Smart mower

Abstract

This invention relates to an intelligent lawnmower, a housing, and a walking unit, a cutting assembly, a control circuit, and a height adjustment module installed on the housing. The height adjustment module includes: a bracket supporting the cutting assembly and capable of driving the cutting assembly to move up and down, the bracket having a lifting part; and a driving member having a driving part, the driving part and the lifting part being coupled, the movement of the driving part driving the lifting part to move up and down, thereby driving the cutting assembly on the bracket to move up and down; the driving part is at least partially located within the area enclosed by the projection of the bracket onto the working surface of the intelligent lawnmower.

Description

Technical Field

[0001] This invention relates to the field of lawnmowers, and in particular to an intelligent lawnmower with adjustable cutting height. Background Technology

[0002] With the advancement of technology and social development, intelligent automated walking equipment has become widely known. Because it requires no human operation or intervention, it is extensively used in both industrial and household products. Industrial applications include robots performing various functions, while household applications include lawnmowers and vacuum cleaners. These intelligent automated walking devices greatly save people's time and bring significant convenience to both industrial production and daily life.

[0003] Smart lawnmowers automatically move and mow grass, and include cutting elements for cutting. To meet the different requirements of various users for cutting height, smart lawnmowers usually have a height adjustment device to adjust the cutting height. The cutting height refers to the height of the cutting element from the ground. The known height adjustment device of smart lawnmowers uses a threaded structure. The gap between the teeth can easily allow dust and other impurities to enter, causing the height adjustment mechanism to jam. Furthermore, traditional height adjustment structures require a large force to move the cutting element upwards through the operating element to overcome the weight of the cutting motor, blades, blade cover and other components, resulting in a poor user experience. Even with electric height adjustment, the transmission structure is very complex, which increases the cost of smart lawnmowers. Moreover, when the cutting element is adjusted to a lower height, it reduces the mobility of the smart lawnmower. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to address the shortcomings of the prior art by providing a height adjustment mechanism and its intelligent lawnmower. The structure of the height adjustment module has been changed, making the height adjustment structure simple and compact, less prone to jamming, and improving the machine's maneuverability.

[0005] The technical problem to be solved by the present invention is achieved through the following technical solution:

[0006] A smart lawnmower includes:

[0007] The housing, and the walking unit, cutting assembly, control circuit, and height adjustment module installed on the housing;

[0008] The walking unit is used to move the intelligent lawnmower;

[0009] The cutting assembly includes: a cutting element, and a cutting motor connected to and driving the cutting element;

[0010] The control circuit is connected to the walking unit and the cutting assembly to control the movement and operation of the intelligent lawnmower.

[0011] The height adjustment module includes:

[0012] The bracket supports the cutting assembly and can drive the cutting assembly to move up and down. The bracket is provided with a lifting part.

[0013] The driving component has a driving part on it, which is connected to the lifting part. The movement of the driving part drives the lifting part to move up and down, thereby driving the cutting component on the bracket to move up and down. The driving part is at least partially located in the area enclosed by the projection of the bracket onto the working surface of the intelligent lawnmower.

[0014] Furthermore, the drive unit and the lifting unit are located in the middle of the bracket in the lateral direction.

[0015] Furthermore, the drive unit includes a rotatable spatial camshaft and a spatial cam surface arranged around the spatial camshaft.

[0016] Furthermore, the spatial camshaft is approximately perpendicular to the projection of the bracket onto the working surface of the smart lawnmower.

[0017] Furthermore, the bracket is a double parallelogram link, including two sets of parallelogram links located on both sides of the cutting assembly. Each parallelogram link includes a fixed link fixedly disposed relative to the housing, a movable link opposite to the fixed link, and a connecting rod located between the fixed link and the movable link. The cutting assembly is connected to and supported by the movable link.

[0018] Furthermore, the lifting part is a crossbeam connecting the two parallelogram-shaped connecting rods.

[0019] Furthermore, a hemispherical protrusion is provided on the lower end face of the crossbeam, and the hemispherical protrusion abuts against the driving part.

[0020] Furthermore, it also includes a control element, the drive element being connected to and driven by the control element.

[0021] Furthermore, the control element can selectively lock or unlock the drive of the control element.

[0022] Furthermore, the actuating element is decoupled from the housing, and the actuating element has a locked position and an unlocked position. In the locked position, the coupling element on the actuating element and the coupling element on the housing are coupled together and thus relatively fixed; in the unlocked position, the coupling element on the actuating element and the coupling element on the housing are separated and thus relatively movable.

[0023] Furthermore, the coupling element is a limiting tooth.

[0024] Furthermore, it also includes an elastic element that drives the actuating element to the coupling position.

[0025] Furthermore, it also includes a height adjustment motor, the drive unit is driven by the height adjustment motor, and the height adjustment motor is controlled by the control circuit.

[0026] Furthermore, the drive unit and the height adjustment motor are releasably connected via a clutch.

[0027] Furthermore, the height adjustment module includes a stall detection unit for the height adjustment motor. The stall detection unit sends a signal to the control circuit. When the control circuit determines that the height adjustment motor is stalled based on the received signal, it stops the height adjustment motor.

[0028] Furthermore, the height adjustment module includes a user input unit, and the control circuit controls the cutting component to reach the set cutting height based on the information input by the user.

[0029] Furthermore, the control circuit controls the height adjustment value of the cutting component through a height calibration unit. The height calibration unit resets the cutting component to a reference position and uses the distance value relative to the reference position as the height adjustment value.

[0030] Furthermore, the reference position is determined by a position sensor and a stall detection unit of the height adjustment motor. When the position sensor detects the reference position and the height adjustment motor meets the stall condition, the cutting assembly is reset to the reference position.

[0031] Furthermore, the height adjustment module includes a detection unit for detecting the operating parameters of the cutting motor. The detection unit sends the detected operating parameters to the control circuit, and the control circuit adjusts the cutting height of the cutting assembly according to the operating parameters of the cutting motor.

[0032] Furthermore, when the operating parameters of the cutting motor are detected to meet the first preset condition, the cutting assembly is controlled to move towards the working surface; when the operating parameters of the cutting motor are detected to meet the second preset condition, the cutting assembly is controlled to move away from the working surface.

[0033] Furthermore, the driving part abuts against the lifting part from bottom to top, thereby allowing the lifting part to move upward under the drive of an external force.

[0034] Furthermore, the upward movement of the lifting part corresponds to the upward movement of the cutting component, which can move upward within a range of 0mm to 30mm.

[0035] Furthermore, the intelligent lawnmower includes a receiving cavity for housing the height adjustment module, which is integrally and detachably installed in the receiving cavity.

[0036] The beneficial effects of this invention are that the height adjustment module of the cutting component has a simple structure, low cost, uniform adjustment torque, and is not prone to jamming during the adjustment process; the floating adjustment design ensures good passability of the intelligent lawnmower, while the drive component and the bracket supporting the cutting component are arranged compactly, saving space; and the integrated disassembly design between the height adjustment module and the housing makes it easy for users to replace and maintain. Attached Figure Description

[0037] The objectives, technical solutions, and beneficial effects of the present invention described above can be achieved through the following figures:

[0038] Figure 1 This is a top view schematic diagram of the intelligent lawnmower of the present invention.

[0039] Figure 2 As described in the first embodiment of the present invention Figure 1 A cross-sectional view of the height adjustment module of the AA line of the intelligent lawnmower.

[0040] Figure 3 This is a top-view schematic diagram of the height adjustment module according to the first embodiment of the present invention.

[0041] Figure 4 This is a disassembly diagram of the locking part according to the first embodiment of the present invention.

[0042] Figure 5 This is a disassembled diagram of the height adjustment module according to the first embodiment of the present invention.

[0043] Figure 6 This is an assembly diagram of the height adjustment module according to the first embodiment of the present invention.

[0044] Figure 7 The second embodiment of the present invention is along Figure 1 A cross-sectional view of the height adjustment module of the AA line of the intelligent lawnmower.

[0045] Figure 8 This is a module diagram of the intelligent lawnmower cutting height adjustment according to the second embodiment of the present invention.

[0046] The corresponding numbers of the relevant components in the attached diagram are as follows:

[0047] Detailed Implementation

[0048] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0049] The preferred embodiment of the intelligent lawnmower 100 is described below with reference to the accompanying drawings.

[0050] Example 1

[0051] like Figures 1 to 6 The image shown is a first embodiment of the present invention. (Refer to...) Figure 1 The intelligent lawnmower 100 includes a housing 110; a walking unit for moving the intelligent lawnmower 100, including a drive motor and multiple walking components 112 for supporting and guiding the intelligent lawnmower 100 on the ground. An energy unit, which provides power to the drive motor and cutting components 130, is housed within the housing 110; in this embodiment, a battery pack is used. A control circuit 210 is electrically connected to the walking unit, cutting components 130, and energy unit, and has an integrated circuit board that connects and controls each functional module. It can control the walking unit to move the intelligent lawnmower 100 within a defined area and control the cutting components 130 to perform cutting tasks. (Refer to...) Figure 2 The cutting assembly 130 performs lawn mowing and includes a cutting motor 131 mounted on the housing 110. The cutting assembly 130 also includes a support cylinder 132 supporting the cutting motor 131 and a cutting element driven by the cutting motor 131. The height adjustment module 120 includes a drive member 150 driven by an operating element 140. A drive portion on the drive member 150 engages with a lifting portion on a bracket 160. Movement of the drive portion causes the lifting portion to move up and down, allowing the cutting assembly 130 supported by the bracket 160 to move in the height direction. The direction perpendicular to the ground is the height adjustment direction of the intelligent lawnmower 100. Figure 3As shown, the drive unit and the lifting unit are located in the middle of the bracket in the lateral direction. The drive unit is at least partially located within the area enclosed by the projection of the bracket 160 onto the working surface. The drive unit can be entirely located within the space where the brackets on both sides are mounted, or it can be partially located within the space where the brackets are mounted, depending on the size or relative position of the drive unit, and this is not intended to limit the invention. The beneficial effect of the invention is that the drive shaft of the drive unit is approximately perpendicular to the projection of the bracket onto the working surface of the intelligent lawnmower 100, making the spatial structure of the height adjustment module compact. The design of the centrally located engagement position between the drive unit and the bracket makes the movement of the bracket 160, which carries the cutting assembly 130, more stable and the adjustment torque more uniform. The bracket 160 supports the cutting assembly 130 and abuts against the drive unit of the drive unit 150. The movement of the drive unit 150 can change the height of the connection between the bracket 160 and the drive unit 150, causing the bracket 160 to swing up and down in the height direction, thereby changing the vertical distance between the cutting assembly 130 and the working surface. The intelligent lawnmower 100 can be equipped with one or more cutting components 130. In this invention, the installation of one cutting component 130 is taken as an example.

[0052] The locking part 170 of the intelligent lawnmower 100 allows for selective locking and unlocking of the drive element 140, which is decoupled from the housing 110 via a coupling element. (See reference...) Figure 4In this embodiment, the operating element 140 may optionally be configured as a cylindrical adjusting knob seat, with an operating part 141 disposed above the knob seat. In other embodiments, the operating element 140 may also be configured as a prism or other three-dimensional structure. A mounting hole 111 is provided on the housing 110 that mates with the operating element 140. The operating element 140 passes through the mounting hole 111 and is located above the housing 110. The operating element 140 and the housing 110 are respectively provided with coupling members. The coupling members include a locked position and an unlocked position. When the coupling members are in the locked position, the operating element 140 is fixed relative to the housing 110 through the coupling members. When the coupling members are in the unlocked position, the coupling members are disengaged, and the operating element 140 can move relative to the housing. In this embodiment, the coupling members are configured as limiting teeth. A first limiting tooth 171 is provided on the outer peripheral side of the operating element 140, and a second limiting tooth 172 is provided around the mounting hole 111 on the inner side of the housing 110. The first limiting tooth 171 and the second limiting tooth 172 mesh with each other, with the first limiting tooth 171 located below the second limiting tooth 172. The use of limiting teeth is only one specific embodiment of the present invention. Other coupling elements can be selected to restrict the movement between the operating element 140 and the housing 110 when necessary, without limiting the invention. Optionally, the upper ends of the operating element 140 and the drive element 150 are movably connected via a slot, allowing relative movement between them in the height direction. In this embodiment, an elastic element 142 is sleeved at the connection position between the operating element 140 and the drive element 150. Under the elastic force of the elastic element 142, the first limiting tooth 171 and the second limiting tooth 172 are coupled together, and the meshing state of the limiting teeth is the locked state of the locking part 170. When the user applies force to press the operating element 140 through the operating part 141, the first limiting tooth 171 moves downward, the elastic element 142 is further compressed, the first limiting tooth 171 disengages from the second limiting tooth 172, and the locking part 170 is in the second state. At this time, the operating element 140 and the housing 110 can rotate relative to each other. The beneficial effects of the locking part 170 are: it provides a self-locking height adjustment structure, which can prevent the operating element 140 of the height adjustment module from being accidentally triggered, and makes the self-locking height adjustment structure simple and inexpensive.

[0053] The drive unit 150 of the intelligent lawnmower 100 is a spatial cam, as shown in the reference. Figure 5The spatial cam includes a hollow spatial camshaft 151, i.e., a drive shaft, and a spatial cam surface 152 surrounding the spatial camshaft 151. The upper end of the spatial camshaft 151 is detachably connected to the operating element 140 and is driven to rotate by the operating element 140. The lower end of the spatial camshaft 151 is provided with a support base 180, which is used to support the drive element 150 and the bracket 160. The support base 180 is provided with a protruding shaft 181 for mounting the spatial cam. The spatial camshaft 151 is sleeved on the protruding shaft 181 of the support base 180, and the spatial camshaft 151 can rotate relative to the protruding shaft 181 under the drive of an external force. The spatial cam surface 152 surrounding the spatial camshaft 151 is in a continuous spiral shape, thereby forming a curved surface with varying heights. The shape of the spatial cam surface 152 is only one implementation method in this embodiment. Other shapes of spatial cam surfaces 152 can also be provided, as long as the spatial cam surface 152 has a continuous height change. The spatial cam surface 152 serves as the contact part with the bracket 160. As the cam surface rotates, the position of the bracket 160 in contact with it gradually rises or falls, thereby changing the cutting height of the cutting assembly 130 in the free state.

[0054] The bracket 160 of the intelligent lawnmower 100 is connected to the drive unit 150 and supports the cutting assembly 130. (See reference...) Figure 5The bracket 160 consists of two parallelogram-shaped connecting rods, respectively disposed on both sides of the drive unit 150. It includes a fixed connecting rod 161 fixed relative to the housing and a movable connecting rod 166 movable relative to the fixed connecting rod 161. The movable connecting rod 166 is connected to the cutting assembly 130. The fixed connecting rod 161 and the movable connecting rod 166 are connected by a connecting rod 162. The fixed connecting rod 161 is approximately perpendicular to the support base 180 of the drive unit 150, forming a single unit. The first and second heights of the two fixed connecting rods 161 are respectively provided with mounting portions for the connecting rod 162. The first end of the connecting rod 162 is movably connected to the mounting portion of the fixed connecting rod 161 via a rotating shaft 165, while the second end of the connecting rod 162 is movably connected to the support cylinder 132 of the cutting motor 131 via the rotating shaft 165. The connecting rods 162 on both sides of the drive member 150 at a first height are fixedly connected by a crossbeam 163. The crossbeam 163 is a lifting part that mates with the drive part of the drive member 150 and the bracket 160. The crossbeam 163 includes upper and lower end faces. In this embodiment, a hemispherical protrusion 164 is provided on the lower end face of the crossbeam 163. In other embodiments, the protrusion 164 can also be provided in other shapes, such as a cylinder with a smooth contact position, or the lower end face of the crossbeam 163 can directly contact the drive member 150. This is not intended to limit the invention. The hemispherical protrusion 164 abuts against the spatial cam surface 152 of the drive part. When the drive member 150 is driven, the hemispherical protrusion 164 moves along the spatial cam surface 152. When the drive member 150 moves in the first direction, the hemispherical protrusion 164 moves upward along the spatial cam surface 152, causing the connecting rods 162 on both sides of the drive member 150 to swing upward with the first end as the base point. At the same time as the connecting rods 162 swing upward, the cutting assembly 130 supported by the movable connecting rod 166 moves away from the working surface. The first direction of movement is as follows: Figure 5The middle arrow A indicates the direction; conversely, the bracket 160 drives the cutting assembly 130 to move closer to the working surface. The hemispherical protrusion 164 of the bracket 160 abuts against the spatial cam surface 152 of the drive member 150. Since the drive unit abuts against the lifting unit from bottom to top, the lifting unit can move upward when driven by an external force. The selectable range of upward movement of the lifting unit under external force is 0mm to 30mm. For example, when the intelligent lawnmower 100 encounters obstacles or tall, dense grass during operation, the cutting assembly 130 will be lifted by an upward force to increase the distance between the cutting assembly 130 and the working surface. Even if the cutting assembly 130 is at a low cutting height, the floating effect of the cutting assembly 130 can ensure that the intelligent lawnmower 100 has good passability. Therefore, the height adjustment structure formed by the combination of the bracket 160 and the drive member 150 can achieve cutting height adjustment while ensuring the floating of the cutting assembly 130. Moreover, the floating height adjustment structure is compact and the adjustment torque is uniform. There is no need for complex transmission components between the drive unit 150 and the bracket 160. The spatial cam surface 152 and the hemispherical protrusion 164 engage in a toothed meshing manner, resulting in a simpler structure and lower cost. Furthermore, it is less prone to jamming due to dust or debris accumulation. In addition, the intelligent lawnmower 100 in this invention includes a receiving cavity 113 for accommodating the height adjustment module 120, as shown in the reference... Figure 6 The height adjustment module 120 is embedded as a whole in the receiving cavity 113. The receiving cavity 113 is independent of the main cavity of the smart lawnmower 100. Optionally, the height adjustment module 120 and the receiving cavity 113 are fixed by only a few screws. The fixing method is one embodiment of the present invention. Alternatively, it can be achieved by snap-fit. The control circuit 210 and the cutting motor 131 are connected by an electrical connection wire 133. This realizes the modular design of the height adjustment module 120, so as to facilitate maintenance and replacement of parts, thereby meeting the universality requirements between different models.

[0055] Example 2

[0056] The difference between Embodiment 2 and Embodiment 1 lies in the driving method of the height adjustment module 120. (Refer to...) Figure 7In this embodiment, the height adjustment of the cutting component 130 is driven by electricity. The height adjustment module 120 includes a height adjustment motor 190 that directly drives the drive component 150, a stall detection unit 270 for detecting stall in the height adjustment motor 190, and a height calibration unit for calibrating the height adjustment value. During the operation of the height adjustment module 120, to prevent motor stalling and potential current overload causing motor burnout, the stall detection unit 270 sends a signal to the control circuit 210. When the control circuit 210 determines that the height adjustment motor 190 is stalled based on the received signal, it disconnects the connection between the energy unit and the height adjustment motor 190. Alternatively, the stall detection method can be achieved by detecting the current value of the height adjustment motor 190 during operation. If the current value of the height adjustment motor 190 exceeds a preset current value and the duration reaches a preset time, the energy unit stops supplying power to the height adjustment motor 190. In addition, the protection of the height adjustment motor 190 can also be achieved through a mechanical clutch. A clutch 200 is provided between the drive component 150 and the height adjustment motor 190. The drive component 150 and the output shaft 191 of the height adjustment motor can be released from the connection through the clutch 200. Under normal conditions, the output shaft 191 of the height adjustment motor drives the drive component 150 to move. When the drive component 150 is stuck or other abnormal, the clutch 200 is disengaged, which interrupts the connection between the output shaft 191 of the height adjustment motor and the drive component 150, and the height adjustment motor 190 runs idle. The optional clutch 200 includes a first end face tooth connected to the output shaft 191 of the height adjustment motor, and a second end face tooth connected to the upper end of the drive member 150. When the clutch 200 is in operation, the first end face tooth 201 and the second end face tooth 201 abut against each other through an elastic member 202. The elastic member 202 is sleeved between the first end face tooth 201 and the output shaft 191 of the height adjustment motor. When the drive member 150 is jammed and cannot be driven, the second end face tooth 201 will generate an upward force on the first end face tooth 201. When the upward force is greater than the elastic force, the elastic member 202 is compressed, and the first end face tooth 201 moves upward, thereby disconnecting the drive member 150 from the output shaft 191 of the height adjustment motor.

[0057] The intelligent lawnmower 100 also includes a detection unit 230 for detecting the operating parameters of the cutting motor 131, including its speed, torque, and load. (See reference...) Figure 8In this embodiment, the height of the cutting assembly 130 is adjusted according to the detected rotational speed information of the cutting motor 131. The detected rotational speed value of the cutting motor 131 is compared with a preset threshold. When the rotational speed value of the cutting motor 131 is greater than or equal to the maximum preset threshold, i.e., when the first preset condition is met, the control circuit 210 controls the cutting assembly 130 to move a preset distance towards the working surface. When the rotational speed value is less than or equal to the minimum preset threshold, i.e., when the second preset condition is met, the control circuit 210 controls the cutting assembly 130 to move a preset distance away from the working surface. In this embodiment, the selectable preset distance range is 5mm to 10mm. In other embodiments, the height adjustment module 120 further includes a user input unit 220, which can be located on the operation panel 114 of the smart lawnmower 100. The user inputs a preset height value through the operation panel 114. In addition, the user input unit 220 can be an external communication device. The height adjustment information input by the user on the external communication device is transmitted to the control circuit 210 of the smart lawnmower 100 via a wireless signal. The control circuit 210 adjusts the cutting height of the cutting component 130 according to the height adjustment information input by the user.

[0058] The intelligent lawnmower 100 has a height calibration unit 240 for calibrating the cutting height, including a distance measuring module 260 for measuring the adjustment distance. The distance measuring module 260 has a sensor for calculating the number of revolutions of the height adjustment motor 190. In this embodiment, a Hall sensor 261 is provided on the top of the height adjustment motor 190 to count the number of revolutions of the height adjustment motor 190. Based on the number of revolutions, the vertical displacement value of the cutting assembly 130 can be determined. The height adjustment module 120 adjusts as follows: when the intelligent lawnmower 100 is turned on, the cutting component 130 is reset to the reference position. Using the reference position as the adjustment benchmark, the rotation speed of the height adjustment motor 190 is calculated based on the vertical distance between the required cutting height and the reference position. The height adjustment motor 190 is controlled to rotate forward according to the calculated rotation speed, so that the cutting component 130 reaches the preset cutting height. The control circuit 210 records the height of the cutting component 130 at this time and uses this height value as the benchmark for the next adjustment. When the number of consecutive height adjustments reaches the preset number, the cutting component 130 is reset to the reference position to eliminate the accumulated error during the adjustment process. In this embodiment, the maximum cutting height is used as a reference position. The reset detection unit 250 has a position sensor 280 for detecting the reference position. The detection unit determines whether the cutting assembly 130 has reached the reference position through the position sensor 280 and the stall detection unit 270 of the height adjustment motor 190. In this embodiment, the position sensor 280 includes a Hall element and a magnetic block 281. The magnetic block 281 is disposed at the mounting position of the connecting rod between the support cylinder 132 of the cutting motor 131 and the first height. Figure 6 and Figure 7A Hall element (not shown in the figure) is disposed inside the receiving cavity 113 opposite to the magnetic block 281. When the Hall element is closest to the magnetic block 281, the sensed magnetic field strength is the strongest. However, the method of determining the reference position by Hall sensor alone is prone to errors due to interference from external factors. Therefore, it is necessary to improve the accuracy of detection. In this invention, the position sensor 280 is used while the stall detection unit 270 of the height adjustment motor 190 is used to detect motor stall. When the position sensor 280 detects the reference position and the height adjustment motor 190 meets the stall condition, it is determined that the cutting assembly 130 has reached the maximum cutting height, that is, it is already in the reference position. Detecting the reference position in two ways can ensure the accuracy of height adjustment.

[0059] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features described in the above 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.

[0060] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A smart lawnmower, characterized in that, include: The housing, and the walking unit, cutting assembly, control circuit, and height adjustment module installed on the housing; The walking unit is used to move the intelligent lawnmower; The cutting assembly includes: a cutting element, and a cutting motor connected to and driving the cutting element; The control circuit is connected to the walking unit and the cutting assembly to control the movement and operation of the intelligent lawnmower. The height adjustment module is characterized in that it includes: The bracket supports the cutting assembly and can drive the cutting assembly to move up and down. The bracket is provided with a lifting part. A driving component is provided with a driving part, which abuts against the lifting part from bottom to top, thereby allowing the lifting part to move upward under the drive of an external force. The movement of the driving part drives the lifting part to move up and down, thereby driving the cutting assembly on the bracket to move up and down. The driving part is at least partially located in the area enclosed by the projection of the bracket onto the working surface of the intelligent lawnmower.

2. The intelligent lawnmower according to claim 1, characterized in that: It also includes a height adjustment motor, the drive unit is driven by the height adjustment motor, and the height adjustment motor is controlled by the control circuit.

3. The intelligent lawnmower according to claim 1, characterized in that: The drive unit and the lifting unit are located in the middle of the bracket in the lateral direction.

4. The intelligent lawnmower according to claim 1, characterized in that: The drive unit includes a rotatable spatial camshaft and a spatial cam surface arranged around the spatial camshaft.

5. The intelligent lawnmower according to claim 4, characterized in that: The spatial cam surface forms curved surfaces of varying heights on the spatial camshaft.

6. The intelligent lawnmower according to claim 4, characterized in that: The spatial camshaft is approximately perpendicular to the projection of the bracket onto the working surface of the smart lawnmower.

7. The intelligent lawnmower according to claim 1, characterized in that: The bracket includes two parallelogram connecting rods, comprising two sets of parallelogram connecting rods located on both sides of the cutting assembly. Each parallelogram connecting rod includes a fixed connecting rod fixedly disposed relative to the housing, a movable connecting rod opposite to the fixed connecting rod, and a connecting rod located between the fixed connecting rod and the movable connecting rod. The cutting assembly is connected to and supported by the movable connecting rod.

8. The intelligent lawnmower according to claim 7, characterized in that: The lifting section is a crossbeam connecting the two parallelogram-shaped connecting rods.

9. The intelligent lawnmower according to claim 8, characterized in that: The lower end face of the crossbeam is provided with a hemispherical protrusion, which abuts against the drive part.

10. The intelligent lawnmower according to claim 1, characterized in that: It also includes a control element, the drive element being connected to and driven by the control element.

11. The intelligent lawnmower according to claim 10, characterized in that: The control element can selectively lock or unlock the drive of the control element.

12. The intelligent lawnmower according to claim 11, characterized in that: The operating element is decoupled from the housing, and the operating element has a locked position and an unlocked position. In the locked position, the coupling element on the operating element and the coupling element on the housing are coupled together and thus relatively fixed. In the unlocked position, the coupling on the operating element and the coupling on the housing are separated, thus becoming relatively movable.

13. The intelligent lawnmower according to claim 12, characterized in that: The coupling element is a limiting tooth.

14. The intelligent lawnmower according to claim 13, characterized in that: It also includes an elastic element that drives the actuating element to the coupling position.

15. The intelligent lawnmower according to claim 1, characterized in that: The drive unit and the height adjustment motor can be released from each other via a clutch.

16. The intelligent lawnmower according to claim 1, characterized in that: The height adjustment module includes a stall detection unit for the height adjustment motor. The stall detection unit sends a signal to the control circuit. When the control circuit determines that the height adjustment motor is stalled based on the received signal, it stops the height adjustment motor.

17. The intelligent lawnmower according to claim 1, characterized in that: The height adjustment module includes a user input unit, and the control circuit controls the cutting component to reach the set cutting height based on the information input by the user.

18. The intelligent lawnmower according to claim 1, characterized in that: The control circuit controls the height adjustment value of the cutting component through a height calibration unit. The height calibration unit resets the cutting component to a reference position and uses the distance value relative to the reference position as the height adjustment value.

19. The intelligent lawnmower according to claim 18, characterized in that: The reference position is determined by a position sensor and a stall detection unit of the height adjustment motor. When the position sensor detects the reference position and the height adjustment motor meets the stall condition, the cutting assembly is reset to the reference position.

20. The intelligent lawnmower according to claim 1, characterized in that: The height adjustment module includes a detection unit that detects the operating parameters of the cutting motor. The detection unit sends the detected operating parameters to the control circuit, and the control circuit adjusts the cutting height of the cutting assembly according to the operating parameters of the cutting motor.

21. The intelligent lawnmower according to claim 20, characterized in that: When the operating parameters of the cutting motor are detected to meet the first preset condition, the cutting assembly is controlled to move towards the working surface. When the operating parameters of the cutting motor are detected to meet the second preset condition, the cutting assembly is controlled to move away from the working surface.

22. The intelligent lawnmower according to claim 2, characterized in that: The upward movement of the lifting part corresponds to the upward movement of the cutting component, which can move upward within a range of 0mm to 30mm.

23. The intelligent lawnmower according to claim 1, characterized in that: The intelligent lawnmower includes a housing cavity for accommodating the height adjustment module, which is detachably and integrally installed within the housing cavity.

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