fig.14 It is a schematic diagram of a state of a protective component of an automatic lawn mower in one embodiment of the present invention.

[0040] Fig.15 It is a schematic diagram of a state of a protective component of an automatic lawn mower in one embodiment of the present invention.

[0041] Fig.16 It is a schematic diagram of a protective component of an automatic lawn mower in one embodiment of the present invention.

[0042] Fig.17 It is a schematic diagram of a protective component of an automatic lawn mower in one embodiment of the present invention.

[0043] Fig.18 It is a schematic diagram of a protective component of an automatic lawn mower in one embodiment of the present invention.

[0044] Fig.19 It is a schematic diagram of a protective component of an automatic lawn mower in one embodiment of the present invention.

[0045] Fig. 20 It is a schematic diagram of a protective component of an automatic lawn mower in one embodiment of the present invention.

[0046] Fig.21 It is a schematic diagram of a state of a protective component of an automatic lawn mower in one embodiment of the present invention.

[0047] Fig. 22 yes Fig.21 Another angle view shown.

[0048] Fig.23 It is a schematic diagram of the outermost edge of a movable protective member in one embodiment of the present invention.

[0049] Fig.24 It is a schematic diagram of an automatic lawn mower according to an embodiment of the present invention.

[0050] Figure 25 is Fig.24 Schematic diagram of another state of the automatic lawn mower shown.

[0051] Figure 26 is Fig.24 Schematic diagram of another state of the automatic lawn mower shown.

[0052] Fig. 27 It is a schematic diagram of an automatic lawn mower according to an embodiment of the present invention.

[0053] Fig.28 yes Fig. 27 Schematic diagram of another state of the automatic lawn mower shown.

[0054] Fig.29 yes Fig. 27 Schematic diagram of another state of the automatic lawn mower shown.

[0055] Fig.30 It is a schematic diagram of an automatic lawn mower according to an embodiment of the present invention.

[0056] Fig.31 yes Fig.30 Schematic diagram of the automatic lawn mower being lifted.

[0057] Fig.31 yes Fig.30 Schematic diagram of the automatic lawn mower being lifted.

[0058] Fig.32 It is a schematic diagram of a movable protective member and a mechanical protective member in one embodiment of the present invention.

[0059] Fig.33 for Fig.32 The force diagram of the movable protective member shown is when it is subjected to illegal outward force.

[0060] Fig.34 for Fig.32 The force diagram of the movable protective member shown is when it is subjected to illegal outward force.

[0061] Fig.35 Schematic diagram of a movable protective member and a mechanical protective member with a blocking protrusion in one embodiment of the present invention.

[0062] Fig.36 for Fig.35The force diagram of the movable protective member shown is when it is subjected to illegal outward force.

[0063] Fig.37 for Fig.35 The force diagram of the movable protective member shown is when it is subjected to illegal outward force.

[0064] Fig.38 for Fig.35 The force diagram of the movable protective member shown is when it is subjected to illegal outward force when the distance between the movable protective member and the ground is less than or equal to M / 2.

[0065] Fig.39 for Fig.35 The force diagram of the movable protective member shown is when it is subjected to illegal outward force when the distance between the movable protective member and the ground is less than or equal to M / 2.

[0066] Fig.40 Schematic diagram of a movable guard with a connecting protrusion and a mechanism guard in one embodiment of the present invention.

[0067] Figure 41 to Figure 43 for Fig.40 The schematic diagram shows the state of the grass when the movable guard meets the grass.

[0068] Fig.44 for Fig.40 A partial enlarged view of .

[0069] Fig.45 It is a schematic diagram of a movable guard member and a mechanism guard member with a connecting protrusion in another embodiment of the present invention. DETAILED DESCRIPTION

[0070] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0071] like Figures 1 to 20 As shown, the present invention provides an automatic working system, which includes an automatic lawn mower 1 that moves and works autonomously and a charging station for charging the automatic lawn mower 1. The automatic lawn mower 1 includes a housing 10 provided with a bottom shell 101, a moving module 20 disposed below the housing 10 and used to drive the automatic lawn mower 1 to move, a cutting mechanism 3 for performing a cutting task at a predetermined cutting height, a power module for providing power, a control module for automatically controlling the moving module to drive the automatic lawn mower 1 to move and autonomously controlling the cutting mechanism to perform a cutting task, and an energy module 5 for providing energy.

[0072] The cutting mechanism 3 is rotatably fixed below the housing 10. The cutting mechanism 3 includes a cutter disc 31 rotatably fixed below the housing 10, a plurality of cutting elements 32 fixed on the cutter disc 31, and a fastener 33 for fixing the cutting elements 32 to the cutter disc 31. In this embodiment, the cutting mechanism 3 also includes a rotating portion 36 rotatably fixed below the housing 10. The cutter disc 31 is fixed on the rotating portion 36 and can rotate with the rotating portion 36. The cutting elements 32 are cutting blades, which are evenly fixed on the circumference of the cutter disc 31 to rotate with the cutter disc 31. In one embodiment, the cutting mechanism 3 includes three cutting blades. In other embodiments, the number of cutting blades can be determined according to actual conditions. For example, the number of cutting elements is 2 or more than 3.

[0073] The height of the cutting mechanism 3 relative to the ground is adjustable so that the automatic lawn mower 1 can complete cutting at different heights when mowing. Specifically, there are many ways to adjust the height of the cutting mechanism 3. In one embodiment, the automatic lawn mower 1 also includes a height adjustment structure 6 for adjusting the height of the cutting mechanism (height adjustment). When the automatic lawn mower 1 needs to adjust the cutting height, the height adjustment mechanism 6 is operated. Driven by the height adjustment structure 6, the cutting mechanism 3 can move up and down to adjust the height of the cutting mechanism 3 to adjust the height of the cutting grass. In the process of adjusting the cutting height from the lowest gear to the highest gear, the cutting mechanism 3 can move relative to the movable protective member in the up and down direction. For example, the cutting mechanism 3 moves in the up and down direction relative to the housing 10, and the cutting mechanism 3 moves in the up and down direction relative to the ground, while the movable protective member 41 does not move in the up and down direction relative to the ground, that is, the initial distance between the lower end of the movable protective wall and the ground remains unchanged. The lowest state 411 of the movable protective member 41 remains unchanged so that the height adjustment does not affect the safety protection effect of the automatic lawn mower 1. In this embodiment, in the process of adjusting the cutting height from the lowest gear to the highest gear, the initial distance between the lower end of the movable protective wall and the ground remains unchanged; in other embodiments, the initial distance between the lower end of the movable protective wall and the ground remains unchanged during some gear adjustments, while the initial distance between the lower end of the movable protective wall and the ground changes during some gear adjustments. In another embodiment, the automatic lawn mower 1 can also adjust the distance between the cutting element 32 and the ground by reversing the blade disc 31 upside down or replacing a new blade disc 31, so as to achieve the purpose of adjusting the cutting height. In this embodiment, when adjusting the cutting height, the movable protective member 41 is not changed, that is, the positional relationship between the movable protective member 41 and the housing 10 remains unchanged, and the blade disc 31 is directly replaced. Of course, in some embodiments, the height of the cutting mechanism 3 relative to the ground can also be always fixed and cannot be adjusted.

[0074] In the non-heightening state, the cutting mechanism 3 can be set to be fixed relative to the housing, or can be set to be movable relative to the housing. For example, the cutting mechanism 3 can move in the up-down direction relative to the housing. When an external force acts on the bottom of the cutting mechanism 3, for example, when an obstacle below the cutting mechanism 3 exerts an upward external force on it, the cutting mechanism 3 can move upward relative to the housing to avoid the obstacle, prevent the obstacle from colliding with the blade, and improve the passability.

[0075] like Figure 2 and Figure 3 As shown, the automatic lawn mower 1 also includes a protective component 4 of a protective wall 40 for safety protection. In the horizontal direction, the protective wall is arranged on the outside of the cutting mechanism 3 to prevent people from accidentally touching the cutting mechanism 3 from the outside to the inside and causing accidental injuries to people. The protective component 4 at least includes a movable protective member 41 provided with a movable protective wall 414 for safety protection. The protective wall at least includes a movable protective wall 414 arranged on the movable protective member 41 and located on the outside of the cutting mechanism 3 in the horizontal direction. During the movement of the automatic lawn mower 1, when the movable protective wall 414 is subjected to an appropriate external force, the distance between the lower end of the movable protective wall 414 and the ground in the vertical direction can be changed, so that when the automatic lawn mower 1 encounters an obstacle 62, the movable protective wall 414 is subjected to sufficient external force, and the distance between the lower end 417 of the movable protective wall of the movable protective member 41 and the ground can be increased to quickly pass through the obstacle, thereby improving the passability of the automatic lawn mower 1. The lower end of the movable protective wall 414 may also be referred to as a movable protective wall lower end 417 .

[0076] The maximum value M of the diameter of a child's arm is preset. No matter what cutting height the cutting mechanism 3 is at, or in other words, when the cutting mechanism 3 is at any cutting height, when the protective component 4 is in a free state without external force, the distance between the lower end of the protective component 4 and the ground is the initial distance, and the initial distance is always less than M, so as to prevent the child's arm from being able to extend into the vicinity of the cutting mechanism 3 in the automatic lawn mower 1 through the bottom of the movable protective member 41, and the risk of being accidentally injured by the cutting mechanism 3 is generated. Generally, the maximum value M of the diameter of a child's arm ranges from 38mm to 40mm (including 38mm and 40mm), that is, 38mm≤M≤40mm. The distance between the lower end of the protective component 4 and the ground can be set to 15mm, 19m, 25mm, 35mm, 37mm, 39mm, etc. Of course, in other embodiments, the range of M can also be adjusted according to actual conditions, for example, to protect thinner arms, M is set to be smaller, or to protect thicker arms, M is set to be larger. Take M=38mm as an example, that is, the distance between the lower end of the protective component 4 and the ground is always less than 38mm. The free state of the protective component 4 refers to the state of the protective component 4 when the automatic lawn mower 1 is not subjected to any external force, regardless of the cutting height of the cutting mechanism 3. When the protective component 4 is in a free state, when an arm with a diameter greater than M attempts to extend into the automatic lawn mower 1 from under the movable protective part 41, it is blocked by the lower end of the protective component 4 and cannot extend the arm into the movable protective part 41. In one embodiment, the distance between the lower end of the protective component 4 and the ground is within the range of 15 to 35mm, so that the distance between the lower end of the protective component 4 and the ground can prevent children's arms from extending in, and will not affect their normal walking on the grass because the protective component 4 is too close to the ground.

[0077] There are many ways in which the distance between the lower end 417 of the movable protective wall of the movable protective member 41 and the ground can be changed. For example, the movable protective member 41 can move in the up-down direction compared with the bottom shell to change the distance between the lower end of the movable protective wall and the ground; for example, the movable protective member 41 can move in the up-down direction as a whole compared with the bottom shell, so that the movable protective wall as a whole moves in the up-down direction compared with the ground; or, the movable protective member 41 only partially moves in the up-down direction compared with the bottom shell, so that the distance between the movable protective wall and the ground can be changed; or, the distance between the upper end of the movable protective member 41 and the ground remains unchanged, while the distance between the lower end 417 of the movable protective wall and the ground is variable. For example, the distance between the lower end 417 of the movable protective wall and the ground can be generated by rotation or deformation.

[0078] In one embodiment, if Figures 1 to 18As shown, the bottom shell of the housing 10 does not move in the vertical direction relative to the ground, while the movable protective member 41 can move in the vertical direction relative to the bottom shell of the housing 10 to achieve its vertical movement relative to the ground. Figures 1 to 3 As shown, the movable protective member 41 is disposed between the housing 10 and the cutting mechanism 3, and is disposed independently of the housing 10. Figure 16 to Figure 17 As shown, the movable protective member 41 is disposed outside the housing 10, and the movable protective member 41 can move in the up and down directions compared to the bottom shell of the housing 10. The movable protective member 41 can be as shown in FIG. Figure 16 to Figure 17 As shown, it completely covers the outside of the housing 10 to form an upper cover of the automatic lawn mower 1, and can also be as shown in FIG. Fig.18 The movable protective member 41 is disposed on a portion of the housing 10 , for example, at the edges of the front, rear, and side of the housing 10 .

[0079] In another embodiment, the movable protective member 41 may be fixed relative to the housing, and the distance of the housing 10 relative to the ground may be changed. For example, the connection between the mobile module and the housing 10 may be changed, so that the distance of the housing 10 relative to the ground may be changed. Figure 19 to Figure 20 As shown, the distance between the upper end of the movable protective member 41 and the ground remains unchanged, and the distance between the lower end 417 of the movable protective wall and the ground changes by deforming the movable protective member 41 when it touches an obstacle. In another embodiment, the distance between the upper end of the movable protective member 41 and the ground remains unchanged, and the upper end of the movable protective member 41 is fixed relative to the housing 10, and the distance between the lower end 417 of the movable protective wall and the ground changes by rotating the movable protective member 41 around its upper end. In other embodiments, the movable protective member 41 can also use other methods to achieve a variable distance between the lower end 417 of the movable protective wall and the ground, which will not be listed one by one in this application.

[0080] The cutting element 32 includes a cutting element lowest point 30 located at its lowest position in the vertical direction. Regardless of the cutting height of the cutting mechanism 3, when the automatic lawn mower 1 is in the process of moving, when it encounters a child's arm, such as Figure 8When the diameter of the test arm 61 is M, the test arm 61 is equivalent to the obstacle 62, and the force applied by the test arm 61 to the movable protective wall 414 is sufficient to move the movable protective wall 414 upward. When the movable protective wall 414 is subjected to external force and its lower end moves upward, if the lower end of the protective component 4 is greater than or equal to M from the ground, for example, the distance between the lower end 417 of the movable protective wall and the ground is greater than or equal to M, and the lower end of the protective component 4 moves to a position higher than the lowest point 30 of the cutting element, then when the automatic lawn mower 1 is moving and encounters a child's arm, it will be directly crushed, and the arm can directly enter the vicinity of the cutting mechanism 3 through the protective component 4 and be cut by the cutting element 32. In this embodiment, Figure 8 , Fig.11 As shown, the movable protective member 41 is in a free state, and the lower end 417 of the movable protective wall is lower than the lowest point of the cutting element. When the movable protective member 41 is subjected to a force applied from the outside to the inside and moves upward to the highest point of its movable range, the lower end of the blocking wall 40 of the protective component 4 is always lower than the lowest point 30 of the cutting element. Therefore, during the movement of the automatic lawn mower 1, even if a child's arm (simulated by the test arm 61) is encountered, even if the arm can enter the vicinity of the cutting mechanism 3 from the protective component 4, because the lower end of the protective wall 40 of the protective component 4 is always lower than the lowest point 30 of the cutting element, the test arm 61 can only be located below the cutting element 30 and cannot touch the cutting element 32, thereby avoiding being cut. Of course, in other embodiments, no matter what height the cutting mechanism is at, or in other words, when the cutting mechanism 3 is at any cutting height, the movable protective member 41 is subjected to external force, and no matter how the distance between the lower end 417 of the movable protective wall and the ground changes, the distance between the lower end of the blocking wall 40 of the protective component 4 and the ground is always less than M. Specifically, by limiting the distance between the lower end 417 of the movable protective wall and the ground to always be less than M, the arm can be restricted from extending into the cutting mechanism 3 from under the protective component 4 in any case.

[0081] Since the lower end of the barrier wall 40 of the protection assembly 4 is always lower than the lowest point 30 of the cutting element, the test arm 61 can only be located below the cutting element 30. Figure 8 The figure shows a schematic diagram of a cutting height higher than the diameter of a child's arm. At this time, the height of the cutting mechanism 3 from the ground is greater than the diameter of a child's arm.

[0082] Specifically, there are many ways to achieve that the lower end of the blocking wall 40 of the protection component 4 is always lower than the lowest point 30 of the cutting element. For example, in one embodiment, when the movable protection member 41 is forced to move upward, the upward movement of the movable protection member 41 is restricted, so that the lower end 417 of the movable protection wall is always located at the lowest point 30 of the cutting element. In another embodiment, the movable protection member 41 can also be made to move synchronously with the cutting mechanism 3, so that the distance between the lower end 417 of the movable protection wall and the lowest point 30 of the cutting element remains unchanged, thereby achieving that the lower end 417 of the movable protection wall is always located at the lowest point 30 of the cutting element. In another embodiment, the lower end of the blocking wall 40 of the protection component 4 can also be achieved by adding a mechanism protection member 42 whose lower end is always lower than the lowest point 30 of the cutting element, and so on.

[0083] The following is a specific description of the mechanism guard 42 whose lower end is always lower than the lowest point 30 of the cutting element. In this embodiment, the protection component 4 also includes a mechanism guard 42 provided with a mechanism guard wall 424. In the horizontal direction, the mechanism guard wall 424 of the automatic lawn mower is arranged between the cutting mechanism 3 and the movable guard wall. The guard wall 40 includes the movable guard wall and the mechanism guard wall 424. The mechanism guard 42 is fixed relative to the cutting mechanism 3, wherein the cutting mechanism 3 may move or not move relative to the shell according to the situation. When the cutting mechanism 3 moves relative to the shell, the mechanism guard 42 moves with it. When the cutting mechanism 2 does not move relative to the shell, the mechanism guard 42 also moves with it. In this embodiment, the mechanism guard 42 is completely fixed relative to the cutting mechanism 3 and cannot move relative to any direction. Of course, in other embodiments, the mechanism guard 42 may be fixed only in the up and down directions relative to the cutting mechanism 3, and the two may move relative to each other in directions other than the up and down directions. The mechanism guard 42 includes a mechanism guard wall 424 for protection, and the cutting mechanism 3 includes a cutting element lowest point 30 located at its lowest position in the vertical direction. In the vertical direction, the mechanism guard 42 is fixed relative to the cutting mechanism 3, that is, in the vertical direction, the relative position of the mechanism guard 42 and the cutting mechanism 3 remains unchanged. The lower end of the mechanism guard wall 424 of the mechanism guard 42, that is, the lower end 427 of the mechanism guard wall is always lower than the cutting element lowest point 30, thereby ensuring that the lower end of the guard wall 40 is always lower than the cutting element lowest point 30, so as to prevent the child's arm from being crushed by the automatic lawn mower 1.

[0084] like Figure 4 and Figure 6As shown, in the horizontal direction, the mechanism guard 42 is located between the cutting mechanism 3 and the movable guard 41, and the minimum distance between the movable guard 41 and the mechanism guard 42 in the horizontal direction is 2 to 30 mm, so that the movable guard 41 does not interfere with the mechanism guard 42 during the upward movement. In one embodiment, the minimum distance between the movable guard 41 and the mechanism guard 42 is 2 to 8 mm, while ensuring that the movable guard 41 and the mechanism guard 42 do not interfere with each other during the movement of the movable guard 41, and reducing the distance between the movable guard 41 and the mechanism guard 42, so that the overall structure of the automatic lawn mower 1 is more compact.

[0085] The mechanism guard 42 includes a mechanism guard wall 424 and a fixed connection wall 425 for connecting the mechanism guard wall 424 and the housing 10. In the up-down direction, the mechanism guard wall 424 is fixed relative to the blade disc 31, that is, the relative position of the mechanism guard wall 424 and the blade disc 31 in the up-down direction remains unchanged. The mechanism guard wall 424 includes a plurality of fixed guard teeth 4246, a plurality of fixed grass inlets 4247 located between two adjacent fixed guard teeth 4246, and a connection portion 4248 for connecting adjacent fixed guard teeth 4246. The width of the fixed grass inlet 4247 is 1 to M, and the width of the fixed guard teeth 4246 is 1 to 20 mm. While being able to enter grass, it prevents children's arms from passing through the mechanism guard 41 through the fixed grass inlet 4247 and touching the cutting mechanism 3. If the fixed grass inlet 4247 is too wide, the effective length of the fixed guard teeth 4246 will be reduced. In one embodiment, the width of the fixed grass inlet 4247 is 10 to 25 mm. While ensuring the effective length of the fixed guard teeth 4246, it prevents the child's arm from passing through the fixed grass inlet 4247 through the mechanism guard 42. When the automatic lawn mower 1 moves, the amount of grass entering the cutting mechanism 3 through the fixed grass inlet 4247 is appropriate, avoiding the phenomenon of too little grass entering, resulting in low work efficiency or grass blocking. The width of the fixed guard teeth 4146 is 4 to 10 mm. While improving the rigidity of the fixed guard teeth 4246, it prevents the width of the fixed guard teeth 4246 from being too large, resulting in grass blocking. In one embodiment, the movable guard 41 also includes a plurality of movable guard teeth 4146, a plurality of fixed grass inlets 4147 located between two adjacent movable guard teeth 4146, and a connecting portion 4148 for connecting adjacent movable guard teeth 4146. In the direction of the automatic lawn mower 1, the fixed grass inlet 4247 and the movable grass inlet 4147 are arranged in front and back correspondence, so that grass can pass through the movable grass inlet 4147 and the fixed grass inlet 4247 in a straight line in sequence, thereby avoiding grass jam. The fixed guard teeth 4246 and the movable guard teeth 4146 are respectively distributed along the circumference on the outside of the cutting mechanism 3 to form a safety protection on the outside of the cutting mechanism 3.

[0086] like Fig.21 and Fig. 22 As shown, in the forward direction of the automatic lawn mower 1, the mechanism protection wall 424 includes a front mechanism protection wall 4241 located in front of the cutting mechanism 3, side mechanism protection walls 4243 located on both sides of the cutting mechanism, and a rear mechanism protection wall 4242 located behind the cutting mechanism. The lower ends 427 of the front mechanism protection wall 4241, the rear mechanism protection wall 4242, and the side mechanism protection wall 4243 are all lower than the lowest point 30 of the cutting element.

[0087] In this embodiment, in order to ensure that the child's arm cannot touch the cutting element 30 when extended from any direction, a mechanism protection wall can be provided around the mechanism protection member 42, that is, Fig.21 and Fig. 22 As shown, in the direction of the automatic lawn mower 1 moving forward, the front mechanism protection wall 4241, the rear mechanism protection wall 4242 and the side mechanism protection wall 4243 together form a circumferentially closed mechanism protection wall, and the lower ends of the front mechanism protection wall 4241, the rear mechanism protection wall 4242 and the side mechanism protection wall 4243 are all lower than the lowest point 30 of the cutting element. In this embodiment, the bottom of the mechanism protection wall in the 360-degree circumferential direction is lower than the lowest point 30 of the cutting element. In another embodiment, the bottom of the mechanism protection wall in the 360-degree circumferential direction may be at least partially higher than the lowest point of the cutting element, at least partially lower than the lowest point of the cutting element, and the length of the part above the lowest point of the cutting element continuously extending in the circumferential direction is less than M, so as to prevent the child's arm from reaching in. In other embodiments, the mechanism protection wall 424 includes at least one of the front mechanism protection wall 4241 located in front of the cutting mechanism 3, the side mechanism protection walls 4243 located on both sides of the cutting mechanism, and the rear mechanism protection wall 4242 located behind the cutting mechanism.

[0088] In one embodiment, if Figure 1As shown, the mechanism protection wall 424 includes at least one of a front mechanism protection wall 4241 located in front of the cutting mechanism 3 and side mechanism protection walls 4243 located on both sides of the cutting mechanism, so as to prevent children's arms from being cut by extending into the vicinity of the cutting mechanism 3 from the front or rear. When the force from the outside to the inside is applied to the movable protection wall from the rear of the automatic lawn mower 1, the direction of the external force applied is opposite to the direction (from the inside to the outside) in which the obstacle 62 moves relative to the automatic lawn mower 1 when the automatic lawn mower 1 moves forward, so the force from the outside to the inside can be distinguished from the obstacle 62. For example, the rear of the automatic lawn mower 1 can prevent the lower end 417 of the movable protection wall at the rear of the automatic lawn mower 1 from moving upward by limiting the resistance of the movable protection wall 414 when it moves upward from the outside to the inside, or preventing it from moving upward beyond the lowest point 30 of the cutting element, thereby preventing the child's arm from being injured. Since the direction of the force applied from outside to inside in front of the automatic lawn mower 1 is the same as the direction of movement of the obstacle 62 relative to the automatic lawn mower 1, the direction of the force applied from outside to inside on both sides is not completely opposite to the direction of movement of the obstacle 62 relative to the automatic lawn mower 1, and it is impossible to distinguish the force from outside to inside from the obstacle 62. Therefore, in this embodiment, a front mechanism protective wall 4241 and / or a side mechanism protective wall 4243 can be added to the front and both sides of the automatic lawn mower 1.

[0089] like Figures 1 to 3 As shown, the shell 10 includes a high shell 49 located outside the cutting mechanism 3 in the horizontal direction. In the direction from the outside to the inside (in the horizontal direction) and in the range of M extending perpendicular to the direction from the outside to the inside, the distance between the high shell 49 and the ground is always higher than M. Therefore, at this time, a child's arm can pass from the bottom of the high shell 49 to the vicinity of the cutting element 32 and be cut. Therefore, in the horizontal direction, or in the inside and outside direction of the automatic lawn mower, at least part of the mechanism protection wall 424 is located between the high shell 49 and the cutting mechanism 3 to prevent a child's arm from reaching the vicinity of the cutting element 32 from the bottom of the high shell 49 and being cut.

[0090] In other embodiments, different implementations may be selected according to the movement of the movable protective member 41 to ensure that the lower end of the protective component 4 is always lower than the lowest point 30 of the cutting element.

[0091] The following is a specific description of the example in which the movable protective member 41 can move in the up-down direction relative to the bottom shell of the housing 10 under the action of an external force to change the distance between the lower end of the movable protective wall and the ground.

[0092] like Figures 1 to 3As shown, the movable protective member 41 includes a plurality of movable protective walls 414 for blocking the user's arms, fingers or other foreign objects and a movable connecting wall 415 for connecting the movable protective wall and the housing. The movable protective wall 414 includes at least one of a front movable protective wall 4141 disposed in front of the cutting mechanism 3, side movable protective walls 4142 disposed on both sides of the cutting mechanism 3, and a rear movable protective wall 4143 disposed behind the cutting mechanism 3. In this embodiment, the movable protective wall 414 includes the front movable protective wall 4141, the side movable protective wall 4142, and the rear movable protective wall 4143 as an example. Among them, the front movable protective wall 4141, the side movable protective wall 4142 and the rear movable protective wall 4143 can be fully or partially connected to each other into one body, and then connected to the shell 10 through the movable connecting wall 415. The front movable protective wall 4141, the side movable protective wall 4142 and the rear movable protective wall 4143 may not be connected to each other, but are connected to the shell 10 through the movable connecting wall 415 respectively. The front movable protective wall 4141, the side movable protective wall 4142 and the rear movable protective wall 4143 can be directly extended from the movable connecting wall 415, or they can be formed separately and then assembled on the movable connecting wall 415. The movable protective wall 414 includes a plurality of movable protective teeth 4146 and a plurality of movable grass inlets 4147 located between two adjacent movable protective teeth 4146. Figure 1As shown, in one embodiment, only the front movable protective wall 4141 is provided with a plurality of movable protective teeth 4146 and a movable grass inlet 4147, so that when the automatic lawn mower 1 moves forward, the grass can enter the cutting mechanism 3 through the movable grass inlet 4147 without being blocked by the movable protective teeth 4146. In other embodiments, the rear movable protective wall 4143 and the side movable protective wall 4142 can also be provided with a plurality of movable grass inlets 4147 to prevent grass from being pressed. The width of the movable grass inlet 4147 is 1 to 20 mm, and the width of the movable protective teeth 4146 is 1 to 20 mm. While grass can be entered, it is prevented that the arms of children pass through the movable protective member 41 through the movable grass inlet 4147 and touch the cutting mechanism 3. If the movable grass inlet 4147 is too wide, the effective length of the movable guard teeth 4146 will be reduced. In one embodiment, the width of the movable grass inlet 4147 is 10-25 mm. While ensuring the effective length of the movable guard teeth 4146, it prevents the child's arm from passing through the movable grass inlet 4147 through the movable guard 41. When the automatic lawn mower 1 moves, the amount of grass entering the cutting mechanism 3 through the movable grass inlet 4147 is appropriate, avoiding the phenomenon of too little grass entering, resulting in low work efficiency or grass blocking. The width of the movable guard teeth 4146 is 4-10 mm. While improving the rigidity of the movable guard teeth 4146, it prevents the movable guard teeth 4146 from being too wide, resulting in grass blocking.

[0093] In the up-down direction, the movable guard 41 is movable relative to the bottom shell 101 of the housing 10, and the movable guard wall 414 is also movable relative to the bottom shell of the housing 10, so that when the automatic lawn mower 1 encounters an obstacle 62 within a certain range, the movable guard wall 414 of the movable guard 41 can move upward to avoid the obstacle 62, thereby ensuring good passability of the automatic lawn mower. In this embodiment, the movable guard 41 can move upward as a whole relative to the bottom shell 101 under the external force applied by obstacles, etc., so that the ground distance of all points on the lower surface of the movable guard wall is increased, so that the automatic lawn mower as a whole can quickly pass through obstacles, greatly improving the passability of the automatic lawn mower as a whole. The movable protective element 41 has a lowest state 411 and a highest state 412 within the movable range. The lowest state 411 refers to the lowest position of the movable protective element 41 in the space where it can move in the up-down direction during the movement of the automatic lawn mower. The highest state 412 refers to the highest position of the movable protective element 41 in the space where it can move in the up-down direction during the movement of the automatic lawn mower. It should be pointed out that the lowest position and the highest position both refer to the range of the movable protective element 41 that is caused by the external force naturally encountered during the movement of the automatic lawn mower or the external force in the same direction as the naturally applied external force, for example, the movable protective element 41 is subjected to the external force applied by obstacles, or the buoyancy of grass on it, etc.; it does not include the situation where the movable protective wall is forced to move downward by the downward external force artificially applied to the movable protective element 41. Figure 4 As shown in FIG. 4 , it is a schematic diagram of the movable protective element 41 being in the lowest state 411 within its movable range. Figure 5 The figure shows a schematic diagram of the movable guard 41 in the highest state 412 within its movable range. When the movable guard 41 is in its lowest state 411, the distance between the lower end 417 of the movable guard wall and the ground is H1, and when the movable guard 41 is in its highest state 412, the distance between the lower end 417 of the movable guard wall and the ground is H2. When the automatic lawn mower 1 moves on a flat lawn, or when it passes through a lawn where the height of the obstacle 62 is less than or equal to H1, the movable guard 41 is in the lowest state 411. When passing through an obstacle 62 with a height greater than H1 and less than H2, the movable guard 41 is acted upon by the force exerted by the obstacle 62 and moves upward to quickly pass through the obstacle 62.

[0094] In this embodiment, the movable guard 41 includes a free state, which refers to the state of the movable guard 41 when the automatic lawn mower 1 is not subjected to external forces at the corresponding cutting height. The free state of the movable guard 41 can be the same at different cutting heights, that is, adjusting the height of the cutting mechanism 3 does not affect the free state of the movable guard 41; of course, in other embodiments, the free state of the movable guard 41 may also be affected by the height adjustment. However, in order to prevent a child's arm from reaching under the movable guard 41 when the automatic lawn mower 1 is stationary, it must be ensured that at any cutting height, when the movable guard 41 is in the free state, the initial distance H0 between the lower end 417 of the movable guard wall and the ground is always less than M. In the above embodiment, M is set to 38 mm, that is, the initial distance between the lower end 417 of the movable protective wall and the ground is always less than 38 mm. Of course, the initial distance between the lower end 417 of the movable protective wall and the ground is always less than 38 mm as a preferred value. In other embodiments, M may also be between 38 mm and 40 mm (including 38 mm and 40 mm). Correspondingly, the distance between the lower end 417 of the movable protective wall and the ground only needs to be always less than M. For example, when M is 40 mm, the distance between the lower end 417 of the movable protective wall and the ground is always less than 40 mm. In the following embodiments, the initial distance between the lower end 417 of the movable protective wall and the ground is always less than 38 mm as an example.

[0095] In one embodiment, the initial distance between the lower end 417 of the movable protective wall and the ground is within the range of 15mm-35mm, so that the distance between the lower end of the protective element 41 and the ground can prevent the child's arm from being inserted, and will not affect the child's normal walking on the grass due to the movable protective wall 414 being too close to the ground. The distance between the lower end 417 of the movable protective wall and the ground can also be further limited to within the range of 19mm-30mm. On the one hand, the distance from the ground is limited to be greater than 19mm, the distance from the ground of the lower end 417 of the movable protective wall is increased, and the passability is improved; on the other hand, the distance from the ground is limited to be less than 30mm, so that the difference between the distance from the ground and the diameter of the child's arm is greater than a certain value, leaving a certain safety margin to ensure that the child's fingers cannot be inserted under special working conditions such as when the automatic lawn mower is tilted. Of course, the distance from the lower end 417 of the movable protective wall to the ground can also be set to other ranges, such as within the range of 15mm-25mm, and so on.

[0096] In another embodiment, the initial distance between the lower end 417 of the movable protective wall and the ground is always less than 19 mm, that is, always less than the radius of a child's arm, so that it is difficult for a child's fingers to extend into the cutting mechanism 3 from under the lower end 417 of the movable protective wall.

[0097] Specifically, a safety distance value can be preset, and the safety distance value is less than or equal to M, for example, the safety distance value is 40mm, 38mm, or 19mm, 15-35mm, or 19-30mm or 15-25mm, etc. Regardless of the cutting height of the cutting mechanism 3, or in other words, the cutting mechanism 3 is at any cutting height, the movable protective member 41 is in a free state, and the initial distance H0 of the lower end 417 of the movable protective wall from the ground is always less than the safety distance value. In this embodiment, when the cutting height of the cutting mechanism 3 is adjusted, the cutting mechanism 3 can move relative to the movable protective member 41, so that the movable protective member 41 is in a free state, and the initial distance H0 of the lower end 417 of the movable protective wall from the ground is always less than the safety distance value.

[0098] like Figure 4 As shown, when the movable protective member 41 is in its lowest state 411, the distance H1 between the lower end 417 of the movable protective wall and the ground is less than M, so as to prevent the child's arm from extending from the bottom of the movable protective member 41 into the cutting mechanism 3 and causing accidental injury by the cutting mechanism 3. Figure 4 As shown, the movable guard 41 is in its lowest state 411 when it is in a free state, that is, when the automatic lawn mower 1 is not subjected to external forces; and no matter what cutting height the cutting mechanism 3 is at, the movable guard 41 is always in its lowest state 411 when it is in a free state. That is, when the movable guard 41 is in a free state, the distance H0 between the lower end 417 of the movable guard wall and the ground is the same as the distance H1 between the lower end 417 of the movable guard wall and the ground when the movable guard 41 is in its lowest state 411. For example, when the automatic lawn mower 1 is in a non-moving state, or is moving on a grass field without resistance, or when it passes through a grass field with an obstacle 62 whose height is less than or equal to H1, the movable guard 41 is in its lowest state 411. In the lowest state 411, the distance H1 between the lower end 417 of the movable protective wall and the ground is less than M. When an arm with a diameter greater than or equal to M attempts to extend from the bottom of the movable protective part 41 into the automatic lawn mower 1, it is blocked by the movable protective wall 414 and cannot extend the arm into the movable protective part 41. In one embodiment, the distance H1 between the lower end 417 of the movable protective wall and the ground is within the range of 15 to 25 mm, so that the distance between the bottom of the movable protective part 41 and the ground can prevent children's arms from extending in, and will not affect their normal walking on the grass due to the movable protective wall 414 being too close to the ground. In another embodiment, the distance between the lower end 417 of the movable protective wall and the ground is always less than 19 mm to prevent children's fingers from extending from the bottom of the movable protective wall 417 into the cutting mechanism 3.

[0099] The movable guard 41 can move upwards by an external force for a distance of not less than 15 mm in the vertical direction, and the specific range of the movable distance can be 15 to 80 mm, so that the movable guard 41 can avoid most obstacles 62. After the lower end of the movable guard wall moves upward, the distance between it and the ground can be greater than M, so as to avoid limiting the passability of the child's arm in order to block it. In one embodiment, Figures 4 to 6 As shown, the automatic lawn mower 1 includes an upward guiding mechanism connecting the housing 10 and the movable protective member 41, such as a parallel four-bar linkage structure, etc. When the movable protective member 41 is acted upon by a force from the outside to the inside, the upward guiding mechanism guides to allow the movable protective member 41 to move in the up and down directions. The upward guiding mechanism connecting the movable protective member 41 can also be referred to as a protective member upward guiding mechanism 45. When the cutting mechanism 3 is at any cutting height, the movable protective member 41 can move upward relative to the bottom shell 101 under the action of an external force, so that the distance of the movable protective wall from the ground increases; when the external force is eliminated, the movable protective member 41 can move downward relative to the bottom shell 101, so that the distance of the lower end of the movable protective wall from the ground returns to the initial distance. Specifically, the movable protective member 41 can automatically return to its position in the free state by gravity, or it can return to its position in the free state by adding a return mechanism, such as a spring. During the rotation of the upward guide mechanism 45 for the protective member, the movable protective member 41 can be driven to move in the vertical direction as well as in the horizontal direction. If the horizontal displacement is too large, it may interfere with the housing 10 or other components in the horizontal direction, which may reduce the horizontal movement of the movable protective member 41. In this embodiment, the vertical movable distance of the movable protective member 41 is limited to 20 to 40 mm, so that the upward guide mechanism 45 for the protective member is selected to rotate near the horizontal direction as much as possible to reduce its horizontal movement range. In other embodiments, the movable protective member 41 can also be connected to the housing 10 through other structures to achieve its vertical movement, for example, through structures such as a four-link, a two-link, a single rod, and a slide.

[0100] In the horizontal direction, the minimum distance X between the outermost edge of the movable protective wall 414 and the part of the cutting mechanism 3 closest to it is greater than 58 mm. In general, the minimum distance X between the outermost edge of the movable protective wall 414 and the part of the cutting mechanism 3 closest to it is: the minimum distance between the outermost edge of the movable protective wall 414 and the cutting element 30 during the process of the blade disc driving the cutting element 30 to rotate. In this embodiment, the minimum distance X is 58-200 mm. Since the diameter of the finger is small, it can still be extended from the bottom of the movable protective member 41 in parallel and touch the cutting mechanism 3. In this embodiment, by setting the minimum distance X between the outermost edge of the movable protective wall 414 and the part of the cutting mechanism 3 closest to it to 58-200 mm, since the length of most children's fingers is within the range of 58 mm, this embodiment can effectively prevent most children's fingers from extending from the bottom of the movable protective member 41 into the interior of the cutting mechanism 3, resulting in accidental injury by the cutting mechanism 3. In one embodiment, the minimum distance X between the outermost edge of the movable protective wall 414 and the portion of the cutting mechanism 3 closest thereto is 63 to 75 mm, so as to limit the horizontal distance between the movable protective member 41 and the cutting mechanism 3 while ensuring that the fingers of children cannot touch the cutting mechanism 3, thereby improving the compactness of the overall structure of the automatic lawn mower 1 and realizing the miniaturization and lightness of the automatic lawn mower 1. The outermost edge 413 of the movable protective wall refers to the outermost portion of the movable protective wall 414 that can be touched by the user's arm or finger, such as Figure 1 As shown, the outermost edge 413 of the movable protective wall includes a front outermost edge 4131 located at the front edge of the front movable protective wall 4141, a side outermost edge 4132 located at the outer edge of the side movable protective wall 4142, and a rear outermost edge 4133 located at the rear edge of the rear movable protective wall 4143. The outermost edge 413 of the movable protective wall can be a plane, a curved surface, an irregular surface, etc.

[0101] like Figure 1 , Figure 4 , Figure 6 and Fig.23 As shown, the outermost edge of the movable protective wall 414, that is, the outermost edge 413 of the movable protective wall includes an obstacle passing area 4135, and the obstacle passing area 4135 includes an inclined surface extending downward from the outside to the inside, and the obstacle passing area 4135 is high on the outside and low on the inside. When an obstacle 62 collides with the outermost edge 413 of the movable protective wall from the outside to the inside, the obstacle 62 generates a force perpendicular to the outermost edge 4131 of the movable protective member 41, that is, it generates an inclined upward force, and the inclined upward force generates an upward component force, thereby causing the movable protective member 41 to move upward to quickly pass through the obstacle 62.

[0102] The outermost edge 4131 of the front end of the movable protective wall 414 includes the above-mentioned obstacle passing area 4135. The obstacle passing area 4135 includes an inclined surface extending downward from the outside to the inside (from the front to the back). In the direction of the automatic lawn mower moving forward, the inclined outermost edge 4131 of the front end is high at the front and low at the back. When the automatic lawn mower 1 automatically walks and encounters an obstacle 62, the movable protective member 41 collides with the obstacle 62. The obstacle 62 generates a force perpendicular to the outermost edge 4131 of the front end of the movable protective member 41, that is, generates an inclined upward force. The inclined upward force generates an upward component force, thereby causing the movable protective member 41 to move upward. Figure 5 As shown, the robot moves upward to avoid the obstacle 62, thereby preventing the fingers or arms of children from touching the cutting mechanism 3 and improving the passability of the robot. The outermost edge 4131 of the front end may be an inclined plane or a curved surface.

[0103] like Fig.12 As shown, in one embodiment, the outermost edge 4133 of the rear end of the movable protective wall 414 extends obliquely downward from the outside to the inside (from the back to the front). In the direction of the automatic lawn mower 1 moving forward, the inclined outermost edge 4133 of the rear end is low in the front and high in the back. When the automatic lawn mower 1 moves backward, if it collides with the obstacle 62, the obstacle 62 generates a force perpendicular to the outermost edge 4133 of the rear end of the movable protective member 41, that is, it generates an oblique upward force. The oblique upward force generates an upward component force, thereby causing the movable protective member 41 to move upward to avoid the obstacle 62, thereby achieving the automatic lawn mower 1 to prevent the fingers or arms of children from touching the cutting mechanism 3 while improving its passability when retreating. The outermost edge 4133 of the rear end can be an inclined plane or curved surface. Similarly, the outermost edge 4132 of the side of the movable protective wall 414 can also be set to be inclined outward and extend upward, so that the automatic lawn mower 1 can quickly pass through obstacles when turning to both sides, thereby improving its passability when turning.

[0104] like Fig.13 As shown, the rear movable protective wall 4143 of the movable protective wall 414 is assembled on the movable connecting wall 415. The automatic lawn mower 1 includes a limiting structure 418 and a reset structure 416. In this embodiment, the reset structure 416 is an elastic member used to connect the movable connecting wall 415 and the rear movable protective wall 4143, such as a torsion spring, etc. The limiting structure 418 is a limiting portion 4181. In other embodiments, the limiting structure 418 and the reset structure 416 can be in other forms. When the automatic lawn mower 1 moves normally, the rear movable protective wall 4143 is subjected to the elastic force of the elastic member and the limiting portion 4181, so that it is maintained in a Fig.13 As shown in the location. Fig.13As shown, when the automatic lawn mower 1 moves backward and the rear outermost edge 4133 of the rear movable protective wall 4143 collides with the obstacle 62, the movable protective wall 4143 is subjected to an upward force and moves upward to the position shown in FIG. Fig.14 In the position shown, the upper part of the rear movable protective wall 4143 collides with the housing 10, and the rear movable protective wall 4143 is subjected to a downward force, and then rotates clockwise downward, as shown in FIG. Fig.15 As shown, the obstacle 62 is pushed forward, and the obstacle 62 is quickly passed to continue to move backward. After the rear movable protective wall 4143 rotates clockwise for a certain distance, it is subjected to the reverse action of the reset structure 416, for example, the restoring force of the torsion spring, and the rear movable protective wall 4143 returns counterclockwise as shown. Fig.13 In this embodiment, the rear movable protective wall 4143 is designed to be flippable and assembled on the movable connecting wall 415, so that the obstacle 62 can be avoided by flipping the rear movable protective wall 4143 downward, and the upward movable distance of the rear movable protective wall 4143 is reduced, and more space is reserved above the rear movable protective wall 4143 for the housing 10, so that the overall structure of the automatic lawn mower 1 is more compact.

[0105] like Fig.23 The figure shows that in one embodiment, a static analysis of a connecting rod is performed to obtain:

[0106] F*L1*sin(a+b)=G*L1*cos(a)

[0107] So: F=G*cos(a) / sin(a+b)

[0108] Wherein: F is the horizontal thrust of the child's arm, L1 is the length of the connecting rod, L2 is the distance that the protective part is allowed to float, G is the gravity of the protective part, and b is the inward inclination angle from the vertical plane where its outermost end is located. In this embodiment, the movable protective part 41 is 30mm away from the ground and is allowed to move upward by 20mm, that is, the lower end 417 of the movable protective part is between 30 and 50mm from the ground. In this example, the length of the four-link is selected as 110mm. When the movable protective part 41 is in the highest state 412, the four-link movement maintains a horizontal state. In this embodiment, when F is the test force of the child's arm 5N, G=0.93N. That is, the weight of the movable protective part is greater than 93g, and the test force of the child's arm cannot lift the protective part.

[0109] Through the above calculations, it can be found that the smaller b is, that is, the closer the area where the outermost edge 413 of the movable protective part contacts the test arm 61 is to vertical, the longer the four-link is, the heavier the movable protective part 41 is, the smaller the distance that the lower end 417 of the movable protective wall moves upward, and the more difficult it is to lift the movable protective part 41.

[0110] In this embodiment, Fig.23 As shown, the outermost edge 413 of the movable protective wall also includes a safety locking area 4136 for preventing the child's arm from lifting the movable protective wall 414. A safety external force value F1 is preset, and the safety external force value is not less than the test force 5N of the child's arm. When the force from the outside to the inside acts on the safety locking area, the movable protective wall 414 cannot move upward. The safety locking area 4136 is set in the area where the outermost edge 413 of the movable protective member contacts the test arm 61 to prevent the lower end 417 of the movable protective member from moving upward under the action of the child's arm test force. The lower end of the safety locking area is less than M from the ground. Even if the movable protective member is forced to move upward, because the lower end of the safety locking area is less than M from the ground, at the highest position where the child's arm can lift the movable protective member, there must be a section of the safety locking area against the child's arm to ensure that the child's arm cannot extend into the cutting mechanism. Since the area where the outermost edge 413 of the movable protective member contacts the test arm 61 is generally within the range of M (including M) between the movable protective wall 414 and the ground, a safety locking area 4136 is set at least within the range of M between the movable protective wall 414 and the ground. Of course, depending on the situation, the above-mentioned safety locking area 41 may also be set where the distance between the movable protective wall 414 and the ground exceeds M to prevent the child's arm from tilting and contacting the above-mentioned movable protective wall 414.

[0111] like Fig.23As shown, the safety locking zone 4136 is located outside the downward extension line of the obstacle passing zone on the same radial direction. The safety locking zone 4136 includes an inclined surface and / or a vertical surface. Specifically, the safety locking zone 4136 includes an inclined surface and / or a vertical surface extending downward from the outside to the inside and / or an inclined surface extending upward from the outside to the inside. The above-mentioned inclined surface and vertical surface may be a plane, a curved surface, an irregular surface, etc. When the safety locking zone 4136 is an inclined surface extending downward from the outside to the inside, the angle of the inclined surface of the safety locking zone 4136 from the vertical plane where its outermost end is located to the inside can be less than 15 degrees. In one embodiment, the angle of the inclined surface of the safety locking zone 4136 from the vertical plane where its outermost end is located to the inside can be less than 3 degrees. When the safety locking zone 4136 is an inclined surface extending downward from the outside to the inside, the angle at which the inclined surface of the safety locking zone 4136 is inclined inward from the vertical plane where its outermost end is located is smaller than the angle at which the inclined surface of the obstacle passing zone 4135 is inclined inward from the vertical plane where its outermost end is located. The smaller the angle at which the inclined surface of the safety locking zone 4136 is inclined inward from the vertical plane where its outermost end is located, the less likely the movable protective wall will move upward when a preset safety external force value acts on the safety locking zone 4136. In one embodiment, the safety locking zone 4136 can be selected as a vertical surface, and only the demolding angle is retained. The larger the angle at which the inclined surface of the obstacle passing zone 4135 is inclined inward from the vertical plane where its outermost end is located, the easier it is for the movable protective wall 414 to be lifted when the obstacle 62 hits the movable protective wall 414, and the easier it is to avoid obstacles. In one embodiment, if Fig.32 As shown, in the up and down directions of the automatic lawn mower 1, the movable protective wall 414 includes a main movable part 401 located at the upper end thereof and a locking part 402 formed by the downward extension of the autonomous movable part 401. The outermost edge of the main movable part 401 is provided with an obstacle passing area 4135, and the outermost edge of the locking part 402 is provided with a safety locking area 4136. In this embodiment, the movable protective wall having both the obstacle passing area 4135 and the safety locking area 4136 is taken as an example. In other embodiments, the movable protective wall may also have only one of the obstacle passing area 4135 and the safety locking area 4136. In order to achieve better passability, the distance from the lower end of the locking part 402 to the ground is preferably in the range of M / 2 to M, where M is between 38mm-40mm. For example, when the distance from the locking part 402 to the ground is 19mm-40mm, at this time, the distance from the lower end of the locking part 402 to the ground is greater than the radius of the test arm 61. If Fig.32 As shown, when the outermost edge of the locking portion 402 is a continuous surface or has a section of a longer continuous surface, when the test arm 61 strikes along a non-linear direction Fig.32 When the lower end of the movable protective wall 414 is Fig.33 and Fig.34As shown, the transition surface between the front end surface of the test arm 61 and its side surface abuts against the lower end of the continuous surface of the outermost edge of the locking portion 402. At this time, the force-bearing surface is the transition surface, and as shown in FIG. Fig.34 As shown, the force point on the test arm 61 is located above the horizontal plane where the center line of the test arm is located, and the test wall 61 and the movable protective wall 414 are abutted to produce the following Fig.34 The force F shown can be decomposed into a vertical component F1 and a horizontal component F2, wherein the vertical component F1 will push the floating protective wall to move upward, causing the movable protective wall to increase its distance from the ground. When the distance is greater than the diameter of the test arm 61, the test arm 61 can extend into the movable protective wall 414, and then extend into the cutting mechanism and be accidentally injured.

[0112] In order to avoid the risk of the test arm 61 hitting the movable protective wall 414 along the non-linear direction, in one embodiment, Fig.35 As shown, the locking portion 402 at the lower end of the movable protective wall 41 includes a plurality of blocking protrusions 4021 spaced apart in the circumferential direction at the bottom of the movable protective wall 414 and a transition wall 4022 for connecting the main movable portion 401 and the blocking protrusion 4021, wherein the outermost edges of the blocking protrusion 4021 and the transition portion 4022 are provided with a safety locking area 4136 to prevent the movable protective wall from being lifted when a child's arm is extended from the locking portion 402. In some embodiments, if the highest point of the blocking protrusion 4021 is sufficiently far from the ground, the transition portion may not be provided. For example, since the diameter of a general child's arm does not exceed M, when the highest point of the blocking protrusion 4021 is not less than M from the ground, the transition portion may not be provided, that is, the blocking protrusion 4021 is directly extended downward from the bottom of the main movable portion 401. As shown in FIG. Fig.35 As shown, the transition portion 4022 connected to the top of the blocking protrusion 4021 can be called an upper blocking portion. When there is no transition portion 4022 above the blocking protrusion 4021 and the main movable portion 401 is directly connected to the top of the blocking protrusion 4021, the main movable portion 401 can also be called an upper blocking portion.

[0113] like Figures 35 to 45 As shown, when the distance between the lower end of the locking portion 402 and the ground is within the range of M / 2 to M, that is, when the distance between the lower end of the blocking protrusion 4021 and the ground is greater than M / 2, for example, when the distance between the blocking protrusion 4021 and the ground is 19-40 mm, or when the distance between the lower end of the locking portion 402 and the ground is greater than the radius of the test arm 61, when the test arm 61 hits the test arm 61 along the non-normal direction Fig.35 When the lower end of the movable protective wall 414 is shown, the front end surface of the test arm 61 abuts against the blocking protrusion 4021, and the force is as follows: Fig.37 As shown, the force-bearing surface is always the front end surface of the test arm 61, which only produces Fig.37The force F' on the horizontal plane shown will not generate an upward force, which can prevent the movable protective wall 414 from moving upward when it is subjected to the force applied by the test arm 61 in a direction non-normal to the line, thereby preventing the test arm 61 from extending into the cutting mechanism and causing danger.

[0114] In order to ensure that when the test arm 61 impacts the lower end of the movable protective wall 414 in any normal direction, the force-receiving surface is the front end surface of the test arm 61, thereby avoiding the generation of an upward component force, the distance S between any two adjacent blocking protrusions 4021 and the height h of the blocking protrusion 4021 must be greater than zero. However, to prevent the test arm 61 from extending into the gap between two adjacent blocking protrusions 4021 in the normal direction, therefore, the distance S ≤ the diameter of the test arm. Since the diameter of the test arm is less than or equal to 40 mm, in this embodiment, the range of S is limited to: 0 < S ≤ 40 mm; preferably, the range of S is: 3 ≤ S ≤ 25 mm, to avoid the gap between two adjacent blocking protrusions 4021 being too small, resulting in an upward force generated by the test arm invading in a non-normal direction, or the gap being too large, allowing the test arm 61 to extend into the gap. At the same time, if the blocking protrusion 4021 is too large, it will lead to poor passability. Therefore, the height h of the blocking protrusion 4021 is limited to 0 < h ≤ 80 mm, preferably, 3 ≤ h ≤ 20 mm.

[0115] At the same time, to prevent the transition surface of the test arm 61 from abutting against the outermost edge of the blocking protrusion 4021 when the test arm 61 impacts in a non-normal direction, the width M of the blocking protrusion 4021 is limited to 0 < M ≤ 40 mm, preferably 0 < M ≤ 20 mm. The outermost edge of the blocking protrusion 4021 does not overlap with the outermost edge of the upper blocking portion, that is, the outermost edge of the blocking protrusion 4021 does not overlap with the outermost edge of the transition portion 4022. The part of the blocking protrusion 4021 that does not overlap with the outermost edge of the upper blocking portion is located inside the corresponding part of the outermost edge of the upper blocking portion, that is, as Fig.35 shown, the part of the outermost edge of the blocking protrusion 4021 that does not overlap with the outermost edge of the transition portion 4022 is located inside the corresponding part of the outermost edge of the transition portion 4022. For example, when the upper blocking portion, that is, the transition portion 4022 and the outermost edge of the blocking protrusion 4021 are both curved surfaces, the curvature of the blocking protrusion 4021 is greater than that of the upper blocking portion at its corresponding position, that is, greater than the curvature of the transition portion 4022 at its corresponding position. The radius of curvature R of the blocking protrusion 4021 can be set to 0 < R ≤ 20 mm, preferably 0 < R ≤ 10 mm. In this embodiment, the outermost edge of the blocking protrusion 4021 is a semi-circular arc surface. In other embodiments, the outermost edge of the blocking protrusion 4021 can also be other arc surfaces, or a straight surface with a relatively small width, etc.

[0116] In this embodiment, the ground clearance of the lower end of the locking portion 402, that is, the lower end of the blocking protrusion 4021 is set to be within the range of M / 2 to M, for example, the ground clearance of the lower end of the locking portion 402 is 19mm-40mm, so as to enhance the passability of the automatic lawn mower, and at the same time, the blocking protrusion 4021 is provided to prevent the arms of children from entering the movable protective wall in a non-illegal direction, thereby ensuring the safety of children while improving the passability.

[0117] In another embodiment, the distance between the lower end of the locking portion 402 and the ground can be limited to within the radius of the child's arm to avoid the upward force generated when the child's arm collides with the locking portion 402 in an illegal direction. Specifically, when the cutting mechanism is at any cutting height, the initial distance of the movable protective wall 41 from the ground is always less than or equal to M / 2, that is, the initial distance between the lower end of the locking portion 402 and the ground can be limited to less than or equal to M / 2, for example, the distance between the lower end of the locking portion 402 and the ground is less than or equal to 19 mm. At this time, if Fig.38 As shown, when the test arm 61 strikes along the non-linear direction Fig.32 When the movable protective wall 414 is at the lower end, as shown Fig.39 As shown, the force point on the test arm 61 is always on the horizontal plane where the center line of the test wall 61 is located. At this time, only the force F'' on the horizontal plane is generated, and no upward component force is generated. Therefore, at this time, the child's arm can be prevented from extending into the movable protective wall 414 along the non-illegal direction.

[0118] With Fig.35 When the automatic lawn mower with the locking portion 402 shown encounters dense grass, the blocking protrusion 4021 will be inserted into the grass. Because the grass is overlapped, as the automatic lawn mower moves forward, the blocking protrusion 4021 will pull the grass apart, and the overlapping grass will bring resistance to the advancement of the automatic lawn mower, reducing the passability of the automatic lawn mower.

[0119] In order to further improve the passability of dense grass, in one embodiment, Fig.40 As shown, the locking portion 402 at the lower end of the movable protective wall 41 further includes a connecting protrusion 4023 extending in the up-down direction for connecting at least two adjacent blocking protrusions 4021, and the connecting protrusion 4023 is partially recessed inward so that the connecting protrusion 4023 and the two adjacent blocking protrusions 4021 connected thereto jointly form an outer spacing and an inner closed structure. Figure 41 to Figure 43 As shown, when the automatic lawn mower encounters grass while moving forward, the blocking protrusion 4021 is inserted into the grass, but as the automatic lawn mower moves forward, as shown in FIG. Fig.42 As shown, the grass is pressed down by the connecting protrusion 4023, and as the automatic lawn mower moves further, as shown in FIG. Fig.43As shown, the crushed grass stands up again, enters the cutting area, and is then cut by the cutting mechanism. In this embodiment, by providing the connecting protrusion 4023, it effectively prevents the blocking protrusion from inserting into the thick grass, resulting in an increase in operating resistance, or even breaking or pulling the grass. The circumferentially continuous structure formed by the above-mentioned connecting protrusion and the blocking protrusion can also be referred to as the grass pressing end face 406. In other embodiments, a circumferentially continuously extending grass pressing end face 406 can also be directly provided at the lower end of the movable protective wall or the lower end of the mechanism protective wall. As long as the lower end of the movable protective wall has no through opening in the inner and outer directions, the grass pressing end face 406 can be in the shape of Fig.40 as shown in serrations, or can be Fig.45 the structure shown, or can be Fig.32 the structure shown. The grass pressing end face 406 directly presses down the grass, thereby avoiding large operating resistance, or even breaking or pulling the grass.

[0120] As Fig.44 shown, in order to achieve better passability while ensuring safety protection, in the direction from outside to inside, the distance d between the outermost side of the blocking protrusion 4021 and the innermost side of the connecting protrusion 4023, the height h of the blocking protrusion 4021, the distance S between two adjacent blocking protrusions 4021, and the width M of the blocking protrusion 4021 should not be too large or too small; if d is too large, or h is too large, or S is too large, the more grass is stuffed into the gap between the two blocking protrusions or the longer the movement distance of the grass in the gap, the greater the operating resistance and the easier it is to pull the grass; if d is too small, or h is too small, or S is too small, or M is too large, it is easier for the child's arm to reach into the movable protective wall 414, bringing safety risks; M cannot be too small either, as M is too small, the strength of the blocking protrusion 4021 will also decrease. For these reasons, in this embodiment, it is set that 1mm ≤ d ≤ 100mm, preferably 3mm ≤ d ≤ 20mm; 0mm < h ≤ 80mm, preferably 3mm ≤ h ≤ 20mm; 0 < S ≤ 40mm, preferably 3 ≤ S ≤ 25mm; 0 < m ≤ 40mm, preferably 0 < m ≤ 20mm, so as to improve the passability of the automatic lawn mower while ensuring that the child's arm cannot reach into the movable protective wall.

[0121] As Fig.40 shown, in this embodiment, the connecting protrusion 4023 is a V-shaped structure connecting two adjacent blocking protrusions 4021. The connecting protrusion 4023 and the blocking protrusion 4021 are connected into a serrated shape. Such a design can ensure the distance S between two adjacent blocking protrusions 4021, the distance d between the outermost side of the blocking protrusion 4021 and the innermost side of the connecting protrusion 4023, the height h of the blocking protrusion 4021, and the width M of the blocking protrusion 4021, while尽可能 reducing the volume of the groove formed by the connecting protrusion 4023 and the blocking protrusion 4021 facing the outside of the automatic lawn mower, reducing the amount of grass stuffed into the groove, reducing the operating resistance, and reducing the risk of the grass being pulled.

[0122] Of course, in other embodiments, the connecting protrusion 4023 may also be a V-shaped arc structure according to the situation, and the connecting protrusion 4023 and the blocking protrusion 4021 may be connected to form a wave shape, or as shown in FIG. Fig.45 As shown, the connecting protrusion 4023 may also be an N-shaped structure, and the connecting protrusion 4023 and the blocking protrusion 4021 are connected to form a continuous N-shaped structure, and so on. In this embodiment, in order to prevent the child's arm from being cut by the cutting element 32 when being accidentally crushed by the automatic lawn mower 1. It is necessary to ensure that during the movable protective member 41 is movable, that is, during the movement of the lower end 417 of the movable protective wall in the up and down direction, the lower end of the protective assembly 4 is always lower than the cutting element 30. To achieve the above purpose, the lower end of the protective assembly 4 can be achieved by adding the above-mentioned mechanism protective member 42. It can also be achieved by limiting the relative position relationship between the movable protective member 41 and the cutting mechanism 3 during the movement of the movable protective member 41, so that the movable protective member 41 is subjected to external force, and during the movement of the lower end 417 of the movable protective wall in the up and down direction, the lower end 417 of the movable protective wall is always lower than the lowest point 30 of the cutting element.

[0123] Take the case where there is a movable protective member 41, and the lower end of the protective assembly 4 can be always lower than the lowest point 30 of the cutting element by adding the aforementioned mechanism protective member 42. The protective assembly 4 includes a movable protective member 41 and a mechanism protective member 42, wherein the mechanism protective member 42 is fixed relative to the cutting mechanism 3, for example, when the cutting mechanism 3 moves relative to the shell, the mechanism protective member 42 moves with it, and when the cutting mechanism 2 does not move relative to the shell, the mechanism protective member 42 also moves with it. In the non-heightening state, the cutting mechanism 3 can be set to be able to move relative to the shell, or it can be set to be unable to move relative to the shell. No matter how the cutting mechanism 2 and the movable protective member 41 move, or how they move relative to each other, because the mechanism protective member 42 is always fixed relative to the cutting mechanism 2, and the lower end of the mechanism protective member 42 is always lower than the lowest point 30 of the cutting element, even if the test arm 61 passes over the movable protective member 41, it will be blocked by the mechanism protective member 42; even if the lower end of the mechanism protective member 42 is higher than the test arm 61, the test arm 61 can only be located below the cutting element 30, and cannot touch the cutting element 30. Therefore, the safety of the child's arm can be guaranteed. In this embodiment, any of the aforementioned or later embodiments with the mechanism protective member 42 can be directly cited, and in this embodiment, the structure is no longer described in detail. In the following, in the case of a movable protective member 41, the lower end of the protective component 4 is always lower than the cutting element 30 by limiting the relative position relationship between the movable protective member 41 and the cutting mechanism 3 during the movement of the movable protective member 41.

[0124] For example, by limiting the movable guard 41 to be in the two extreme states of the lowest state 411 and the highest state 412, the lower end of the movable guard 41 is always lower than the lowest point 30 of the cutting element, so that the lower end of the movable guard 41 is always lower than the lowest point 30 of the cutting element during the entire movement process.

[0125] When the cutting height of the automatic lawn mower 1 is adjusted to the lowest position and the movable guard 41 is in the lowest state 411, in the vertical direction, the lower end 417 of the movable guard wall of the movable guard 41 is lower than the lowest point 30 of the cutting element, so that no matter how the cutting height of the automatic lawn mower 1 is adjusted, when the movable guard 41 is in the lowest state, the lower end 417 of the movable guard wall of the movable guard 41 is always lower than the lowest point 30 of the cutting element, so as to prevent the child's arm from being crushed by the automatic lawn mower 1. Specifically, the distance between the lower end 417 of the movable guard wall and the lowest point 30 of the cutting element is 2 to 30 mm, so as to ensure that the child's fingers and arms cannot touch the cutting mechanism 3 around the protective guard.

[0126] When the cutting mechanism is at any cutting height, during the movement of the automatic lawn mower 1, when the movable protective member 41 is in the highest state 412, that is, when the movable protective wall is moved upward to the highest point of its movable range by external force, the lower end 417 of the movable protective wall is lower than the lowest point 30 of the cutting element, so that when the movable protective member 41 is subjected to a force from outside to inside, the lower end 417 of the movable protective wall of the movable protective member 41 is always lower than the lowest point 30 of the cutting element. To achieve the above purpose, the following technical solution can be adopted.

[0127] In one embodiment, in at least one cutting height, during the movement of the automatic lawn mower 1, when the movable guard 41 is moved in the up-down direction by an external force, the cutting mechanism 3 follows the movable guard 41 to move synchronously in the up-down direction, so as to ensure that the lower end 417 of the movable guard wall is always lower than the lowest point 30 of the cutting element. The movable guard 41 is connected to the cutting mechanism 3. During the movement of the automatic lawn mower 1, when the movable guard 41 is moved upward by a force, the cutting mechanism 3 moves upward together, and when the movable guard 41 moves downward, the cutting mechanism 3 also moves downward together. In this embodiment, the cutting mechanism 3 is connected to the movable guard 41, so that when the movable guard 41 moves up and down, the cutting mechanism 3 can be driven to move up and down synchronously. During the process of the cutting mechanism 3 following the movable guard 41 to move up and down, the cutting mechanism 3 can be fixed relative to the movable guard 41 in the up-down direction, or a certain relative movement can be generated. For example, in one embodiment, during the movement of the automatic lawn mower 1, the cutting mechanism 3 and the movable guard 41 are relatively fixed in the vertical direction, that is, the relative positions of the two in the vertical direction remain unchanged. Since the cutting mechanism 3 is movable along with the movable guard 41, the relative positions of the two in the vertical direction remain unchanged. As long as the movable guard 41 is in the lowest state, the lower end 417 of the movable guard wall is lower than the lowest point 30 of the cutting element, and during the entire movable process of the movable guard 41, the lower end 417 of the movable guard wall is lower than the lowest point 30 of the cutting element. In another embodiment, in the up and down directions, the cutting mechanism 3 moves together with the movable protective member 41 and can also move relative to the movable protective member 41. The automatic lawn mower 1 also includes a movable adjustment mechanism (not shown) for adjusting the movement of the cutting mechanism 3 relative to the movable protective member 41. For example, the movable adjustment mechanism is an adjustment mechanism that automatically adjusts the cutting mechanism 3 to move upward. For example, when the movable protective member 41 is moved upward by 20 mm due to an external force, and the movable adjustment mechanism controls the cutting mechanism 3 to move upward by 10 mm compared to the movable protective member 41, during the whole process, the movable protective member 41 moves upward by 20 mm compared to the shell 10, and the cutting mechanism 3 moves upward by 30 mm compared to the shell 10.

[0128] In the process of adjusting the height of the cutting mechanism 3, the cutting mechanism 3 and the movable protective member 41 can move relative to each other in the up-down direction, so that the lower end 417 of the movable protective wall will not increase infinitely as the cutting mechanism 3 is raised, thereby ensuring that the distance H0 between the lower end 417 of the movable protective wall and the ground is always less than the preset safety distance value, for example, always less than 38 mm. In this embodiment, the cutting mechanism 3 and the movable protective member 41 can move relative to each other in the up-down direction in the process of adjusting the height of the cutting mechanism 3, the cutting mechanism 3 moves in the up-down direction relative to the ground, and the movable protective member 41 does not move in the up-down direction relative to the ground. Of course, in other embodiments, the cutting mechanism 3 and the movable protective member 41 can also move in the up-down direction, but the two do not move synchronously when the height is adjusted, for example, the distance moved by the movable protective member 41 is less than the distance moved by the cutting mechanism 3, etc.

[0129] In another embodiment, at at least one cutting height, when the movable protective wall 414 is moved in the vertical direction by an external force, the lower end of the movable protective wall 414 can move in the vertical direction relative to the cutting mechanism 3. Fig.11As shown, the automatic lawn mower 1 includes a limiting mechanism 9 for limiting the relative position of the movable guard 41 and the cutting mechanism 3, and the limiting mechanism 9 is used to limit the relative movement degree of the movable guard 41 and the cutting mechanism 3 in the vertical direction. The limiting mechanism 9 includes a cutting limiting portion 39 and a guard limiting portion 419 that can abut against each other to limit, the cutting limiting portion 39 and the cutting mechanism 3 are relatively fixed in the vertical direction, the guard limiting portion 419 and the movable guard 41 are relatively fixed in the vertical direction, and when the cutting limiting portion 39 and the movable guard 41 abut against each other, the cutting limiting portion 39 is located above the guard limiting portion 419. Specifically, the limiting mechanism 9 includes a guard limiting portion 419 provided on the movable guard 41 and a cutting limiting portion 39 provided on the cutting mechanism 3. The cutting limit portion 39 is located above the protective element limit portion 419. When the movable protective wall 414 moves upward due to an external force, the movable protective wall 414 can move in the up and down directions compared to the cutting mechanism 3. When the movable protective wall 414 moves upward, the protective element limit portion 419 follows the upward movement. When the protective element limit portion 419 moves to abut against the cutting limit portion 39, it is blocked by the cutting limit portion 39. The upward movement of the movable protective element 4 is restricted by the cutting mechanism 3, and the movable protective element 41 can no longer continue to move upward compared to the cutting mechanism 3, thereby limiting the upward movement range of the movable protective element 41 compared to the cutting mechanism 3, so that during the upward movement of the movable protective element 41, the lower end 417 of the movable protective wall is always lower than the lowest point 30 of the cutting element. When the movable guard 41 is in the lowest state and the cutting mechanism 3 is adjusted to the lowest cutting height, in the vertical direction, the distance between the lower end 417 of the movable guard wall and the lowest point 3 of the cutting element is greater than the distance between the guard limit portion 419 and the cutting limit portion 39, so that when the movable guard 41 moves to the highest state, the lower end 417 of the movable guard wall is still lower than the lowest point 3 of the cutting element, and in the entire movable process, the lower end 417 of the movable guard wall is always lower than the lowest point 3 of the cutting element. When the cutting mechanism 3 is adjusted upward, as the cutting mechanism 3 is adjusted upward, the distance between the guard protection portion 419 and the mechanism protection portion 39 increases synchronously when the movable guard 41 is in the lowest state, so no matter how much the cutting mechanism 3 is adjusted, in the vertical direction, the lower end 417 of the movable guard wall is always lower than the lowest point 30 of the cutting element. In other embodiments, other methods can be used to ensure that the lower end 417 of the movable protective wall is always lower than the lowest point 3 of the cutting element during the movable protective member 41 is movable. Examples are not given in the present invention. In this embodiment, the above-mentioned implementation method of presetting the grass safety lifting height can also be used to prevent the movable protective wall 414 from being lifted to the grass safety lifting height by the grass when the automatic lawn mower 1 is stationary on the grass, causing the child's arm to extend from the bottom of the movable protective wall 414 into the cutting mechanism 3. The details of this embodiment are not repeated one by one.

[0130] In one implementation of this embodiment, the cutting mechanism 3 is stationary in the vertical direction relative to the ground. When the upward movement of the movable protective member 41 is restricted by the cutting mechanism 3, since the cutting mechanism 3 cannot move upward, the movable protective member 41 cannot move upward either.

[0131] In another implementation of this embodiment, Figure 24 to 2 6, the cutting mechanism 3 can also move in the up-down direction relative to the ground, and the cutting mechanism 3 and the movable guard 41 can move in the up-down direction relatively independently. The automatic lawn mower 1 includes a guard upward guiding mechanism 45 for connecting the movable guard 41 and the housing 10, and a cutting upward guiding mechanism 35 for connecting the cutting mechanism 3 and the housing 10. The guard upward guiding mechanism 45 is independent of the cutting upward guiding mechanism 315, so that the cutting mechanism 3 and the movable guard 41 can move in the up-down direction relatively independently.

[0132] like Figure 24 to 2 As shown in Figure 5, in the non-height adjustment state, when the cutting mechanism is acted upon by an external force, the cutting mechanism can move in the up-down direction relative to the ground, and at least in one cutting height, when the movable protective wall 414 is moved in the up-down direction by an external force, the lower end of the movable protective wall 414 can move in the up-down direction relative to the cutting mechanism 3. In this embodiment, the movable protective wall 414 can move in the up-down direction relative to the cutting mechanism 3 when the cutting mechanism is at any cutting height. In other embodiments, the two can move relative to each other only in some gears. In this embodiment, the movable protective wall 414 first moves upward alone until it is mutually limited with the cutting mechanism 3, and then, as shown in Figures 25 to 26, the movable protective wall 414 moves upward together with the cutting mechanism 3. The resistance to the upward movement of the movable protective wall 414 alone is less than the resistance to the upward movement of the movable protective wall 414 and the cutting mechanism 3 together after being limited. As Figure 24 to 25, during the forward movement of the automatic lawn mower 1, the movable protective wall 414 is subjected to the grass lifting force exerted on it by the grass, and the grass lifting force is greater than the resistance of the movable protective wall 414 to move upward alone, so the movable protective wall 414 can move upward. However, the grass lifting force is less than the resistance of the movable protective wall 414 to move upward together with the cutting mechanism 3 after being limited. Therefore, when the movable protective wall 414 moves upward to the point where it is limited with the cutting mechanism 3, the grass lifting force exerted on the movable protective wall 414 by the grass cannot lift the movable protective wall 414 and the cutting mechanism 3 upward together. At this time, the movable protective wall 414 maintains this state to perform the cutting task, so that during cutting, the distance between the lower end 417 of the movable protective wall and the lowest point 30 of the cutting element is maintained within a certain range, so as to avoid the situation where the lower end 417 of the movable protective wall is too close to the ground and too far from the lowest point 30 of the cutting element, so that the grass pressed by the movable protective wall 417 cannot be cut. In this embodiment, by ensuring the distance between the lower end 417 of the movable protective wall and the lowest point 30 of the cutting element, on the one hand, the distance between the lower end 417 of the movable protective wall and the ground is increased, thereby reducing the possibility of grass being pressed; on the other hand, even if the lower end 417 of the movable protective wall presses the grass and reduces the distance between it and the lowest point 30 of the cutting element, the pressed grass can still be cut, thereby greatly improving the cutting quality.

[0133] As shown in Figure 25, when the automatic lawn mower 1 encounters an obstacle 62 during movement, the upward obstacle lifting force generated by the external force exerted by the obstacle 62 on the movable protective wall 414 is greater than the resistance of the movable protective wall 414 and the cutting mechanism 3 to move upward together after being limited. Therefore, when the movable protective wall 414 moves upward to the point where it is limited with the cutting mechanism 3, under the action of the obstacle 62, as shown in Figure 26, the movable protective wall 414 moves upward together with the cutting mechanism 3 to pass through the obstacle 62.

[0134] In the above embodiment, when the movable protective wall 414 is subjected to an external force from bottom to top, the lower end of the movable protective wall 414 moves upward compared to the bottom shell. When the automatic lawn mower moves on the grass, the movable protective wall 414 is subjected to the buoyancy from bottom to top exerted on it by the grass, and the movable protective wall 414 can move upward, and the lower end of the movable protective wall 414 produces an upward displacement to reduce the movement resistance exerted on it by dense grass and improve the passability of dense grass. In the above embodiment, the movable protective wall 414 is in the form of a whole moving in the up and down direction compared to the bottom shell. In other embodiments, the movable protective wall 414 may also be as follows. Figure 19 to Figure 20 As shown, it is a compressible structure, so that when its lower end is subjected to a force from bottom to top, the lower end can move upward to improve the passability of dense grass. Of course, in other embodiments, the movable protective element can also be in other forms, which will not be listed one by one.

[0135] In another implementation of this embodiment, Figures 27 to 29 As shown, the movable protective member 41 includes an upper protective member 43 and a lower protective member 44, which can change the distance between the lower end of the lower protective member 43 and the ground by moving the lower protective member 44 in the up-down direction compared with the upper protective member 43, and at the same time, the lower end of the lower protective member 43 can be moved in the up-down direction compared with the cutting mechanism 3. The upper protective member 43 and the lower protective member 44 respectively include an upper protective wall 434 and a lower protective wall 444, and the upper protective wall 434 and the lower protective wall 444 together form a movable protective wall 414. The lower end of the lower protective wall 444 is the lower end 417 of the movable protective wall. The lowest state 411 of the movable protective member 41 is that the lower protective member 44 is in the lowest position in the space where it can move in the up-down direction, and the highest state 412 is that the lower protective member 44 is in the highest position in the space where it can move in the up-down direction. The protective member limiting portion 419 on the movable protective member 41 is arranged on the lower protective member 44 , and the cutting mechanism 3 is provided with a cutting limiting portion 39 for limiting the protective member limiting portion 419 .

[0136] When adjusting the cutting height of the cutting mechanism 3, the lower protective wall 444 and the cutting mechanism 3 can move relative to each other in the up-down direction, so that the lower end of the lower protective wall 444, that is, the lower end 417 of the movable protective wall, is always less than M from the ground. For example, the upper protective wall 434 and the cutting mechanism 3 can move relative to each other in the up-down direction, while the lower protective wall 444 and the upper protective wall 434 do not move relative to each other in the up-down direction, so as to realize that the lower protective wall 444 and the cutting mechanism 3 can move relative to each other in the up-down direction. When the movable protective member 41 is subjected to an external force and moves upward, when the lower protective wall 444 moves upward relative to the ground, it also moves upward relative to the upper protective wall 434, first moves until it is limited by the cutting mechanism 3, and then moves upward together with the upper protective wall 434 and the cutting mechanism 3.

[0137] The resistance of the lower protective wall 444 to upward movement alone is smaller than the resistance of the lower protective wall 444, the upper protective wall 434 and the cutting mechanism 3 to upward movement together after the lower protective member 44 and the cutting mechanism 3 are limited.

[0138] like Fig.28 and Fig.29 As shown in FIG. 1 , when the automatic lawn mower 1 encounters an obstacle 62 during movement, the upward obstacle lifting force generated by the external force exerted by the obstacle 62 on the lower protective wall 444 is greater than the resistance of the lower protective wall 444, the upper protective wall 434 and the cutting mechanism 3 moving upward together after being limited. Therefore, when the lower protective wall 444 moves upward to the point where it is limited by the upper protective wall 434 and the cutting mechanism 3, under the force of the obstacle 62, as shown in FIG. Fig.29As shown, the lower protective wall 444 moves upward together with the upper protective wall 434 and the cutting mechanism 3 to pass through the obstacle 62.

[0139] In this embodiment, the above-mentioned cutting mechanism 3 and the movable protective member 41 can move relatively independently in the up and down directions, and the cutting mechanism 3 and the movable protective member 41 are provided with a limiting mechanism 9 that limits each other, and the implementation method of pre-setting the grass safety lifting height can also be combined. By pre-setting the grass safety lifting height, when the lower protective wall 444 is moved upward by external force, when the lower end of the lower protective wall 444 is at a distance greater than the preset grass safety lifting height from the ground, the resistance to the upward movement of the lower protective wall 444 is greater than the resistance to the upward movement of the lower protective wall 444 when the distance from the lower protective wall 444 to the ground is not greater than the preset grass safety lifting height. However, when the distance between the lower end of the lower protective wall 444 and the ground is greater than the preset grass safety lifting height and the lower protective wall 444 has not yet been limited by the cutting mechanism 3, the resistance to the upward movement of the lower protective wall 444 is greater than the resistance to the upward movement of the lower protective wall 444 when the distance between the lower protective wall 444 and the ground is not greater than the preset grass safety lifting height and the lower protective wall 444 has not yet been limited by the cutting mechanism 3; and is smaller than the resistance to the upward movement of the lower protective wall 444, the upper protective wall 434 and the cutting mechanism 3 after being limited.

[0140] In another embodiment, the movable guard 41 and the cutting mechanism 3 can also be automatically movable. The automatic lawn mower 1 also includes a detection module for detecting whether the movable guard 41 and the cutting mechanism 3 need to be movable, and a movable control module for controlling the automatic lawn mower 1 to automatically control the movable guard 41 and the cutting mechanism 3 to be movable according to the detection result of the detection module. The detection module can be a visual sensor, an ultrasonic sensor, an infrared sensor, etc., which detects whether there is an obstacle in front and the size of the obstacle through visual, ultrasonic, infrared and other means. When there is an obstacle that can be crossed in front, the movable control module controls the movable protective member 41 and the cutting mechanism 3 to automatically move to avoid the obstacle, and adjusts the movement distance of the movable protective member 41 and the cutting mechanism 3 according to the size of the obstacle. When adjusting the movement distance of the movable protective member 41 and the cutting mechanism 3, the movable protective member 41 can be controlled to be synchronized with the cutting mechanism 3 to move the same distance, or the movable protective member 41 can be controlled to be asynchronous with the cutting mechanism 3 to move different distances; when there is no obstacle in front, the movable control module controls the movable protective member 41 and the cutting mechanism 3 to return to the original state; if there is an obstacle in front, but the obstacle is too large, the movable control module controls the movable protective member 41 and the cutting mechanism 3 not to move, and controls the automatic lawn mower 1 to stop or turn according to the actual situation to avoid collision with the obstacle.

[0141] In the above embodiment, the cutting mechanism 3 can be arranged near the central axis of the automatic lawn mower 1 in the forward direction, or can be arranged on one side of the central axis to achieve cutting to the edge. The movable protection member 41 and / or mechanism protection member 42 in the corresponding embodiment are also arranged on one side of the central axis of the automatic lawn mower 1 in the forward direction to prevent children's fingers or arms from being inserted into the cutting mechanism 3 and causing accidental injuries while achieving cutting to the edge. Fig.30 As shown, taking the movable protective member 41 and the cutting mechanism 3 being arranged on one side of the central axis as an example, in this embodiment, the lower end 417 of the movable protective wall can move relative to the ground, such as Fig.31 As shown, when the user lifts the automatic lawn mower 1, when the user holds the two sides of the automatic lawn mower 1, the fingers apply an upward thrust to the movable guard 41, so that the movable guard wall 414 moves upward, and the user's hand cannot lift the automatic lawn mower 1 by applying force to the movable guard 41, but can only lift the automatic lawn mower 1 by applying force to the outer guard wall 14 of the housing 10. At this time, although the hand cannot directly hold the movable guard wall 417, when holding the outer guard wall 14, the fingers can still be extended under the movable guard 41, so the movable guard 41 also includes a lower movable guard wall 4149 arranged under the cutting element 1 to prevent the user's fingers from extending from the bottom of the movable guard 41 to the vicinity of the cutting element 32.

[0142] Because the movable protective wall 417 is arranged between the outer protective wall 14 and the cutting mechanism 3, and the outer protective wall 14 is farther from the cutting element 32 than the movable protective wall 417, when the user's finger extends from the outer protective wall 14 into the cutting mechanism 3, the distance below the movable protective element 41 that the finger can touch is less than the length of the finger, so the width of the lower movable protective wall 4149 in the direction of finger insertion is less than the length of the finger. However, as the distance between the outer protective wall 14 and the movable protective wall 417 increases, the width of the lower movable protective wall 4149 in the direction of finger insertion, that is, in the horizontal direction perpendicular to the forward direction of the automatic lawn mower 1, can be set shorter, or even no lower movable protective wall 4149 is required, thereby greatly improving the passability of the automatic lawn mower 1 while ensuring the safety of the user lifting the automatic lawn mower 1.

[0143] like Fig.30 and 31 As shown, the movable protective wall includes a vertical protective wall extending in the up-down direction and a horizontal protective wall located below the vertical protective wall and extending in the horizontal direction. At least one side of the horizontal protective wall protrudes from the corresponding side of the vertical protective wall, so that when the movable protective wall is subjected to the buoyancy of the grass, its force-bearing surface is larger, and it can be subjected to a larger lifting force of the grass, thereby enhancing the passability. Fig.30As shown, the inner side of the horizontal protective wall protrudes from the inner side of the vertical protective wall, or the outer side of the horizontal protective wall protrudes from the outer side of the vertical protective wall, or both the inner and outer sides of the horizontal protective wall protrude from the inner and outer sides of the vertical protective wall. Specifically, the width of the horizontal protective wall along the inner and outer directions is 5-50 mm.

[0144] The housing 10 further includes an outer protective wall 14 located outside the movable protective member 41, and the lower end of the outer protective wall 14 is less than 75 mm from the ground to prevent an adult arm from extending into the cutting mechanism 3. In one embodiment, the lower end of the outer protective wall 14 is 35 to 55 mm from the ground to prevent an adult arm from extending into the cutting mechanism 3 while limiting the inclination angle of a child's arm when extending upward from the lower side of the outer protective wall 14 into the housing 10, thereby reducing the risk of the child's arm touching the cutting mechanism 3 when tilting upward.

[0145] The automatic working system also includes a guide line, and the automatic lawn mower 1 also includes a guide line detection module (not shown), and the guide line detection module includes at least one guide line detection sensor for detecting the positional relationship between the automatic lawn mower and the guide line. The positional relationship between the automatic lawn mower and the guide line includes that the automatic lawn mower is located on one of the two sides of the guide line, or the distance between the automatic lawn mower and the guide line, etc. In this embodiment, the guide line includes a boundary line to limit the working area of ​​the automatic lawn mower. In other embodiments, the guide line can also be a wire arranged in the working area, which is led out from the location of the docking station and is used to guide the automatic lawn mower to move to the docking station. Of course, the guide line can also be a physical boundary formed by a fence, etc., or a physical boundary formed between a lawn and a non-lawn, etc. Correspondingly, the guide line detection sensor can be a camera, a capacitive sensor, etc. In other embodiments, there can also be no guide line, and accordingly, the working area of ​​the automatic lawn mower is directly controlled by a capacitive sensor, or GPS positioning, etc.

[0146] A threshold is preset. When the electric energy in the energy module is lower than the threshold, the control module 50 controls the automatic lawn mower 1 to move along the boundary line to the docking station, so that the automatic lawn mower 1 returns to the charging station to replenish the electric energy for the energy module. In the process of the control module 50 controlling the automatic lawn mower 1 to move along the boundary line to the docking station, the control module 50 controls the automatic lawn mower 1 to change the distance between itself and the boundary line, and then controls the automatic lawn mower 1 to move at least the first preset distance in a moving direction parallel to the boundary line, and repeats the above steps to realize the control module 50 controlling the automatic lawn mower 1 to return to the charging station. In other embodiments, the automatic lawn mower 1 can also return to the charging station in other ways. In other embodiments, the automatic lawn mower 1 can also preset time or other parameters. When the specified time or other parameters are reached, the control module 50 controls the automatic lawn mower 1 to automatically return to the charging station to replenish electric energy.

[0147] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0148] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An automatic lawn mower, comprising: A housing, provided with a bottom shell; A moving module, disposed below the housing, and used to drive the automatic lawn mower to move; A cutting mechanism, disposed on the housing to perform a cutting task at a predetermined cutting height, the cutting mechanism comprising a cutting element for cutting; The control module is used to autonomously control the moving module to drive the automatic lawn mower to move, and autonomously control the cutting mechanism to perform the cutting task; it is characterized by: The automatic lawn mower also includes a protection component, which includes a movable protection piece provided with a movable protection wall and a mechanism protection piece provided with a mechanism protection wall. In the horizontal direction, the movable protection wall is located on the outside of the cutting mechanism, and the mechanism protection wall is located between the cutting mechanism and the movable protection wall. Under the action of external force, the movable protection piece can move relative to the bottom shell to change the distance of the lower end of the movable protection wall from the ground. The mechanism protection piece and the cutting mechanism are relatively fixed in the up and down directions, and the bottom of the mechanism protection wall in the 360-degree circumferential direction is lower than the lowest point of the cutting element or the bottom of the mechanism protection wall in the 360-degree circumferential direction, and at least partially higher than the cutting element. The lowest point of the element, and the length of the part that is higher than the lowest point of the cutting element continuously extending in the circumferential direction is less than M, wherein 38mm≤M≤40mm, under at least one cutting height, when the movable protective member is moved upward to the highest point of its movable range by an external force, the lower end of the movable protective wall is higher than the lower end of the mechanism protective wall, and the cutting mechanism is at any cutting height, when the movable protective member is in a free state not subject to external force, the distance between the lower end of the movable protective wall and the ground is always less than M, and the movable protective wall comprises a main movable portion, and the main movable portion comprises an obstacle passing area located at its outermost edge, and the obstacle passing area comprises an inclined surface that extends downward from the outside to the inside.

2. The automatic lawn mower according to claim 1, characterized in that: When the cutting mechanism is at any cutting height and the movable protective member is in a free state, the distance H0 between the lower end of the movable protective wall and the ground is in the range of 15-35 mm.

3. The automatic lawn mower according to claim 1, characterized in that: When the movable protective wall is acted upon by an external force, the lower end of the movable protective wall can move in the vertical direction by a distance ranging from 15 to 80 mm, or from 20 to 40 mm.

4. The automatic lawn mower according to claim 1, characterized in that: Under the action of external force, the mechanism guard and the cutting mechanism can move together in the up and down directions compared to the bottom shell.

5. The automatic lawn mower according to claim 4, characterized in that: The automatic lawn mower further comprises a guard upward guide mechanism for connecting the movable guard and a cutting upward guide mechanism for connecting the cutting mechanism and the housing.

6. The automatic lawn mower according to claim 1, characterized in that: The minimum distance between the movable protective wall and the mechanism protective wall in the horizontal direction ranges from 2 to 30 mm.

7. The automatic lawn mower according to claim 6, characterized in that: The minimum distance between the movable protective wall and the mechanism protective wall in the horizontal direction ranges from 2 to 8 mm.

8. The automatic lawn mower according to claim 1, characterized in that: The movable protective wall comprises at least one of a front movable protective wall arranged in front of the cutting mechanism, a rear movable protective wall arranged behind the cutting mechanism, and side movable protective walls arranged on both sides of the cutting mechanism.

9. The automatic lawn mower according to claim 1, characterized in that: In the horizontal direction, the minimum distance X between the outermost edge of the movable protective wall and the cutting element is in the range of X≥58mm, or 63mm≤X≤75mm.

10. The automatic lawn mower according to claim 1, characterized in that: The movable protective wall also includes a locking portion extending downward from the main movable portion, and the locking portion includes a safety locking area located at its outermost edge, the lower end of the safety locking area is less than M from the ground, and the safety locking area is located outside the downward extension line of the obstacle passing area on the same radial direction.

11. The automatic lawn mower according to claim 1, characterized in that: The movable protective member is arranged on the outside of the shell, and / or is arranged between the cutting mechanism and the shell, and / or is connected to a part of the shell.

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