Automatic lawn mower

Abstract

The present invention relates to an automatic lawn mower, comprising: a frame; a moving module; a cutting module; a control module for controlling the moving module to drive the automatic lawn mower to move and control the cutting module to perform a cutting task; and multiple sensors for detecting obstacles in the environment. The multiple sensors include: a first sensor, a plurality of first sensors, arranged around the frame with a detection direction tilted upward by a first preset angle relative to a horizontal reference plane; and a second sensor, arranged with a detection direction toward the front end of the frame and tilted downward by a second preset angle relative to the horizontal reference plane. The combination of the first and second sensors ensures that the sum of the detection ranges of the multiple sensors covers all angles in a direction parallel to the horizontal reference plane. The present invention, through the combination of the multiple sensor positions, allows the machine to promptly and accurately identify obstacles in all directions of the automatic lawn mower body, thereby enabling avoidance.

Description

[0001] This application claims priority to Chinese patent application filed on November 1, 2021, with application number 202111284425.6, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present invention relates to the field of lawn mowers, in particular to an automatic lawn mower. Background Art

[0003] Automatic lawn mowers are widely welcomed by consumers because they can autonomously move within the working area and perform mowing work, freeing users from the boring work of mowing.

[0004] However, for an autonomous lawn mower to autonomously move within its work area and mow the lawn, it must not only be able to identify the work area, but also the obstacles around it. In particular, in the commercial robotic lawn mower sector, due to the high speeds required for efficient cutting, it is increasingly important for the mower to be able to accurately and promptly identify obstacles around it.

[0005] Therefore, the industry is in urgent need of an automatic lawn mower that can solve the above problems. Summary of the Invention

[0006] In order to overcome the defects of the prior art, it is necessary to provide an automatic lawn mower with a wide wave detection range and high safety performance.

[0007] An automatic lawn mower comprises: a frame; a moving module, which is arranged on the frame; a cutting module, which is arranged on the frame; a control module, which is used to control the moving module to drive the automatic lawn mower to move, and control the cutting module to perform a cutting task; a plurality of sensors, which are used to detect obstacles in the environment, and the plurality of sensors include: a first sensor, which is in a plurality of numbers and is arranged around the frame in a manner such that the detection direction is tilted upward by a first preset angle relative to a horizontal reference plane; a second sensor, which is arranged in a manner such that the detection direction is toward the front end of the frame and tilted downward by a second preset angle relative to the horizontal reference plane; wherein the combination of the postures of the first sensor and the second sensor makes the sum of the detection ranges of the plurality of sensors cover the full angle in the direction parallel to the horizontal reference plane.

[0008] In one embodiment, in various directions surrounding the body of the automatic lawn mower, the combination of the positions of the first sensors makes the detection ranges of adjacent first sensors at least partially overlap; in the direction of travel of the automatic lawn mower, the combination of the positions of the first sensor and the second sensor makes the detection range of the first sensor at least partially overlap with the detection range of the second sensor.

[0009] In one embodiment, in the direction of travel of the automatic lawn mower, the combination of the positions of the first sensor and the second sensor makes the detection range of the first sensor and the detection range of the second sensor at least partially non-overlap; wherein, the detection ranges are at least partially non-overlapping, so that the detection range of the sensor is larger.

[0010] In one embodiment, in the traveling direction of the automatic lawn mower, based on the combination of the postures of the first sensor and the second sensor, in the first detection range of the multiple sensors obtained, the detection distance of the first sensor in the direction parallel to the horizontal reference plane is smaller than the detection distance of the second sensor in the direction parallel to the horizontal reference plane, and the detection height of the first sensor in the direction perpendicular to the horizontal reference plane is smaller than the detection height of the second sensor in the direction perpendicular to the horizontal reference plane.

[0011] In one embodiment, the detection distance of the first sensor in a direction parallel to the horizontal reference plane includes at least (0.2m-0.8m), and the detection distance of the second sensor in a direction parallel to the horizontal reference plane includes at least (0.4m-6m).

[0012] In one embodiment, in the first detection range, when the distance from the front end of the frame is the same, the detection height of the first sensor in the direction perpendicular to the horizontal reference plane is less than or equal to the detection height of the second sensor in the direction perpendicular to the horizontal reference plane.

[0013] In one embodiment, in the first detection range, the second sensor can detect obstacles at a distance of 0.8 m from the front end of the frame and a height of not less than 0.145 m; the second sensor can detect obstacles at a distance of 1.3 m from the front end of the frame and a height of not less than 0.35 m; the second sensor can detect obstacles at a distance of 2.5 m from the front end of the frame and a height of not less than 1.5 m.

[0014] In one embodiment, within the first detection range, the first sensor can detect obstacles that are 0.8 m away from the front end of the frame and whose height is not less than a first preset value, and cannot detect obstacles that are 0.8 m away from the front end of the frame and whose height is not greater than a second preset value; wherein the second preset value is smaller than the first preset value.

[0015] In one embodiment, in the direction of travel of the automatic lawn mower, the distance between the intersection of the detection range of the second sensor and the horizontal reference plane and the front end of the frame is not greater than the detection distance of the first sensor in a direction parallel to the horizontal reference plane.

[0016] In one embodiment, a horizontal distance between the second sensor and the front end of the frame is greater than a horizontal distance between the first sensor and the front end of the frame.

[0017] In one embodiment, the plurality of sensors further includes a third sensor, which is arranged so that its detection direction faces the front end of the frame and is tilted downward at a third preset angle relative to a horizontal reference plane.

[0018] In one embodiment, in the direction of travel of the automatic lawn mower, the combination of the positions of the first sensor, the second sensor and the third sensor enables the detection ranges of the first sensor, the second sensor and / or the third sensor to at least partially overlap.

[0019] In one embodiment, in the direction of travel of the automatic lawn mower, the combination of the positions of the first sensor, the second sensor and the third sensor makes the detection range of the first sensor at least partially non-overlap with the second sensor and / or the third sensor; wherein, the detection range is at least partially non-overlapping, so that the detection range of the sensor is larger.

[0020] In one embodiment, in the traveling direction of the automatic lawn mower, in a second detection range obtained based on a combination of the postures of the first sensor, the second sensor, and the third sensor, the detection distance of the first sensor in a direction parallel to the horizontal reference plane is smaller than the detection distance of the second sensor and / or the third sensor in a direction parallel to the horizontal reference plane, and the detection height of the first sensor in a direction perpendicular to the horizontal reference plane is smaller than the detection height of the second sensor and / or the third sensor in a direction perpendicular to the horizontal reference plane.

[0021] In one embodiment, in the second detection range, when the distance from the front end of the frame is the same, the detection height of the second sensor in the direction perpendicular to the horizontal reference plane is less than or equal to the detection height of the third sensor in the direction perpendicular to the horizontal reference plane.

[0022] In one embodiment, in the second detection range, the third sensor can detect obstacles that are 2 meters away from the front end of the frame and have a height of not less than 1.9 meters; the third sensor can detect obstacles that are 0.5 meters away from the front end of the frame and have a height of not less than 0.81 meters.

[0023] In one embodiment, a horizontal distance between the third sensor and the front end of the frame is smaller than a horizontal distance between the second sensor and the front end of the frame.

[0024] In one embodiment, in the direction of travel of the automatic lawn mower, the distance between the intersection of the detection range of the third sensor and the horizontal reference plane and the front end of the frame is not greater than the detection distance of the first sensor in the direction parallel to the horizontal reference plane.

[0025] In one embodiment, the third sensor is used to identify the type of obstacle.

[0026] In one embodiment, the first preset angle is in the range of 29°-35°.

[0027] In one embodiment, the second preset angle is in the range of -3° to 15°.

[0028] In one embodiment, the third preset angle is in the range of -4° to 10°.

[0029] In one embodiment, the first sensor is an ultrasonic sensor, and the second sensor is a lidar.

[0030] In one embodiment, the third sensor is a monocular camera, a multi-camera or a depth camera.

[0031] An automatic lawn mower comprises: a housing; a moving module mounted on the housing; a cutting module mounted on the housing; and a control module for controlling the moving module to move the automatic lawn mower and to control the working module to perform its work tasks. The automatic lawn mower also comprises a plurality of ultrasonic sensors arranged around the housing for detecting obstacles within a 360-degree range around the automatic lawn mower that are at a preset distance from the automatic lawn mower and have a height at least greater than a preset height.

[0032] In one embodiment, the detection distance of the ultrasonic sensor located at the front end of the machine is not less than the braking distance of the machine, where the braking distance refers to the distance the machine travels from normal travel to a complete stop.

[0033] In one embodiment, the detection angle of the ultrasonic sensor in a first direction parallel to the horizontal ground is 85 degrees.

[0034] In one embodiment, the detection height of the ultrasonic sensor located at the front end of the machine at the braking distance is not less than a preset height.

[0035] In one embodiment, the detection angle of the ultrasonic sensor in a direction perpendicular to the horizontal ground is 35 degrees.

[0036] In one embodiment, by adjusting the angle of the ultrasonic sensor in a direction perpendicular to the horizontal ground, grass below a preset height or parts of the machine itself do not fall into the detection range of the ultrasonic sensor.

[0037] In one embodiment, the ultrasonic sensor is tilted upward away from the ground.

[0038] In one embodiment, the distance between the plurality of ultrasonic sensors and the edge of the housing of the automatic lawn mower is slightly greater than or equal to the size of the detection blind zone of the plurality of ultrasonic sensors.

[0039] In one embodiment, the detection ranges of any two adjacent ultrasonic sensors at least partially overlap.

[0040] In one embodiment, by adjusting the installation parameters of the ultrasonic sensors, the sum of the blind areas of all adjacent ultrasonic sensors is minimized, or at least one blind area among the blind areas of adjacent ultrasonic sensors is minimized, or the blind areas of the blind areas at the four corners of the machine are minimized.

[0041] In one embodiment, the installation parameters include at least one of an installation height, an installation position, an installation distance between adjacent ultrasonic sensors, and an angle; and the angle at least includes an angle parallel to a horizontal direction.

[0042] In one embodiment, the installation height of the ultrasonic sensor is greater than or equal to 30 cm and less than or equal to 41 cm.

[0043] In one embodiment, the installation position includes a specific position of the frame in the housing, and the specific position includes a blank position of the frame or a position on a connecting shaft between the frame and the travel wheel.

[0044] In one embodiment, the installation distance between adjacent ultrasonic sensors is 130 mm-470 mm.

[0045] In one embodiment, for non-corner ultrasonic sensors, the installation distance between adjacent ultrasonic sensors in the machine width direction is 130m; the installation distance between adjacent ultrasonic sensors in the machine length direction is 470mm; for corner ultrasonic sensors, the installation distance between them and adjacent ultrasonic sensors is set to 130-260mm.

[0046] In one embodiment, at least one ultrasonic sensor is symmetrically arranged on both sides of the forward direction of the machine; and at least one ultrasonic sensor is arranged at the front end and the rear end of the machine.

[0047] In one embodiment, the ultrasonic sensors arranged at the front, rear, left and right of the machine are not deflected in a direction parallel to the horizontal ground.

[0048] In one embodiment, the plurality of ultrasonic sensors includes four ultrasonic sensors located at corners of the housing.

[0049] In one embodiment, the ultrasonic sensors located at the two corners of the rear end of the machine are each deflected outward by 10 degrees to 15 degrees; the two ultrasonic sensors located at the front end of the machine are each deflected outward by 5 degrees to 10 degrees.

[0050] In one embodiment, the plurality of ultrasonic sensors include four ultrasonic sensors located at the corners of the shell, the ultrasonic sensors located at the two corners at the rear end of the machine are each deflected 12.5 degrees outward; and the two ultrasonic sensors located at the front end of the machine are each deflected 7.5 degrees outward.

[0051] In one embodiment, the plurality of ultrasonic sensors are all ultrasonic sensors with integrated transmitter and receiver.

[0052] In one embodiment, the number of the ultrasonic sensors is 4-16.

[0053] In one embodiment, the number of the ultrasonic sensors is 8-14.

[0054] In one embodiment, the automatic lawn mower may further include a laser radar mounted on the housing and configured to detect obstacles in the direction of travel of the machine.

[0055] In one embodiment, the detection distance of the laser radar is not less than the sum of the braking distance and the safety distance; the above-mentioned safety distance refers to the distance from the edge of the cutter disc to the obstacle.

[0056] In one embodiment, the detection blind area of ​​the laser radar is close to the detection distance of the ultrasonic sensor, or the detection range of the ultrasonic sensor located at the front end of the machine can cover the detection blind area of ​​the laser radar.

[0057] In one embodiment, the laser radar is installed above the edge of the machine's cutter head.

[0058] In one embodiment, the installation height of the laser radar is at least 0.25m and at most 0.68m.

[0059] In one embodiment, the laser radar is positioned toward the ground, and the minimum installation angle of the laser radar is set to 7.3 degrees and the maximum installation angle is set to 20.8 degrees. The installation angle of the laser radar refers to the angle between the axis of the laser radar and the horizontal line. The installation angle of the laser radar is related to the assembly process angle, and the angle error is ≥±2°.

[0060] In one embodiment, the installation angle of the laser radar is set to 15.3 degrees.

[0061] In one embodiment, the automatic lawn mower further includes a depth camera mounted on the housing and configured to acquire images in the direction of travel of the machine.

[0062] In one embodiment, the depth camera is further configured to identify obstacles in the image.

[0063] In one embodiment, the detection range of the ultrasonic sensor arranged in the forward direction of the shell at least partially covers the detection blind spot of the depth camera.

[0064] In one embodiment, the depth camera needs to have a field of view that can cover at least obstacles at a first height when the depth camera is configured at a first distance from the front end of the machine.

[0065] In one embodiment, the device is further configured to identify a second distance from the front end of the machine, and its field of view can at least cover obstacles with a height of the second height; wherein the second distance is greater than the first distance.

[0066] In one embodiment, the vertical field of view of the depth camera is set to 50-65 degrees, and the horizontal field of view is set to 80-95 degrees.

[0067] In one embodiment, the depth camera is at a height of 0.5 m to 0.7 m from the horizontal ground.

[0068] In one embodiment, the depth camera is installed at a height of 0.65 m.

[0069] In one embodiment, the depth camera is disposed toward the ground, and an installation angle of the depth camera is set to be 12-25 degrees with the horizontal line in the vertical direction.

[0070] In one embodiment, the depth camera is installed at an angle of 12 degrees.

[0071] In one embodiment, the depth camera is installed in the housing in an embedded manner.

[0072] In one embodiment, the depth camera is a three-eye stereo camera.

[0073] This application implements a system that uses multiple sets of sensors of different types, ensuring that the bounded detection volumes of each sensor complement each other. This allows the machine to detect people or objects in all directions at a safe distance. This allows the mower to detect people or objects in all directions in a timely and efficient manner while in high-speed motion, while also meeting safety regulations. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0075] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0076] Figure 1 is a schematic top view of an automatic lawn mower provided by an embodiment of the present invention;

[0077] Figure 2 is a side view schematic diagram of an automatic lawn mower provided by an embodiment of the present invention;

[0078] Figure 3 is a front view schematic diagram of an automatic lawn mower provided by an embodiment of the present invention;

[0079] Figure 4 yes Figure 1 The detection range of the ultrasonic sensor shown is parallel to the horizontal reference plane;

[0080] Figure 5 is a schematic diagram of another automatic lawn mower provided by an embodiment of the present invention;

[0081] Figure 6 is a schematic diagram of another automatic lawn mower provided by an embodiment of the present invention;

[0082] Figure 7 is a schematic diagram of another automatic lawn mower provided by an embodiment of the present invention;

[0083] Figure 8 is a side view schematic diagram of another automatic lawn mower provided by an embodiment of the present invention;

[0084] Figure 9 is a schematic top view of another automatic lawn mower provided by an embodiment of the present invention;

[0085] Figure 10is a schematic top view of another automatic lawn mower provided by an embodiment of the present invention;

[0086] Figure 11 It is a side view schematic diagram of another automatic lawn mower provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0087] The following detailed description of preferred embodiments of the present invention is provided in conjunction with the accompanying drawings to facilitate understanding of the advantages and features of the present invention by those skilled in the art, thereby providing a clearer and more precise definition of the scope of protection of the present invention. The following embodiments may be appropriately combined with one another. The same reference numerals and symbols in different embodiments in the drawings and the specification represent the same or equivalent elements.

[0088] In the context of the present invention, ultrasound, as understood by those skilled in the art, is sound waves with a frequency above 20 KHz.

[0089] In an embodiment of the present invention, an automatic lawn mower is provided, comprising: a housing, a moving module, a cutting module, and a control module; the moving module and the cutting module are electrically connected to the control module respectively.

[0090] The moving module is installed on the housing and is configured to drive the automatic lawn mower to move, for example, to drive the automatic lawn mower to move within the working area;

[0091] Specifically, the mobile module includes a walking wheel and a driving motor for driving the walking wheel to move, and an output end of the driving motor is connected to the walking wheel.

[0092] The cutting module is mounted on the housing and is configured to perform mowing tasks in a working area, such as cutting grass in a lawn to be cut.

[0093] Specifically, the cutting module includes a cutter disc and a cutting motor for driving the cutter disc to rotate. The cutter disc is provided with at least one blade. The cutter disc rotates under the drive of the cutting motor, thereby driving the blade thereon to cut the grass.

[0094] Furthermore, the automatic lawn mower further includes a protection mechanism for protecting the cutter disc, and the protection mechanism may be, for example, a protective cover.

[0095] Furthermore, the automatic lawn mower also includes a height adjustment mechanism for adjusting the height of the cutter disc, so as to adjust the cutter disc to different heights, thereby obtaining different grass heights.

[0096] A control module, installed in the housing, for controlling the movement module to drive the automatic lawn mower to move, and controlling the cutting module to perform a cutting task;

[0097] Furthermore, the automatic lawn mower further includes a plurality of ultrasonic sensors, which are arranged in the housing and are used to detect obstacles at a preset distance from the automatic lawn mower within a 360-degree range around the automatic lawn mower and at a height at least greater than a preset height;

[0098] The above-mentioned preset distance is related to the braking distance of the machine. The braking distance of the machine refers to the distance the machine brakes to a complete stop during movement. The braking distance is related to the driving speed of the machine. Furthermore, the braking distance can be determined based on the driving speed of the machine and the acceleration of the brake.

[0099] Of course, in other embodiments, in addition to being related to the braking distance, the above-mentioned preset distance is also related to the safety distance. The above-mentioned safety distance refers to the distance from the edge of the cutter disc to the obstacle. For example, the safety distance can generally be set based on the distance that a person can touch the edge of the cutter disc or the blade with a stretched hand; usually the safety distance is set to 0.5m (meter).

[0100] In one embodiment, taking a travel speed of 2 m / s (meters / second) as an example, the braking distance of the machine is approximately equal to 0.8 m.

[0101] It should be noted that the above-mentioned preset height is related to the type (eg, child, adult) and / or state (eg, kneeling, standing) of the obstacle.

[0102] In this embodiment, the ultrasonic sensor is configured to be able to detect a child at a height of at least 0.81 m and 0.8 m away from the automatic lawn mower within a 360-degree range around the automatic lawn mower, so as to avoid causing harm to the child.

[0103] The following is a detailed introduction to the ultrasonic sensor layout:

[0104] The installation parameters of the ultrasonic sensor are configured as first parameters so that the detection distance (also called detection length) of the ultrasonic sensor is not less than the braking distance, especially the detection distance of the ultrasonic sensor located at the front end of the machine is not less than the braking distance.

[0105] For ultrasonic sensors, their transmitted signals and residual vibration signals will cover or interfere with the echo signals, so they will lose their detection function after falling below a certain distance. The above-mentioned detection distance refers to the maximum distance at which the ultrasonic sensor has the detection function.

[0106] In addition, considering that during the forward movement, if there are people or animals on the left and right sides, since ultrasonic sensors are installed on both sides of the fuselage, they also have the above-mentioned detection distance. It can be understood that the detection distance here can be understood as the detection distance in the direction outward (perpendicular to the direction of the paper) on both sides. Therefore, the ultrasonic sensors on both sides of the fuselage can sense, judge and avoid in advance to avoid injury during turning.

[0107] In one embodiment, especially in the forward direction of the machine, the detection distance of the ultrasonic sensor arranged at the front end of the machine in a first direction parallel to the horizontal ground is not less than the braking distance of the machine; it can be understood that the first direction is parallel to the horizontal ground.

[0108] Furthermore, the detection angle of the ultrasonic sensor in the first direction parallel to the horizontal ground is 85 degrees.

[0109] Considering that obstacles generally have a height, the installation parameters of the ultrasonic sensor are configured as the first parameters, and the detection height of the ultrasonic sensor is also configured to be no less than a preset height.

[0110] In one embodiment, especially in the direction perpendicular to the forward direction of the machine, the detection height of the ultrasonic sensor in the second direction perpendicular to the horizontal ground is not less than a preset height. It can be understood that the second direction is perpendicular to the horizontal ground and perpendicular to the forward direction.

[0111] Furthermore, in order to cover obstacles of the above-mentioned preset height, the detection area of ​​the ultrasonic sensor in the direction perpendicular to the horizontal ground is an arc-shaped or fan-shaped area, and the detection angle of the ultrasonic sensor in the second direction perpendicular to the horizontal ground is 35 degrees.

[0112] Taking into account that the grass has a certain height when the automatic lawn mower mows the grass in the working area, in order to avoid the influence of the grass height on the detection results, the installation parameters of the ultrasonic sensor are configured as the first parameters, and also enable the ultrasonic sensor to avoid interference from grass below the preset grass height, or enable the automatic lawn mower to meet the working capacity of grass with the preset grass height; it can be understood that the two preset heights can be the same or different.

[0113] In addition, since the machine has multiple components, in order to eliminate their adverse effects on the ultrasonic sensor, the installation parameters of the ultrasonic sensor are configured as the first parameters, which also prevents the ultrasonic sensor from being blocked by other components of the automatic lawn mower, that is, prevents other components from falling into the detection range of the ultrasonic sensor.

[0114] Furthermore, the installation parameters of the ultrasonic sensor include an installation angle, which is set to a preset angle with the horizontal direction, so that the ultrasonic sensor can avoid grass below a preset height from being identified, or meet the working ability of the automatic lawn mower for grass of a preset height; the installation angle is in a direction perpendicular to the horizontal ground and inclined upward.

[0115] Considering that the ultrasonic sensor itself has a detection blind spot, the installation parameter of the ultrasonic sensor is configured as the first parameter, which also enables the ultrasonic sensor to eliminate its own blind spot.

[0116] Furthermore, the distance between the plurality of ultrasonic sensors and the edge of the housing of the automatic lawn mower is slightly greater than or equal to the size of the detection blind area of ​​the plurality of ultrasonic sensors.

[0117] Furthermore, the installation parameters include an installation height, and the installation height of the ultrasonic sensor is selected within a range of greater than or equal to 30 cm and less than or equal to 41 cm. The installation height refers to the height from the horizontal ground.

[0118] Furthermore, the detection ranges of any two adjacent ultrasonic sensors at least partially overlap.

[0119] The installation parameters of the ultrasonic sensors are configured as first parameters, and the sum of the blind areas between the ultrasonic sensors is minimized, or the blind areas of at least two adjacent ultrasonic sensors are minimized.

[0120] For example, a plurality of ultrasonic sensors are spaced around a rack in the housing at specific positions on the rack, and the sum of the blind areas of all adjacent ultrasonic sensors is minimized by adjusting installation parameters of the ultrasonic sensors; the installation parameters include at least one of installation height, installation position, installation distance between adjacent ultrasonic sensors, and installation angle;

[0121] Alternatively, the plurality of ultrasonic sensors are spaced around the rack in the housing at specific positions on the rack so that at least one of the blind areas of adjacent ultrasonic sensors has the smallest area; for example, by adjusting the angles of the ultrasonic sensors so that at least one of the blind areas of adjacent ultrasonic sensors has the smallest area; the angles at least include angles in a direction parallel to the horizontal ground.

[0122] Alternatively, a plurality of ultrasonic sensors are spaced around the rack within the housing at specific locations on the rack, minimizing the blind spots at the four corners of the machine. The specific locations herein include unoccupied locations on the rack or locations on the connecting shafts between the rack and the travel wheels; the specific locations also include the installation height of each ultrasonic sensor and the distance between adjacent ultrasonic sensors. If the plurality of ultrasonic sensors are spaced around the rack within the housing at specific locations on the rack, the blind spots at the four corners of the machine can be minimized by adjusting the angles of the ultrasonic sensors; the angles include at least angles parallel to the horizontal ground.

[0123] Further, such as Figure 4 As shown, the detection angle of the ultrasonic sensor in the direction parallel to the horizontal ground is 85 degrees.

[0124] Furthermore, at least one ultrasonic sensor is symmetrically arranged on both sides of the machine's forward direction; at least one ultrasonic sensor is arranged at the front end and the rear end of the machine;

[0125] Furthermore, the plurality of ultrasonic sensors include four ultrasonic sensors located at the corners of the shell, the ultrasonic sensors located at the two corners at the rear end of the machine are each deflected 10 degrees to 15 degrees outward; and the two ultrasonic sensors located at the front end of the machine are each deflected 5 degrees to 10 degrees outward.

[0126] Furthermore, the plurality of ultrasonic sensors include four ultrasonic sensors located at the corners of the shell, the ultrasonic sensors located at the two corners at the rear end of the machine are each deflected 12.5 degrees outward; and the two ultrasonic sensors located at the front end of the machine are each deflected 7.5 degrees outward.

[0127] Furthermore, several of the ultrasonic sensors are all ultrasonic sensors with integrated transmitter and receiver.

[0128] Furthermore, the number of the ultrasonic sensors is 4-16.

[0129] The number of ultrasonic sensors is related to the size of the machine. Therefore, the number of ultrasonic sensors to be installed can be determined based on the size of the machine.

[0130] Furthermore, the number of the ultrasonic sensors is 8 to 14.

[0131] In one embodiment, the number of ultrasonic sensors is 14, which can ensure 360° detection of a child at a height of 0.81 m and 0.8 m away from the machine.

[0132] For ease of understanding, the following Figures 1 to 4 The automatic lawn mower provided in this embodiment is described in detail:

[0133] Please refer to Figure 1-Figure 4 , the direction of the front end of the machine is taken as the forward direction in the figure; the automatic lawn mower includes four running wheels 100 and three cutter discs 200, wherein the running wheels may include two driving wheels and two follower wheels, and the driving wheels may be arranged at the front end (front) or the rear end (tail) of the machine; of course, it should be pointed out that the four running wheels may also be driving wheels, respectively driven by a driving motor; the four running wheels in the figure are only for ease of understanding and should not be understood as a limitation to the present invention; the number of running wheels may also be set to three as needed, and the number of driving wheels and follower wheels may also be adaptively improved as needed, which is not specifically limited in this embodiment.

[0134] The automatic lawn mower further includes 14 ultrasonic sensors 300, namely S1, S2, S3, S4, S5, S6, S7, S8, S9, S10, S11, S12, S13, and S14; the 14 ultrasonic sensors are all disposed in a housing of the machine (not shown in the figure);

[0135] The detection range (also called detection range) of each ultrasonic sensor is a first sector area (e.g. Figure 1 and Figure 4 ), the angle of the first sector area is 85 degrees, that is, the detection angle of the ultrasonic sensor in the direction parallel to the horizontal ground is 85 degrees; the detection range of each ultrasonic sensor is not less than the braking distance of 0.8m corresponding to the machine coming to a complete stop when traveling at 2m / s;

[0136] The detection range of each ultrasonic sensor is a second sector area (e.g. Figure 2 and Figure 3 ), the angle of the second sector area is 35 degrees, that is, the detection angle of the sensor in the direction parallel to the horizontal ground is 35 degrees; the detection height of each ultrasonic sensor at a braking distance of 0.8m is not less than a preset height of 0.81m;

[0137] Among the 14 ultrasonic sensors, the detection ranges of any two adjacent ultrasonic sensors at least partially overlap;

[0138] 14 ultrasonic sensors are set up around the machine, so as to achieve 360-degree detection of the machine;

[0139] The height of the 14 ultrasonic sensors from the ground is between 30cm and 40cm;

[0140] All 14 ultrasonic sensors are integrated transmitter and receiver.

[0141] Specifically, two ultrasonic sensors S1 and S14 are arranged at the front end of the machine, two ultrasonic sensors S7 and S8 are arranged at the rear end of the machine, three ultrasonic sensors S3, S4, S5 and S10, S11, S12 are arranged on each side of the machine's forward direction; four ultrasonic sensors S2, S13, S6 and S9 are arranged at the four corners of the machine; the ultrasonic sensors S3, S4, S5 and the ultrasonic sensors S10, S11, S12 are symmetrically arranged with the central axis of the machine parallel to the forward direction as the symmetry axis; the ultrasonic sensors S2 and S13 are arranged at the front corner of the machine body, and the ultrasonic sensors S6 and S9 are arranged at the rear corner of the machine body; due to the limitation of the installation space inside the machine, the ultrasonic sensors S2 and S13 are arranged on the connecting shaft between the machine frame and the travel wheel (see Figure 2), the height from the ground is approximately 40 cm; and the other ultrasonic sensors S1, S3, S4, S5, S6, S7, S8, S9, S10, S11, S12, and S14 are set in the idle position of the rack, the height from the ground is approximately 35 cm.

[0142] When installing the ultrasonic sensors, the ultrasonic sensors themselves have detection blind spots, so in order to avoid their detection blind spots, the ultrasonic sensors are arranged at a certain distance offset along the edge of the machine housing toward the center of the machine; in other words, the distance between each ultrasonic sensor and the edge of the automatic lawn mower's housing is slightly greater than or equal to the size of the detection blind spots of the ultrasonic sensors.

[0143] Furthermore, a plurality of ultrasonic sensors are spaced around the rack in the housing at specific positions of the rack, and the sum of the blind areas of all adjacent ultrasonic sensors is minimized by adjusting the installation distance between adjacent ultrasonic sensors and the deflection angle parallel to the horizontal ground.

[0144] Alternatively, a plurality of ultrasonic sensors are spaced around the rack in the housing at specific positions of the rack, and the installation distance between adjacent ultrasonic sensors and the deflection angle parallel to the horizontal ground are adjusted so that at least one blind area among the blind areas of all adjacent ultrasonic sensors has the smallest area.

[0145] Alternatively, a plurality of ultrasonic sensors are spaced around the rack in the housing at specific positions of the rack, and the sum of the blind spots at the four corners of the machine is minimized by adjusting the installation distance between adjacent ultrasonic sensors and the deflection angle parallel to the horizontal ground.

[0146] In this embodiment, ultrasonic sensors S1, S14, and ultrasonic sensors S7, S8 are symmetrically arranged with respect to a central axis parallel to the horizontal ground, and the installation distance between ultrasonic sensors S1 and S14 and the distance between ultrasonic sensors S7 and S8 are set to approximately 260 mm. The ultrasonic sensors S3, S4, S5, and S10, S11, and S12 on both sides of the machine are equally spaced at intervals of approximately 470 mm, that is, the installation distance between adjacent sensors S3, S4, and S5 is approximately 470 mm, and the installation distance between adjacent sensors S10, S11, and S12 is approximately 470 mm. The installation distances between the ultrasonic sensors S2 and S1, S13 and S14, S6 and S7, and S9 and S8 located at the four corners are all approximately 130 mm.

[0147] The deflection angle of ultrasonic sensors S1, S10, S11, S3, S4, S5, S7, S8, S12, and S14 is 0 degrees, that is, no deflection. The ultrasonic sensors S7 and S8 located at the two corners of the rear end of the machine are each deflected outward by 12.5 degrees (i.e., 55 degrees - 85 degrees / 2); the two ultrasonic sensors S1 and S14 located at the front end of the machine are each deflected outward by 7.5 degrees (50 degrees - 85 degrees / 2). This minimizes the blind area of ​​S1 and S2, minimizes the sum of the blind areas at the four corners of the machine, and minimizes the sum of the blind areas of all adjacent ultrasonic sensors. Figure 1 The figure schematically shows a blind spot at the front of the machine, two blind spots on the sides, and two blind spots in the corners, all represented by circles.

[0148] Furthermore, in order to prevent grass below a preset grass height and other machine components from affecting the detection of the ultrasonic sensor, the ultrasonic sensor, especially the ultrasonic sensor arranged at the front end of the machine, should be installed upward at an inclined angle.

[0149] It should be pointed out that Figure 1-Figure 4 To simplify the description, the tilt angle is not shown.

[0150] The automatic lawn mower provided in this embodiment has multiple ultrasonic sensors arranged around the inner periphery of the machine housing, which can detect obstacles within a 360-degree range, within a distance of 0.8m and a height of 0.81m. In addition, when the machine is moving forward, if there are people or animals on the left or right side, the ultrasonic sensors on both sides of the machine can also sense and judge in advance and avoid them, avoiding injuries during turns, thereby improving the detection range and safety of the machine.

[0151] Furthermore, the automatic lawn mower may also include a laser radar installed on the shell and configured to detect obstacles in the direction of the machine's movement.

[0152] The combination of laser radar and ultrasonic sensor can avoid failure of one of them while the other one can still play a detection role, thus improving the safety of the machine.

[0153] Furthermore, in order to balance the efficiency and safety of the mowing machine, the detection distance of the laser radar should not be less than the sum of the braking distance and the safety distance. The above-mentioned safety distance refers to the distance from the edge of the cutter head to the obstacle.

[0154] Taking into account that the laser radar may have a detection blind spot (referred to as the laser blind spot) when installed, further, the detection blind spot of the laser radar is close to the detection distance of the ultrasonic sensor; or, the detection range of the ultrasonic sensor arranged in the forward direction of the shell at least partially covers the detection blind spot of the laser radar. For example, when the machine is started, the ultrasonic sensor makes up for the laser blind spot.

[0155] Furthermore, the laser radar is installed above the edge of the machine's cutter head.

[0156] Furthermore, the minimum installation height of the laser radar is 0.25m and the maximum is 0.68m, where the installation height refers to the height from the horizontal ground. Preferably, the installation height is 0.58m.

[0157] Furthermore, the installation height of the laser radar is greater than or equal to 0.40m and less than or equal to 0.65m.

[0158] Furthermore, the installation angle of the laser radar is set to a minimum of 7.3 degrees and a maximum of 20.8 degrees. Here, the installation angle of the laser radar is perpendicular to the ground and refers to the angle between the axis of the laser radar and the horizontal line.

[0159] Furthermore, the installation angle of the laser radar is greater than or equal to 13.3 degrees and less than or equal to 17.3 degrees.

[0160] Furthermore, the range of the laser radar is approximately 2m-2.2m.

[0161] As a specific embodiment, the installation height of the laser radar is set to 0.6m, the laser radar is tilted downward, and the installation angle of the laser radar is set to 15.3 degrees;

[0162] For any selected mounting height, the mounting angle configuration of the laser radar (Lidar) is:

[0163] Detect children at a distance of not less than 1.3m;

[0164] When a child is detected, the range of the laser radar is not exceeded; the range is approximately 2m-2.2m, which depends on the selected laser radar;

[0165] To ensure the reliability of the detection, there should be at least two Lidar echo points and the laser blind area should be small and not exceed its range.

[0166] In addition, in order to meet the safety requirements of non-contact collision, the installation angle of the laser radar (Lidar) is configured as follows:

[0167] The detection rod is detected at a distance of not less than 0.8m, wherein the height of the detection rod is 14.5cm;

[0168] When the detection rod is detected, it does not exceed the range of the laser radar;

[0169] To ensure reliable judgment during detection, there should be at least two Lidar echo points and the laser detection blind area should be small, not exceeding 2m range.

[0170] For ease of understanding, refer to Figure 5 Another automatic lawn mower provided by an embodiment of the present invention is briefly described:

[0171] like Figure 5 As shown, the automatic lawn mower includes a housing 600 and running wheels 100, and autonomously mows grass on a lawn with a grass height of approximately 19 cm. The automatic lawn mower includes ultrasonic sensors 300 arranged around the housing. The ultrasonic sensors are set at a height of approximately 30 cm to achieve a 360-degree range and perform all-round detection of obstacles at a specific height and distance. In addition, the automatic lawn mower includes a laser radar 400 disposed at the front end of the housing for detecting obstacles in the direction of the machine's travel.

[0172] Specifically, the laser radar has a range of approximately 2.2m and a setting height of approximately 60cm. The laser radar is installed at a downward tilt with an installation angle of approximately 15.3 degrees. It can detect children at a detection distance of 1.5m. At the same time, in order to meet the safety requirements of non-contact collision, a detection rod 500 with a diameter of 2.5cm and a height of 14.5cm can be detected at a detection distance of 2.19m.

[0173] Furthermore, the detection blind spot of the laser radar is close to the detection distance of the ultrasonic sensor; in other words, the detection range of the ultrasonic sensor located at the front end of the machine can cover the detection blind spot of the laser radar, thereby avoiding the risks brought by the laser blind spot when the machine is started.

[0174] The automatic lawn mower of this embodiment is equipped with a laser radar and an ultrasonic sensor to form a dual-channel detection system for obstacles. This allows the machine to continue to perform detection even if one of the sensors fails. The laser radar has a longer detection range, allowing the machine to make preparations in advance when it detects living creatures, so as to better avoid them. The ultrasonic sensor can make up for the blind spots of the laser radar. The two work together to not only increase the range of obstacle detection, but also improve the safety and robustness of the machine.

[0175] Furthermore, the automatic lawn mower further includes a depth camera mounted on the housing and configured to acquire an image in the direction of travel of the machine;

[0176] Furthermore, the depth camera is further configured to identify obstacles in the image; that is, when an obstacle appears in the image, determine the type of the obstacle.

[0177] The obstacles here can be static objects or dynamic objects. The types of obstacles include but are not limited to inanimate objects such as stones and trees, as well as living objects such as animals or people.

[0178] The depth camera relies on visual AI (Artificial Intelligence) to identify obstacles. In one embodiment, the depth camera can identify obstacles based on a supervised learning deep learning algorithm, such as identifying the type of obstacle based on a pre-trained convolutional neural network model. It is understandable that the depth camera can also be based on other machine learning or deep learning algorithms to identify obstacles, which is not specifically limited in this embodiment.

[0179] Furthermore, the depth camera needs to be configured such that when the depth camera is at a first distance from the front end of the machine, its field of view can at least cover obstacles at a first height.

[0180] The first distance mentioned above can be set according to the braking distance of the machine to prevent the machine from colliding with obstacles during the forward movement.

[0181] Furthermore, the depth camera is also configured to identify a second distance from the front end of the machine, and its field of view can at least cover obstacles with a height of the second height; wherein the second distance is greater than the first distance.

[0182] For example, the first distance can be set to 0.8m, and the first height can be any value greater than or equal to 0.8m and less than or equal to 1.1m; the second distance can be set to 2.5m, and the second height range can be any value greater than or equal to 1.54 and less than or equal to 1.9m.

[0183] In this embodiment, the depth camera should be installed so that it can cover obstacles at a height of B at a distance A from the front of the machine, that is, it can see the entire obstacle at a height of B.

[0184] Specifically, to avoid harm to children, the depth camera is configured to identify children within a height range of 0.8-1.1m at a distance of 0.8m from the front of the machine;

[0185] In order to identify adults at a distance, the depth machine is also configured to identify adults with a height range of 1.54-1.9m at a distance of 2.5m from the front of the fuselage.

[0186] Taking into account the possible detection blind spots (referred to as visual blind spots) when the depth camera is arranged, further, since the machine is equipped with an ultrasonic sensor, at this time, the detection range of the ultrasonic sensor arranged in the forward direction of the shell at least partially covers the detection blind spots of the depth camera, so as to minimize the hazards of the visual blind spots and improve the safety of the machine.

[0187] Considering that the camera will become "blind" when working in a strong light environment and cannot identify obstacles, the machine can also be equipped with a laser radar, which can be used to assist the depth camera in overcoming the strong light.

[0188] In addition, since the surface of the LiDAR will be covered with dust during mowing operations, which will affect the detection distance, the use of cameras / ultrasonic sensors can also prevent the LiDAR from accumulating dust and affecting the detection distance, which may create safety risks, further improving the safety of the machine.

[0189] Furthermore, the vertical field of view angle of the depth camera is set to 50-65 degrees, and the horizontal field of view angle is set to 80-95 degrees; the vertical field of view angle here is the angle of the field of view (also known as the field of view range) in the direction perpendicular to the horizontal ground; and the horizontal field of view angle is the angle of the field of view in the direction parallel to the horizontal plane.

[0190] Furthermore, the installation height of the depth camera ranges from 0.5m to 0.7m, that is, the height of the depth camera from the horizontal ground is 0.5m to 0.7m. Preferably, the installation height is 0.65m.

[0191] Furthermore, the depth camera is positioned toward the ground, and the depth camera is installed at an angle of 12-25 degrees to the horizontal in the vertical direction. The installation angle here refers to the angle between the axis of the camera and the horizontal; in other words, the depth camera is tilted downward by 12-25 degrees.

[0192] Furthermore, the depth camera is installed in an embedded manner in the housing to avoid damage from impact.

[0193] In this embodiment, the installation height of the depth camera is 0.7m, and it is installed on the top of the machine housing, facing downward, with an installation angle of 12 degrees.

[0194] Furthermore, the depth camera may be a monocular camera, a binocular camera, or a trinocular stereo camera;

[0195] In an optional embodiment, the depth camera adopts a three-eye stereo camera to achieve stereo recognition of obstacles.

[0196] Figure 6A schematic diagram of another automatic lawn mower according to an embodiment of the present invention is shown. The automatic lawn mower comprises a housing 600 and running wheels 100, and autonomously mows a lawn with grass approximately 19 cm high. The automatic lawn mower includes an ultrasonic sensor 300 mounted on the housing. The ultrasonic sensor is positioned approximately 30 cm high, enabling 360-degree detection of obstacles at a specific height and distance. In addition to the ultrasonic sensor described in the aforementioned embodiment, the automatic lawn mower further includes a depth camera 700 mounted on the housing to capture images in the direction of the machine's travel and determine the type of obstacles in the images through image processing and recognition.

[0197] Specifically, as shown in the figure, the height H of the depth camera from the ground is 0.7m; the depth camera is installed on the top of the machine shell in an embedded manner; the vertical field of view angle of the depth camera is set to 58 degrees, and the horizontal field of view angle is set to 87 degrees (not shown); the depth camera is tilted downward, and its installation angle α is 12 degrees; the depth camera can identify a child with a height of approximately 1.1m at a distance of 0.8m from the front end of the machine; moreover, the depth machine can also identify an adult with a height of approximately 1.9m at a distance of 2.5m from the front end of the body.

[0198] from Figure 6 It can be seen that the depth camera has a detection blind spot of about 0.3m (represented by a mesh triangle in the figure). The ultrasonic sensor installed at the front end of the machine roughly covers the detection blind spot of the depth camera, thereby reducing the machine operation risk caused by the camera blind spot when the machine is started and improving the safety of the machine.

[0199] The automatic lawn mower provided in this embodiment includes a depth camera and an ultrasonic sensor. The depth camera can detect obstacles at a longer distance and identify the obstacle type, greatly improving the detection range and accuracy of the machine, while the ultrasonic sensor detects obstacles at a 360-degree distance, while filling the detection blind spot of the machine's startup self-test and improving the safety performance of the machine.

[0200] Reference Figure 7An embodiment of the present invention further provides an automatic lawn mower, comprising a housing 600 and running wheels 100, and capable of autonomously mowing a lawn with a grass height of approximately 19 cm. The automatic lawn mower comprises an ultrasonic sensor 300 disposed on the housing, a laser radar 400 mounted on the housing, and a depth camera 700. The ultrasonic sensor 300 is configured to perform omnidirectional detection of obstacles of a specific height at a specific distance within a 360-degree range. The laser radar 400 is configured to detect obstacles in the direction of the machine's travel. The depth camera 700 is configured to acquire an image in the direction of the machine's travel and to identify obstacles in the image. The depth camera is installed at a higher height than the laser radar, and the laser radar is installed at a higher height than the depth camera.

[0201] Specifically, the height of the ultrasonic sensor from the ground is approximately 0.3m; the installation height of the laser radar is approximately 0.6m, and the installation height H of the depth camera is approximately 0.7m; the ultrasonic sensor at the front end of the machine can detect an obstacle with a height of approximately 0.27m at a distance of 1m; the laser radar is installed at a downward tilt, and its installation angle β is approximately 15.3 degrees. At a detection distance of 2.19m, it can detect a detection rod 500 with a diameter of 2.5cm and a height of 14.5cm; the vertical field of view angle of the depth camera is set to 58 degrees, and the horizontal field of view angle is set to 87 degrees (not shown); the depth camera is set at a downward tilt, and its installation angle α is 12 degrees; both the depth camera and the laser radar have a detection blind area of ​​approximately 0.3m (represented by a mesh triangle in the figure), and the ultrasonic sensor installed at the front end of the machine can at least cover the 0.3m detection blind area, thereby reducing the machine operation risk caused by the camera and laser blind areas when the machine is started, and improving the safety of the machine.

[0202] The front end of the automatic lawn mower provided in this embodiment is provided with an ultrasonic sensor, a lidar, and a depth camera in sequence from bottom to top, and a circle of ultrasonic sensors is provided around the machine. The layout of the three can meet the requirements of obstacle detection within a 360-degree range and detection of obstacles at different distances in the direction of travel. The lidar can be used to assist the depth camera in overcoming strong light; the camera and / or ultrasonic sensor are used to prevent the lidar from accumulating dust that affects the detection distance and creates safety risks; and multiple ultrasonic sensors are used as the last barrier to ensure the safety of the machine even if the camera / radar fails or the machine brakes suddenly. At the same time, the ultrasonic sensor can make up for the blind spots of the camera and lidar when the machine is started, and can effectively deal with the risks encountered during the startup and driving of the machine, so that the automatic lawn mower can identify obstacles and respond without colliding with them, which is particularly beneficial to the safety of the user.

[0203] like Figure 8As shown, in an embodiment of the present invention, another automatic lawn mower 10 is also provided. The automatic lawn mower 10 includes: a frame 11, a moving module 12, a cutting module 13, a control module 14 and a variety of sensors.

[0204] The frame 11 is supported on the ground by running wheels, including but not limited to a frame supported by the running wheels, and also includes supporting components of the sensor, such as a supporting platform of the sensor.

[0205] The mobile module 12 is mounted on the frame 11 and is configured to move the automatic lawn mower, for example, to move the automatic lawn mower within a work area. Specifically, the mobile module 12 includes running wheels and a drive motor for driving the running wheels. The output end of the drive motor is connected to the running wheels. The running wheels include a first running module 121 and a second running module 122.

[0206] The cutting module 13 is mounted on the frame 11 and is configured to perform mowing tasks within the work area, such as cutting the grass within the work area. Specifically, the cutting module 13 includes at least one cutter disc and a cutting motor that drives the cutter disc. Each cutter disc is equipped with at least one blade. Driven by the cutting motor, the cutter disc rotates, driving the blades to cut the grass.

[0207] The control module 14 is electrically connected to the moving module 12 and the cutting module 13 , and is used to control the moving module 12 to drive the automatic lawn mower to move, and to control the cutting module 13 to perform a cutting task.

[0208] A variety of sensors to detect obstacles in the environment.

[0209] In this embodiment, the various sensors include a first sensor 151 and a second sensor 152 .

[0210] In this embodiment, multiple first sensors 151 are arranged around the frame 11, with their detection directions tilted upward by a first preset angle relative to a horizontal reference plane. Second sensors are arranged with their detection directions toward the front of the frame 11 and tilted downward by a second preset angle relative to the horizontal reference plane. The combination of the first and second sensors' positions ensures that the combined detection ranges of the multiple sensors provide full angular coverage parallel to the horizontal reference plane. The detection direction represents the sensor's axis. The horizontal reference plane represents the ground surface on which the lawn mower is currently positioned. The position information can include both position and attitude information. Position information includes at least the installation position on the lawn mower. Attitude information includes at least the installation angle relative to the horizontal reference plane. Each sensor has a corresponding detection range. The detection range can be understood as the field of view within which the sensor can detect obstacles. Full angular coverage parallel to the horizontal reference plane can be understood as any direction within a 360° radius around the lawn mower, centered on the frame.

[0211] In this embodiment, the first sensor 151 may be an ultrasonic sensor. The first preset angle may range from 29° to 35°. The number of ultrasonic sensors is related to the size of the machine, and the number of ultrasonic sensors to be installed can be determined based on the machine size. Preferably, in this embodiment, the number of ultrasonic sensors is 13. Depending on the architecture of the lawn mower, the installation height and / or installation angle of each sensor installed around the mower may be the same or different, and the specific setting can be based on the actual scenario and is not limited to this.

[0212] In this embodiment, the first preset angle can be appropriately adjusted according to the machine structure, usage scenario, etc. For example, in some implementation scenarios, the first sensor 151 is an ultrasonic sensor. According to the requirements of its usage scenario and the position of its installation on the frame 110, the corresponding first preset angle is different. Specifically, for example, in order to meet the usage scenario requirements: (1) 360-degree surround, detection distance of not less than 0.8m (meter), can identify a child model with a height of 81cm in 19cm grass; (2) cannot mistakenly identify grass less than 19cm as an obstacle, the first preset angle corresponding to the ultrasonic sensor at the front end of the frame 11 can be 33°, the first preset angle corresponding to the ultrasonic sensor at the rear end of the frame 11 can be 35°, the first preset angle corresponding to the ultrasonic sensor at the front side of the frame 110 can be 34°, the first preset angle corresponding to the ultrasonic sensor at the rear side of the frame 11 can be 29°, and the first preset angle corresponding to the ultrasonic sensor in the middle of the side of the frame 11 can be 31°. Of course, the above is only for illustrative purposes and does not constitute a limitation on other embodiments of the present application.

[0213] In this embodiment, the second sensor 152 may be a laser radar. Preferably, it may be a solid-state laser radar. The second preset angle ranges from -3° to 15°. Preferably, the second preset angle is 15°.

[0214] In this embodiment, the second preset angle can be appropriately adjusted according to the machine structure, usage scenario, etc. For example, in some implementation scenarios, the second sensor 152 is a solid-state laser radar. According to the requirements of its usage scenario, its corresponding installation angle is tilted downward by 15°. Among them, the requirements of the usage scenario include: (1) seeing the entire obstacle with a height of B at a distance of A meters; (2) being able to see a 350mm high child model lying in the grass 19cm high at 1.3 meters; (3) being able to see a 14.5cm high detection rod at 0.8m; (4) the blind area is less than 800mm and as small as possible; (5) the solid-state laser radar optical axis is as horizontal or downward as possible to reduce the impact of sunlight incident; (6) the vehicle body cannot be scanned. In addition, the requirements of the usage scenario may also include: (1) the blind area is less than 800mm and as small as possible; (2) the height that can be seen at 0.8m is not less than the height of the automatic lawn mower. Of course, the above is only an exemplary description and does not constitute a limitation to other embodiments of the present application. It should be noted that the second preset angle refers to the downward tilt angle when the laser radar itself is not tilted internally (that is, the axis of the laser radar is parallel to the horizontal reference plane). Since in some implementation scenarios, the laser radar itself is already tilted downward by a certain angle (that is, the axis of the laser radar is already tilted downward relative to the horizontal reference plane), in this case, the downward tilt angle can be adjusted according to actual needs. Specifically, for example, if the laser radar itself is already tilted downward by 15°, the downward tilt angle of the laser radar can be set to 0°.

[0215] In some embodiments, the installation angles of the sensors are different, and the corresponding detection ranges are the same or different.

[0216] In some embodiments, the sensor can be adapted to the requirements of the usage scenario by adjusting the installation height and / or installation angle.

[0217] In this embodiment, in various directions around the body of the automatic lawn mower, the combination of the positions of the first sensors 151 makes the detection ranges of adjacent first sensors 151 at least partially overlap. Figure 9-10As shown, the automatic lawn mower includes 13 ultrasonic sensors arranged around the frame 11, namely a1, a2, a3, a4, a5, a6, a7, a8, a9, a10, a11, a12, and a13, wherein the detection ranges of adjacent ultrasonic sensors at least partially overlap. Specifically, the ultrasonic sensors a1, a2, a3, and a4 are arranged at the front end of the frame 110 with an upward tilt of 33° relative to the horizontal reference plane, the ultrasonic sensors a8, a9, and a10 are arranged at the rear end of the frame 11 with an upward tilt of 35° relative to the horizontal reference plane, the ultrasonic sensors a5 and a13 are arranged at the front end of the side of the frame 11 with an upward tilt of 34° relative to the horizontal reference plane, the ultrasonic sensors a6 and a12 are arranged in the middle of the side of the frame 11 with an upward tilt of 31° relative to the horizontal reference plane, and the ultrasonic sensors a7 and a11 are arranged at the rear end of the side of the frame 11 with an upward tilt of 29° relative to the horizontal reference plane. This allows the detection ranges of adjacent first sensors to at least partially overlap in all directions surrounding the body of the automatic lawn mower.

[0218] In this embodiment, the first sensor on the side of the fuselage can sense, judge and avoid in advance to avoid injury during turning. The first sensor around the body can ensure 360° detection of obstacles around the fuselage.

[0219] In this embodiment, in the traveling direction of the automatic lawn mower, the combination of the positions of the first sensor 151 and the second sensor 152 enables the detection range of the first sensor 151 to at least partially overlap with the detection range of the second sensor 152 .

[0220] In this embodiment, the combination of the positions of the first sensor 151 and the second sensor 152 is such that in the direction of travel of the automatic lawn mower, the detection range of the first sensor 151 partially overlaps with the detection range of the second sensor 152. On the one hand, this can avoid detection blind spots and ensure that obstacles at different distances can be detected, thereby improving the safety and robustness of the machine. On the other hand, the first sensor and the second sensor can constitute a dual-channel detection of obstacles, so that when one of them fails, the machine can still perform detection.

[0221] In this embodiment, in the direction of travel of the robotic lawn mower, the combination of the positions of the first sensor 151 and the second sensor 152 ensures that the detection range of the first sensor 151 at least partially does not overlap with the detection range of the second sensor 152. Thus, since the detection ranges at least partially do not overlap, the detection range of the sensors is extended.

[0222] like Figure 11As shown, the direction from the first walking module 121 to the second walking module 122 is the travel direction S of the automatic lawn mower, the first sensor 151 is an ultrasonic sensor, and the second sensor 152 is a laser radar. In the travel direction S, in order to meet the needs of the use scenario, the ultrasonic sensor is set at the front end of the frame at an upward tilt of 33 degrees, and the laser radar (internally tilted downward by 15 degrees) is set at the front end of the frame at a downward tilt of 0 degrees. In this way, through the combination of the positions of the ultrasonic sensor and the laser radar, the detection range of the ultrasonic sensor and the detection range of the laser radar have overlapping areas and non-overlapping areas. Among them, the overlapping area can avoid detection blind spots, ensure that obstacles at different distances can be detected, and improve the safety and robustness of the machine. The non-overlapping area can make the sensor's detection range larger.

[0223] In this embodiment, in the direction of travel of the automatic lawn mower, based on the combination of the positions of first sensor 151 and second sensor 152, the first detection ranges of the multiple sensors are such that the detection distance of first sensor 151 in a direction parallel to the horizontal reference plane is less than the detection distance of second sensor 152 in a direction parallel to the horizontal reference plane, and the detection height of first sensor 151 in a direction perpendicular to the horizontal reference plane is less than the detection height of second sensor 152 in a direction perpendicular to the horizontal reference plane. The first detection range represents the detection range obtained by overlapping the detection ranges of first sensor 151 and second sensor 152 in the direction of travel.

[0224] Specifically, in the direction of travel of the automatic lawn mower, based on the combined positions of first sensor 151 and second sensor 152, the first detection range of the multiple sensors obtained is that the detection range of first sensor 151 in a direction parallel to a horizontal reference plane is at least (0.2m-0.8m), and the detection range of second sensor 152 in a direction parallel to the horizontal reference plane is at least (0.4m-6m). In this way, short-range obstacles can be detected by first sensor 151, and long-range obstacles can be detected by second sensor 152.

[0225] In some embodiments, in order to ensure safety, the detection distance of the first sensor 151 in a direction parallel to the horizontal reference plane is greater than or equal to the braking distance of the machine. The braking distance of the machine can be understood as the distance the machine takes to completely stop after braking during travel. The braking distance is related to the travel speed of the machine. Furthermore, the braking distance can be determined based on the travel speed of the machine and the acceleration of the brakes. In some embodiments, taking a travel speed of 2m / s (meters / second) as an example, the braking distance of the machine is approximately equal to 0.8m. Of course, in some embodiments, the detection distance of the first sensor 151 is greater than or equal to the safety distance. The safety distance can be understood as the distance from the edge of the cutter disc to the obstacle. For example, the safety distance can generally be set based on the distance that a person can touch the edge of the cutter disc or the blade with a stretched hand. The safety distance is usually set to 0.5m.

[0226] In some embodiments, in order to improve the mowing efficiency and safety of the machine, the detection distance of the second sensor 152 in a direction parallel to the horizontal reference plane is not less than the sum of the braking distance and the safety distance.

[0227] In this embodiment, the second sensor's longer detection range allows the mower to prepare in advance when it detects an obstacle, allowing for better avoidance. Since the first sensor's shorter detection range allows it to compensate for the second sensor's blind spot. This collaborative effort between the first and second sensors not only ensures that obstacles at varying distances are detected, expanding the obstacle detection range, but also improves the machine's safety and robustness.

[0228] In this embodiment, in the first detection range, when the distance from the front end of the frame is the same, the detection height of the first sensor 151 in the direction perpendicular to the horizontal reference plane is less than or equal to the detection height of the second sensor 152 in the direction perpendicular to the horizontal reference plane.

[0229] Specifically, within the first detection range, when the distance from the front end of the frame is 0.8 m, the detection height of the first sensor 151 in a direction perpendicular to the horizontal reference plane is not less than 0.81 m, and the detection height of the second sensor 152 in a direction perpendicular to the horizontal reference plane is not less than 0.93 m. Of course, the above description is at least exemplary and does not limit other embodiments of the present application.

[0230] In this embodiment, low obstacles are detected by the first sensor, and high obstacles are detected by the second sensor, thereby ensuring that obstacles of different heights can be detected.

[0231] In this embodiment, in the first detection range, the second sensor 152 can detect an obstacle that is 0.8m away from the front end of the frame 11 and has a height of not less than 0.145m. The second sensor 152 can detect an obstacle that is 1.3m away from the front end of the frame 11 and has a height of not less than 0.35m. The second sensor 152 can detect an obstacle that is 2.5m away from the front end of the frame and has a height of not less than 1.5m. Specifically, for example, in the first detection range, the second sensor 152 can detect a detection rod that is 0.8m away from the front end of the frame and has a height of 0.145m. In the first detection range, the second sensor 152 detects that the height of the obstacle that is 0.8m away from the front end of the frame is not less than the height of the fuselage.

[0232] In this embodiment, within the first detection range, the first sensor 151 can detect obstacles 0.8 m from the front end of the frame 11 with a height no less than a first preset value, and cannot detect obstacles 0.8 m from the front end of the frame 11 with a height no greater than a second preset value. In some implementations, the first preset value may represent a child's height, the second preset value may represent a grass height, and the second preset value may be less than the first preset value. Specifically, for example, a child's height may be 0.81 m, and the grass height may be 0.19 m.

[0233] Specifically, for example, considering that the grass has a certain height when the automatic lawn mower mows the grass in the working area, in order to avoid misidentifying the grass (usually the height of the grass is 0.19m) as an obstacle or affecting the detection result due to the height of the grass, the first sensor 151 is set on the frame in a manner of tilting upward at a first preset angle relative to the horizontal reference plane, so that it can detect an obstacle with a height of 0.81m at 0.8m from the front end of the frame, but cannot detect grass with a height of 0.19m at 0.8m from the front end of the frame.

[0234] In this embodiment, in the direction of travel of the automatic lawn mower, the distance between the intersection of the second sensor 152's detection range and the horizontal reference plane and the front end of the frame 11 is no greater than the detection range of the first sensor 151 in a direction parallel to the horizontal reference plane. The intersection of the second sensor 152's detection range and the horizontal reference plane can be understood as the location in the second sensor 152's blind spot that is farthest from the frame 11. The location in the blind spot that is farthest from the frame 11 cannot be too close to the frame 11. If it is too close, the second sensor 152's field of view may include the machine body, thereby reducing the effective field of view of the lawn mower. The location in the blind spot that is farthest from the frame 11 cannot be too far from the frame 11. If it is too far, the first sensor 151's shorter detection range will prevent it from compensating for the second sensor 152's blind spot, thereby reducing the safety and robustness of the machine.

[0235] Specifically, for example, considering that there may be a detection blind spot (referred to as the laser blind spot) when the laser radar is installed, in order to use the ultrasonic sensor to compensate for the detection blind spot of the laser radar, the detection range of the ultrasonic sensor arranged in the direction of movement of the shell at least partially covers the detection blind spot of the laser radar. In this way, when the machine is started, the laser blind spot can be compensated by the ultrasonic sensor.

[0236] In this embodiment, the location farthest from the frame in the blind spot is no farther from the frame than the detection range of the first sensor. This allows the first sensor to compensate for the blind spot of the second sensor, ensuring that obstacles at varying distances can be detected, thereby improving the safety and robustness of the machine. Furthermore, the first and second sensors provide dual-channel obstacle detection, allowing the machine to continue detecting obstacles even if one fails.

[0237] In this embodiment, the horizontal distance between the second sensor 152 and the front end of the frame 11 is greater than the horizontal distance between the first sensor 151 and the front end of the frame 11. The horizontal distance between the sensor and the front end of the frame 1 can be understood as the retracted distance of the sensor relative to the frame. Specifically, the retracted distance of the first sensor 151 can be 0 mm (millimeter), and the retracted distance of the second sensor 152 can be 110±10 mm (millimeter). Of course, the above is merely an example and does not limit other embodiments of the present application.

[0238] In this embodiment, the second sensor is retracted, which, on the one hand, can make the sensor's field of view exclude the body of the machine, thereby increasing the effective field of view of the lawn mower. On the other hand, it can prevent the sensor from being damaged by collision, thereby saving costs.

[0239] like Figure 8 As shown, in some embodiments, the multiple sensors further include a third sensor 153 , which is arranged so that the detection direction is toward the front end of the frame 11 and is tilted downward at a third preset angle relative to the horizontal reference plane.

[0240] In some embodiments, the third sensor 153 may be a monocular camera, a binocular camera, a depth camera, etc. The third preset angle ranges from -4° to 10°. Preferably, the third preset angle is 10°.

[0241] In some embodiments, the third preset angle can be adjusted appropriately according to the machine structure, usage scenario, etc. For example, in some implementation scenarios, the third sensor 153 is a monocular camera. According to the requirements of its usage scenario, its corresponding installation angle is tilted downward by 10°, wherein the requirements of its usage scenario may include: (1) seeing the entire obstacle with a height of B at a distance of A meters; (2) the blind spot is less than 800mm and as small as possible; (3) the vision is as straight or downward as possible to reduce the impact of sunlight; (4) the vehicle body cannot be photographed. Of course, the above is only an exemplary description and does not constitute a limitation on other embodiments of the present application. It should be noted that different types of third sensors have different corresponding field of view angles FOV, and the corresponding third preset angles will also be different. It can be adjusted according to the actual scenario to meet the requirements of the usage scenario.

[0242] In some embodiments, the combination of the positions of the first sensor 151, the second sensor 152, and the third sensor 153 in the direction of travel of the robotic lawn mower ensures that the detection ranges of the first sensor 151, the second sensor 152, and / or the third sensor 153 at least partially overlap. This, on the one hand, avoids detection blind spots, ensuring that obstacles at different distances can be detected, thereby improving the safety and robustness of the machine. On the other hand, the first and second sensors can form a dual-channel obstacle detection system, allowing the machine to continue detecting obstacles even if one fails.

[0243] In some embodiments, in the direction of travel of the robotic lawn mower, the combination of the positions of the first sensor 151, the second sensor 152, and the third sensor 153 ensures that the detection ranges of the first sensor 151, the second sensor 152, and / or the third sensor 153 at least partially do not overlap. Thus, since the detection ranges at least partially do not overlap, the detection ranges of the sensors are extended.

[0244] like Figure 11 As shown, the direction from the first walking module 121 to the second walking module 122 is the travel direction S of the automatic lawn mower, the first sensor 151 is an ultrasonic sensor, the second sensor 152 is a laser radar, and the third sensor 153 is a monocular camera. In the travel direction S, in order to meet the needs of the use scenario, the ultrasonic sensor is set at the front end of the frame at an upward tilt of 33°, the laser radar (internally tilted downward by 15°) is set at the front end of the frame at a downward tilt of 0 degrees, and the monocular camera is set at the front end of the frame at a downward tilt of 10°. In this way, through the combination of the positions of the ultrasonic sensor, the laser radar and the monocular camera, the new detection range has overlapping areas and non-overlapping areas. Among them, the overlapping area can avoid detection blind spots, ensure that obstacles at different distances can be detected, and improve the safety and robustness of the machine. The non-overlapping area can make the sensor's detection range larger.

[0245] In some embodiments, in the direction of travel of the automatic lawn mower, based on the combination of the positions of the first sensor 151, the second sensor 152, and the third sensor 153, in a second detection range obtained, the detection distance of the first sensor 151 in a direction parallel to the horizontal reference plane is less than the detection distance of the second sensor 152 and / or the third sensor 153 in a direction parallel to the horizontal reference plane, and the detection height of the first sensor 151 in a direction perpendicular to the horizontal reference plane is less than the detection height of the second sensor 152 and / or the third sensor 153 in a direction perpendicular to the horizontal reference plane. The first detection range refers to the detection range obtained after the detection ranges of the first sensor 151, the second sensor 152, and / or the third sensor overlap in the direction of travel.

[0246] In some embodiments, in the second detection range, when the distance from the front end of the frame 11 is the same, the detection height of the second sensor 152 in the direction perpendicular to the horizontal reference plane is less than or equal to the detection height of the third sensor 153 in the direction perpendicular to the horizontal reference plane.

[0247] In this way, low obstacles can be detected by the first sensor, medium and high obstacles can be detected by the second sensor, and higher obstacles can be detected by the third sensor, thereby ensuring that obstacles of different heights can be detected.

[0248] In some embodiments, within the second detection range, the detection distance of the second sensor 152 in a direction parallel to the horizontal reference plane is similar to the detection distance of the third sensor 152 in a direction parallel to the horizontal reference plane. In this way, short-range obstacles can be detected by the first sensor, while long-range obstacles can be detected by the second sensor and / or the third sensor.

[0249] In some embodiments, in the second detection range, the third sensor can detect obstacles 2 meters away from the front end of the frame and at a height of not less than 1.9 meters; the third sensor can detect obstacles 0.5 meters away from the front end of the frame and at a height of not less than 0.81 meters.

[0250] In some embodiments, the horizontal distance between the third sensor 153 and the front end of the frame 11 is smaller than the horizontal distance between the second sensor 152 and the front end of the frame 11. Specifically, the retracted distance of the third sensor 153 can be 80±10 mm (millimeter), and the retracted distance of the second sensor 152 can be 110±10 mm (millimeter). Of course, the above description is merely exemplary and does not limit other embodiments of the present application.

[0251] In this embodiment, the third sensor is retracted, which, on the one hand, can make the sensor's field of view exclude the body of the machine, thereby increasing the effective field of view of the lawn mower. On the other hand, it can prevent the sensor from being damaged by collision, thereby saving costs.

[0252] In some embodiments, the distance between the intersection of the detection range of the third sensor 153 and the horizontal reference plane and the front end of the frame 11 in the direction of travel of the automatic lawn mower is no greater than the detection range of the first sensor 151 in a direction parallel to the horizontal reference plane. This allows the first sensor to compensate for the third sensor's blind spot, ensuring that obstacles at varying distances can be detected, thereby improving the safety and robustness of the machine. Furthermore, the first sensor, along with the second and / or third sensors, can form a dual-channel obstacle detection system, enabling the machine to continue detecting obstacles even if one fails.

[0253] In some embodiments, the third sensor 153 is used to identify the type of obstacle. Specifically, when the first sensor and / or the second sensor identify an obstacle, the third sensor can be used to identify the obstacle type, so that the machine can implement a corresponding obstacle avoidance strategy based on the obstacle type. Obstacles can be static or dynamic objects. Obstacle types can include, but are not limited to, children, adults, cats and dogs, hedgehogs, tree branches, water pipes, chairs, lawn lights, etc. The obstacle avoidance strategies corresponding to different obstacle types can be the same or different.

[0254] In some embodiments, the installation height of the first sensor 151 is smaller than the installation height of the second sensor 152 , and the installation height of the second sensor 152 is smaller than the installation height of the third sensor 153 .

[0255] In some embodiments, the automatic lawn mower further includes a protection mechanism for protecting the cutter disc to ensure safety. The protection mechanism may be, for example, a protective cover.

[0256] In some embodiments, the automatic lawn mower further includes a height adjustment mechanism for adjusting the height of the cutter disc. The height adjustment mechanism adjusts the cutter disc to different heights to obtain different grass heights, thereby meeting different requirements for grass height in different scenarios.

[0257] In the embodiment of this specification, multiple types of sensors are set on the machine. In this way, through the combination of the positions of multiple sensors, the detection ranges of each sensor are complementary, allowing the machine to promptly and accurately identify obstacles in all directions of the automatic lawn mower body, thereby avoiding them and ensuring safety.

[0258] The above-described embodiments merely illustrate several implementations of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, and all such variations and improvements fall within the scope of protection of the present invention.

Claims

1. An automatic lawn mower, comprising: frame; A mobile module is arranged on the frame; A cutting module is provided on the frame; a control module, configured to control the moving module to move the automatic lawn mower, and control the cutting module to perform a cutting task; A variety of sensors for detecting obstacles in the environment, characterized by: The various sensors include: a first sensor, wherein the first sensors are arranged around the frame in a manner such that their detection directions are tilted upward by a first preset angle relative to a horizontal reference plane; The second sensor is arranged so that its detection direction is toward the front end of the frame and is tilted downward by a second preset angle relative to the horizontal reference plane; Among them, the combination of the postures of the first sensor and the second sensor makes the sum of the detection ranges of the multiple sensors cover the full angle in the direction parallel to the horizontal reference plane; in the detection ranges of the multiple sensors, the second sensor can detect obstacles that are 2.5m away from the front end of the frame and have a height of not less than 1.5m; the first sensor can detect obstacles that are 0.8m away from the front end of the frame and have a height of not less than a first preset value, and cannot detect obstacles that are 0.8m away from the front end of the frame and have a height of not more than a second preset value; the second preset value is smaller than the first preset value.

2. The automatic lawn mower according to claim 1, characterized in that In various directions surrounding the body of the automatic lawn mower, the combination of the positions of the first sensors enables the detection ranges of adjacent first sensors to at least partially overlap; In the traveling direction of the automatic lawn mower, the combination of the positions of the first sensor and the second sensor enables the detection range of the first sensor to at least partially overlap with the detection range of the second sensor.

3. The automatic lawn mower according to claim 1, characterized in that: In the direction of travel of the automatic lawn mower, the combination of the positions of the first sensor and the second sensor makes the detection range of the first sensor at least partially non-overlap with the detection range of the second sensor; wherein, the at least partial non-overlap of the detection range makes the detection range of the sensor larger.

4. The automatic lawn mower according to claim 3, characterized in that: In the traveling direction of the automatic lawn mower, based on the combination of the postures of the first sensor and the second sensor, in the first detection ranges of the multiple sensors obtained, the detection distance of the first sensor in the direction parallel to the horizontal reference plane is smaller than the detection distance of the second sensor in the direction parallel to the horizontal reference plane, and the detection height of the first sensor in the direction perpendicular to the horizontal reference plane is smaller than the detection height of the second sensor in the direction perpendicular to the horizontal reference plane.

5. The automatic lawn mower according to claim 4, characterized in that: The detection distance of the first sensor in a direction parallel to the horizontal reference plane is at least 0.2 m-0.8 m, and the detection distance of the second sensor in a direction parallel to the horizontal reference plane is at least 0.4 m-6 m.

6. The automatic lawn mower according to claim 4, characterized in that: In the first detection range, when the distance from the front end of the frame is the same, the detection height of the first sensor in the direction perpendicular to the horizontal reference plane is less than or equal to the detection height of the second sensor in the direction perpendicular to the horizontal reference plane.

7. The automatic lawn mower according to claim 4, characterized in that: In the first detection range, The second sensor can detect obstacles at a distance of 0.8 m from the front end of the frame and at a height of not less than 0.145 m; The second sensor can detect obstacles that are 1.3m away from the front end of the frame and have a height of not less than 0.35m.

8. The automatic lawn mower according to claim 1, characterized in that In the traveling direction of the automatic lawn mower, the distance between the intersection of the detection range of the second sensor and the horizontal reference plane and the front end of the frame is not greater than the detection distance of the first sensor in the direction parallel to the horizontal reference plane.

9. The automatic lawn mower according to claim 1, characterized in that A horizontal distance between the second sensor and the front end of the frame is greater than a horizontal distance between the first sensor and the front end of the frame.

10. The automatic lawn mower according to claim 1, characterized in that The multiple sensors further include a third sensor, which is arranged with its detection direction toward the front end of the frame and tilted downward by a third preset angle relative to a horizontal reference plane.

11. The automatic lawn mower according to claim 10, characterized in that: In the traveling direction of the automatic lawn mower, the combination of the positions of the first sensor, the second sensor and the third sensor enables the detection ranges of the first sensor to at least partially overlap with those of the second sensor and / or the third sensor.

12. The automatic lawn mower according to claim 10, characterized in that In the direction of travel of the automatic lawn mower, the combination of the positions of the first sensor, the second sensor and the third sensor ensures that the detection ranges of the first sensor, the second sensor and / or the third sensor at least partially do not overlap; wherein, the detection ranges at least partially do not overlap, thereby increasing the detection range of the sensors.

13. The automatic lawn mower according to claim 12, characterized in that: In the traveling direction of the automatic lawn mower, in a second detection range obtained based on a combination of the postures of the first sensor, the second sensor, and the third sensor, the detection distance of the first sensor in a direction parallel to the horizontal reference plane is smaller than the detection distance of the second sensor and / or the third sensor in a direction parallel to the horizontal reference plane, and the detection height of the first sensor in a direction perpendicular to the horizontal reference plane is smaller than the detection height of the second sensor and / or the third sensor in a direction perpendicular to the horizontal reference plane.

14. The automatic lawn mower according to claim 13, characterized in that In the second detection range, when the distance from the front end of the frame is the same, the detection height of the second sensor in the direction perpendicular to the horizontal reference plane is less than or equal to the detection height of the third sensor in the direction perpendicular to the horizontal reference plane.

15. The automatic lawn mower according to claim 13, characterized in that In the second detection range, the third sensor can detect obstacles 2 meters away from the front end of the frame and at a height of not less than 1.9 meters; The third sensor can detect obstacles that are 0.5m away from the front end of the frame and have a height of not less than 0.81m.

16. The automatic lawn mower according to claim 10, characterized in that A horizontal distance between the third sensor and the front end of the frame is smaller than a horizontal distance between the second sensor and the front end of the frame.

17. The automatic lawn mower according to claim 10, characterized in that In the traveling direction of the automatic lawn mower, the distance between the intersection of the detection range of the third sensor and the horizontal reference plane and the front end of the frame is not greater than the detection distance of the first sensor in the direction parallel to the horizontal reference plane.

18. The automatic lawn mower according to claim 10, characterized in that The third sensor is used to identify the type of obstacle.

19. The automatic lawn mower according to claim 1, characterized in that The first preset angle ranges from 29° to 35°.

20. The automatic lawn mower according to claim 1, characterized in that The second preset angle ranges from -3° to 15°.

21. The automatic lawn mower according to claim 10, characterized in that The third preset angle ranges from -4° to 10°.

22. The automatic lawn mower according to claim 1, characterized in that The first sensor is an ultrasonic sensor, and the second sensor is a lidar.

23. The automatic lawn mower according to claim 10, characterized in that The third sensor is a monocular camera, a multi-camera or a depth camera.

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