A lawnmower and a control method therefor

Abstract

The application provides a mower and a control method thereof, which comprises a machine body provided with a cutter at the bottom, a plurality of supporting legs arranged at both sides of the bottom of the machine body and provided with traveling wheels, height adjusting devices for adjusting the height of the supporting legs, one end of the height adjusting device being connected with the machine body and the other end being connected with the traveling wheels, and a control assembly installed in the machine body and connected with the height adjusting devices to control the height adjusting devices of different supporting legs to adjust the height of different supporting legs so that the machine body is kept in a horizontal state. The mower can keep the machine body in a horizontal state to keep the height of the mowed grass consistent and make the lawn more beautiful in the case that the grassland is uneven.

Description

Technical Field

[0001] This invention belongs to the field of power tool technology, and specifically relates to a lawnmower and its control method. Background Technology

[0002] The cutting height of a lawnmower is determined by the distance of the cutting blades from the ground. Traditional lawnmowers adjust the cutting height by changing the distance between the mower body and the wheels, while robotic lawnmowers adjust the cutting height by changing the position of the cutting blades relative to the body. However, lawns are not flat; they have bumps or depressions, such as slopes or potholes. When either a traditional or robotic lawnmower encounters a slope or pothole, the entire mower tilts, causing the blades to tilt as well. In this situation, traditional adjustment mechanisms cannot level the blades, resulting in inconsistent cutting heights.

[0003] In addition, when the battery level of the robotic lawnmower drops below a certain threshold, it needs to return to the charging station to recharge. Since the charging station is a fixed installation, the lawn in front of the charging station will have indentations due to the repeated rolling of the lawnmower, which also affects the appearance of the lawn. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the purpose of this invention is to provide a lawnmower and its control method to improve the above problems.

[0005] To achieve the above and other related objectives, the present invention provides a lawnmower, comprising:

[0006] The machine body has blades installed at its bottom;

[0007] Multiple support legs are disposed on both sides of the bottom of the fuselage, and each support leg is equipped with a wheel; the support legs include:

[0008] A height adjustment device for adjusting the height of the outriggers, one end of which is connected to the body and the other end of which is connected to the walking wheel;

[0009] A control component is installed inside the fuselage and connected to the height adjustment device to control the height adjustment device of different outriggers to adjust the height of different outriggers so that the fuselage remains level.

[0010] In one embodiment of the invention, the height adjustment device in each of the outriggers is individually controlled and adjusted by the control component.

[0011] In one embodiment of the present invention, the height adjustment device includes:

[0012] Lead screw;

[0013] An electric motor is connected to the lead screw to drive the lead screw to perform linear motion.

[0014] In one embodiment of the present invention, the height adjustment device further includes a locking structure connected to the lead screw to fix the lead screw.

[0015] In one embodiment of the present invention, the locking structure includes:

[0016] A plurality of limiting holes are provided at intervals along the axial direction of the lead screw;

[0017] Limit screw;

[0018] A locking motor is connected to the limiting screw and drives the limiting screw to move linearly, so as to insert into or withdraw from the limiting hole.

[0019] In one embodiment of the present invention, the height adjustment device further includes: a fixed housing, the fixed housing being connected to the body, and the motor being installed inside the fixed housing;

[0020] A telescopic housing is fixedly connected to the lead screw, and the traveling wheels are installed at the bottom of the telescopic housing. The motor drives the lead screw to move up and down to cause the telescopic housing to slide up and down within the fixed housing.

[0021] In one embodiment of the present invention, the control component includes a detection module for detecting the tilt state of the fuselage, the detection module being installed inside the fuselage.

[0022] The present invention also proposes a lawnmower, comprising:

[0023] The machine body has blades installed at its bottom;

[0024] Multiple support legs are disposed on both sides of the bottom of the fuselage, and each support leg is equipped with a wheel; the support legs include:

[0025] A leg spacing adjustment device for adjusting the distance between the legs on both sides of the bottom of the fuselage, the leg spacing adjustment device being connected to the fuselage;

[0026] A control component is installed inside the body and electrically connected to the control component. The control component controls the leg spacing adjustment device to adjust the spacing between the legs on both sides of the bottom of the body.

[0027] In one embodiment of the present invention, the leg spacing adjustment device in each of the legs is individually controlled and adjusted by the control component.

[0028] In one embodiment of the present invention, the leg spacing adjustment device includes:

[0029] Lead screw;

[0030] An electric motor is connected to the lead screw to drive the lead screw to perform linear motion.

[0031] In one embodiment of the present invention, the leg spacing adjustment device further includes a locking structure connected to the lead screw to fix the lead screw.

[0032] In one embodiment of the present invention, the locking structure includes:

[0033] A plurality of limiting holes are provided at intervals along the axial direction of the lead screw;

[0034] Limit screw;

[0035] A locking motor is connected to the limiting screw and drives the limiting screw to move linearly, so as to insert into or withdraw from the limiting hole.

[0036] The present invention also proposes a lawnmower control method, comprising:

[0037] Detect the tilt state of the lawnmower body;

[0038] Based on the tilt state, the height adjustment device of the corresponding outrigger of the lawnmower is controlled to adjust the height of the outrigger until the body of the lawnmower is kept horizontal.

[0039] The present invention also proposes a lawnmower control method, comprising:

[0040] Determine the distance between the left and right outriggers of the lawnmower when it is in operation;

[0041] When the lawnmower leaves the charging station and begins working, adjust the distance between the left and right outriggers.

[0042] In one embodiment of the present invention, the method further includes:

[0043] When a charging command is received or the lawnmower's voltage is below the recharge threshold;

[0044] Control the leg spacing adjustment device in the lawnmower outriggers to adjust the spacing between the left and right outriggers of the lawnmower so that the spacing between the two outriggers of the lawnmower matches the charging station;

[0045] Control the lawnmower to return to charging.

[0046] In one embodiment of the present invention, the distance between the left and right support legs of the lawnmower increases or decreases sequentially.

[0047] In one embodiment of the present invention, the distance between the left and right support legs of the lawnmower varies randomly.

[0048] This invention proposes a lawnmower and its control method. By installing support legs with height adjustment devices around the body of the lawnmower, and by individually controlling each height adjustment device through a control component, different support legs can be adjusted to different heights. During the operation of the lawnmower, when it encounters a slope or pit, the lawnmower body tilts. The control component can control the height adjustment device in the corresponding support leg according to the tilt state of the body, so that the lawnmower body remains horizontal, thereby ensuring that the mowing height of the lawnmower remains consistent.

[0049] This invention proposes a lawnmower and its control method. By setting out feet with leg spacing adjustment devices around the body of the mower, and by controlling each leg spacing adjustment device individually through a control component, during the return process of the lawnmower, the control component controls the leg spacing adjustment device to randomly adjust the walking wheels of the lawnmower to a certain width before returning to charge, so as to avoid repeated trampling on the lawn and causing indentations. Attached Figure Description

[0050] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0051] Figure 1 This is a schematic diagram of the structure of a lawnmower according to one embodiment of the present invention.

[0052] Figure 2 This is a schematic diagram of the structure of the lawnmower outrigger height adjustment device in one embodiment of the present invention.

[0053] Figure 3 This is a schematic diagram of the leg spacing adjustment device for a lawnmower outrigger in one embodiment of the present invention.

[0054] Figure 4 This is a schematic diagram of a lawnmower on a slope in one embodiment of the present invention.

[0055] Figure 5 This is a schematic diagram of a lawnmower in a pit according to one embodiment of the present invention.

[0056] Figure 6 This is a flowchart illustrating a lawnmower control method according to one embodiment of the present invention.

[0057] Figure 7 This is a flowchart illustrating a lawnmower control method according to another embodiment of the present invention.

[0058] Figure 8 This is a schematic diagram of the control process for the lawnmower to return to charging in one embodiment of the present invention.

[0059] Label Explanation:

[0060] Machine body 10; cutting tool 20; outriggers 30; control components 40; earthen slope 1; earthen pit 2; traveling wheel 301; height adjustment device 31; leg spacing adjustment device 32; fixed housing 311; telescopic housing 312; first motor 313; first lead screw 314; second motor 321; second lead screw 322; locking structure 33; limit hole 331; limit lead screw 332; locking motor 333; detection module 41; control module 42. Detailed Implementation

[0061] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0062] It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0063] Please see Figures 1 to 5 As shown, the present invention proposes a lawnmower and its control method. Specifically, the lawnmower 100 includes a body 10, blades 20, multiple support legs 30, and a control component 40. The blades 20 are installed at the bottom of the body 10. The lawnmower 100 is equipped with a drive device to drive the blades 20 to perform lawnmowing operations. The multiple support legs 30 are respectively installed on both sides of the bottom of the body 10, and wheels 301 are installed at the bottom of the support legs 30. The control component 40 is used to individually control and adjust the height of each support leg 30 and the width between the support legs 30 on both sides of the body 10.

[0064] Please see Figure 1As shown, in this embodiment, each of the walking wheels 301 is equipped with a drive motor and a reduction gearbox. The drive motor drives the walking wheel 301, and the power is transmitted to the walking wheel 301 through the transmission action of the reduction gearbox, so as to drive the walking wheel 301 to rotate. In this embodiment, the drive motor in each of the walking wheels 301 is controlled by the control component 40, and the walking wheels 301 are differentially driven through the control component 40 to realize the walking and turning of the lawnmower 100.

[0065] Please see Figures 1 to 3 As shown, in this embodiment, the outrigger 30 includes a height adjustment device 31. One end of the height adjustment device 31 is connected to the body 10, and the other end is connected to the walking wheel 301. The height adjustment device 31 is used to adjust the height of the outrigger 30 to ensure the mowing height of the lawnmower 100. In this embodiment, the outrigger 30 also includes a leg spacing adjustment device 32. One end of the leg spacing adjustment device 32 is connected to the height adjustment device 31, and the other end is connected to the body 10. That is, the height adjustment device 31 is connected to the body 10 through the leg spacing adjustment device 32. The leg spacing adjustment device 32 is used to adjust the spacing between the outriggers 30 on both sides of the bottom of the body 10.

[0066] Please see Figures 1 to 3 As shown, in this embodiment, the height adjustment device 31 includes a fixed housing 311, a telescopic housing 312, a first motor 313, and a first lead screw 314. The fixed housing 311 is connected to the body 10 via the leg spacing adjustment device 32. One end of the telescopic housing 312 is slidably installed inside the fixed housing 311, and the other end of the fixed housing 312 is connected to the walking wheel 301. The first lead screw 314 is installed inside the fixed housing 311 and the telescopic housing 311, and is fixedly connected to the telescopic housing 312. The first motor 313 is fixedly installed inside the fixed housing 311 and connected to the first lead screw 314 to drive the first lead screw 314 to move linearly along its axial direction, thereby causing the telescopic housing 312 to slide up and down inside the fixed housing 311 to change the height of the outrigger 30.

[0067] Please see Figures 1 to 3As shown, in this embodiment, the leg spacing adjustment device 32 includes a second motor 321 and a second lead screw 322. The second motor 321 is fixedly installed inside the machine body 10 and connected to the second lead screw 322 to drive the second lead screw 322 to move linearly along its axial direction. In this embodiment, one end of the second lead screw 322 is fixedly connected to the height adjustment device 31. Specifically, the second lead screw 322 is fixedly connected to the fixed housing 311. When the second motor 321 drives the second lead screw 322 to move along its axial direction, the second lead screw 322 drives the height adjustment device 31 to move left and right in the horizontal direction, thereby adjusting the spacing between the legs 30 on both sides of the machine body 10. In this embodiment, the first motor 313 and the second motor 321 are linear motors. In some other embodiments, the first motor 313 and the second motor 321 can also be lead screw motors.

[0068] Please see Figures 1 to 3 As shown, in this embodiment, the height adjustment device 31 and leg spacing adjustment device 32 in each outrigger 30 are electrically connected to the control component 40. Specifically, the control component 40 is electrically connected to the first motor 313 in each height adjustment device 31 and the second motor 321 in each leg spacing adjustment device 32, so that the height adjustment device 31 and leg spacing adjustment device 32 in each outrigger 30 can be controlled individually by the control component 40 to achieve height adjustment of each outrigger 30 and spacing between the outriggers 30 on both sides of the body 40.

[0069] It should be noted that after the leg spacing adjustment device 32 adjusts the spacing between the outriggers 30 on both sides of the machine body 40, it can be locked by the self-locking function of the lead screw itself, so that the outriggers 30 are fixed at the required height and width. Please refer to [link / reference]. Figures 1 to 3 As shown in this embodiment, in some other embodiments, a locking structure 33 may also be provided on the height adjustment device 31 and the leg spacing adjustment device 32. The locking structure 33 is used to lock the support leg 30 when the height adjustment device 32 adjusts the support leg 30 to the required height, and to lock the support leg 30 after the leg spacing adjustment device 32 adjusts the spacing between the support legs 30 on both sides of the body 40, so that the support leg 30 is fixed at the required height and width.

[0070] Please see Figures 1 to 3As shown, in this embodiment, the locking structure 33 includes a limiting hole 331, a limiting screw 332, and a locking motor 333. Specifically, in the height adjustment device 31, a plurality of limiting holes 331 are spaced apart along the axial direction of the first screw 314. The locking motor 333 is fixedly installed in the fixed housing 311. The limiting screw 332 is connected to the locking motor 333. The locking motor 333 drives the limiting screw 332 to move along its axial direction, so that the limiting screw 332 is inserted into the first screw 314. The leg spacing adjustment device 32 has multiple limiting holes 331 spaced apart along the axial direction of the second lead screw 322. The locking motor 333 is fixedly mounted on the machine body 10 and connected to the limiting lead screw 332. The locking motor 333 drives the limiting lead screw 332 to move axially, causing it to insert into the limiting holes 331 on the second lead screw 322, thus locking the leg spacing adjustment device 32. In this embodiment, the forward and reverse rotation of the motor directly drives the lead screw to move forward and backward, effectively improving the efficiency of leg height adjustment and leg spacing adjustment.

[0071] Please see Figures 1 to 3 As shown, in this embodiment, the control component 40 is also used to control the locking motor 333 to drive the limiting screw 332 to insert into the limiting hole 331, so as to lock the height adjustment device 31 and the leg spacing adjustment device 32.

[0072] Please see Figures 1 to 3 As shown, in some other embodiments, the height adjustment device 31 and / or the leg spacing adjustment device 32 may also be configured as electric push rods, which can be used to adjust the height and leg spacing of the outriggers 30.

[0073] Please see Figures 1 to 3 As shown, in this embodiment, in order to facilitate adjusting the distance between the support legs 30 on both sides of the body 10, a rotating device can also be provided between the height adjustment device 31 and the walking wheel 301. Specifically, the rotating device is connected to the telescopic housing 312 and the walking wheel 301 respectively. The rotating device drives the walking wheel 301 to rotate around the axis of the support leg 30 to change the direction of the walking wheel 301, so that the leg spacing adjustment device 32 can drive the support leg 30 to move left and right, thereby realizing the leg spacing adjustment.

[0074] Please see Figures 1 to 3As shown, in this embodiment, the control component 40 includes a detection module 41 and a control module 42. The detection module 41 and the control module 42 are electrically connected. The detection module 42 is used to detect the tilt state of the machine body 10. The control module 42 controls the height adjustment device 31 in the corresponding outrigger 30 according to the tilt state of the machine body 10 detected by the detection module 41, so as to adjust the height of the outrigger 30 and ensure that the machine body 10 always remains in a horizontal state. In this embodiment, the detection module 42 is, for example, a 9-axis motion processing chip. The control component 40 enables individual adjustment of the height of each outrigger of the machine body. In conjunction with the 9-axis motion processing chip, the height of the mowed grass is kept consistent even when the grass is uneven, making the lawn more aesthetically pleasing.

[0075] In one embodiment of this application, the lawnmower 100 further includes a positioning element, which includes, but is not limited to, a GPS component, a DGPS component, an RTK component, a SLAM component, etc. The lawnmower 100 determines its current position based on the positioning element and mows the lawn according to a predetermined working path. When the lawnmower detects that the body 10 has tilted, it records and marks the position information on the working path. When the lawnmower runs to this position again, the height or spacing of the outriggers can be adjusted in advance to avoid the lawnmower tilting.

[0076] Please see Figure 1 and Figure 6 As shown, in this embodiment, the present invention also proposes a lawnmower control method, the control method comprising:

[0077] S11. Detect the tilt state of the lawnmower body; specifically, the tilt state of the lawnmower body 10 is detected by the detection module 41.

[0078] S12. Based on the tilt state, control the height adjustment device of the corresponding outrigger of the lawnmower to adjust the height of the outrigger until the body of the lawnmower is kept horizontal. Specifically, the control module 42 controls the height adjustment device of the corresponding outrigger to adjust the height of the outrigger until the body of the lawnmower is kept horizontal based on the tilt state detected by the detection module 41.

[0079] Please see Figure 1 , Figures 4 to 6As shown, for example, when the left side of the lawnmower 100 passes over a slope or pit, the detection module 41 detects that the body 10 tilts upward or downward on the left side of the slope 1 or pit 2. It then notifies the control module 42 to control the height adjustment device 31 in the left outrigger 30 to lower the height of the left outrigger 30 until the body 10 remains horizontal. Alternatively, when the lawnmower 100 passes over the slope 1 or pit 2, the detection module 41 detects that the front side of the body 10 tilts upward or downward. It then notifies the control module 42 to control the height adjustment device 31 in the outrigger 30 to lower the height of the front outrigger 30 and / or raise the height of the rear outrigger 30 until the body 10 remains horizontal. This ensures that the height of the mowed grass remains consistent even on uneven lawns, making the lawn more aesthetically pleasing.

[0080] Please see Figure 1 and Figure 7 As shown, the present invention also proposes a lawnmower control method, the control method comprising:

[0081] S101. Determine the distance between the left and right outriggers of the lawnmower when it is working;

[0082] S102. When the lawnmower leaves the charging station and begins working, change the distance between the left and right outriggers of the lawnmower. That is, when the lawnmower is working, determine the distance between the outriggers 30 on both sides of the lawnmower, and when the lawnmower leaves the charging station to work, control and change the distance between the outriggers 30 on both sides of the lawnmower to achieve the distance between the left and right outriggers 30 when the lawnmower is working.

[0083] Please see Figure 1 and Figure 8 As shown, in this embodiment, the control method further includes:

[0084] S21. When a charging command is received or the lawnmower's voltage is lower than the recharge threshold;

[0085] S22. Control the leg spacing adjustment device in the lawnmower legs to adjust the spacing between the left and right legs of the lawnmower so that the spacing between the two legs matches the charging station. Specifically, when the control component 40 receives a charging command or detects that the lawnmower voltage is lower than the recharge threshold, the control component 40 controls the leg spacing adjustment device 32 to adjust the spacing between the legs 30 on both sides of the body 10 so that the spacing between the two legs 30 matches the charging station. It should be noted that in some embodiments, before adjusting the spacing between the legs 30 on both sides of the body 10, the control component 40 controls the rotating device 33 to change the direction of the walking wheels 301 so that the leg spacing adjustment device 32 can adjust the spacing of the legs 30. After the adjustment is completed, the control component 40 controls the rotating device to return the walking wheels 301 to their original direction. It should be noted that when a charging command is received or the lawnmower voltage is lower than the recharge threshold, the control component 40 controls the blades 20 to stop working before adjusting the leg spacing.

[0086] S23. Control the lawnmower to return to charging.

[0087] Please see Figure 1 and Figure 7 As shown, in this embodiment, the control method further includes: the distance between the left and right support legs of the lawnmower increases or decreases sequentially.

[0088] Please see Figure 1 and Figure 7 As shown, in this embodiment, the control method further includes: randomly varying the distance between the left and right outriggers of the lawnmower. The control component 40 controls the random variation of the distance between the left and right outriggers of the lawnmower 100 to avoid repeated trampling on the lawn and causing indentations. Before returning to the charging station, the lawnmower adjusts the outrigger height to its initial height for docking with the charging station.

[0089] This invention proposes a lawnmower and its control method. By installing support legs with height adjustment devices around the body of the lawnmower, and by individually controlling each height adjustment device through a control component, different support legs can be adjusted to different heights. During the operation of the lawnmower, when it encounters a slope or pit, the lawnmower body tilts. The control component can control the height adjustment device in the corresponding support leg according to the tilt state of the body, so that the lawnmower body remains horizontal, thereby ensuring that the mowing height of the lawnmower remains consistent.

[0090] This invention proposes a lawnmower and its control method. By setting out feet with leg spacing adjustment devices around the body of the mower, and by controlling each leg spacing adjustment device individually through a control component, during the return process of the lawnmower, the control component controls the leg spacing adjustment device to randomly adjust the walking wheels of the lawnmower to a certain width before returning to charge, so as to avoid repeated trampling on the lawn and causing indentations.

[0091] The above description is merely a preferred embodiment of this application and an explanation of the technical principles used. Those skilled in the art should understand that the scope involved in this application is not limited to the technical solutions formed by a specific combination of the above-mentioned technical features, but should also cover other technical solutions formed by any combination of the above-mentioned technical features or their equivalent features without departing from the inventive concept. For example, technical solutions formed by replacing the above-mentioned features with technical features with similar functions disclosed in this application (but not limited to) each other.

[0092] Apart from the technical features described in the specification, the other technical features are known to those skilled in the art. To highlight the innovative features of this invention, the other technical features will not be described in detail here.

Claims

1. A lawnmower, characterized in that, include: The machine body has blades installed at its bottom; Multiple support legs are disposed on both sides of the bottom of the fuselage, and each support leg is equipped with a wheel; the support legs include: A height adjustment device for adjusting the height of the outriggers, one end of which is connected to the body and the other end of which is connected to the walking wheel; A leg spacing adjustment device for adjusting the distance between the legs on both sides of the bottom of the fuselage, the leg spacing adjustment device being connected to the fuselage; A control component is installed inside the machine body and connected to the height adjustment device to control the height adjustment device of different outriggers to adjust the height of different outriggers so that the machine body remains horizontal, thereby keeping the cutting height of the blades consistent. When the lawnmower starts working or returns to charging, the control component controls the leg spacing adjustment device to adjust the spacing between the outriggers on both sides of the bottom of the machine body to avoid repeated trampling of the lawn.

2. The lawnmower according to claim 1, characterized in that, The height adjustment device in each of the outriggers is individually controlled and adjusted via the control assembly.

3. The lawnmower according to claim 1, characterized in that, The height adjustment device includes: Lead screw; An electric motor is connected to the lead screw to drive the lead screw to perform linear motion.

4. The lawnmower according to claim 3, characterized in that, The height adjustment device also includes a locking structure connected to the lead screw to fix the lead screw.

5. The lawnmower according to claim 4, characterized in that, The locking structure includes: A plurality of limiting holes are provided at intervals along the axial direction of the lead screw; Limit screw; A locking motor is connected to the limiting screw and drives the limiting screw to move linearly, so as to insert into or withdraw from the limiting hole.

6. The lawnmower according to claim 4, characterized in that, The height adjustment device further includes: a fixed housing, which is connected to the machine body, and the motor is installed inside the fixed housing; A telescopic housing is fixedly connected to the lead screw, and the traveling wheels are installed at the bottom of the telescopic housing. The motor drives the lead screw to move up and down to cause the telescopic housing to slide up and down within the fixed housing.

7. The lawnmower according to claim 1, characterized in that, The control component includes a detection module for detecting the tilt state of the fuselage, the detection module being installed inside the fuselage.

8. A lawnmower, characterized in that, include: The machine body has blades installed at its bottom; Multiple support legs are disposed on both sides of the bottom of the fuselage, and each support leg is equipped with a wheel; the support legs include: A leg spacing adjustment device for adjusting the distance between the legs on both sides of the bottom of the fuselage, the leg spacing adjustment device being connected to the fuselage; A control component is installed inside the body and electrically connected to the leg spacing adjustment device. When the lawnmower starts working or returns to charging, the control component controls the leg spacing adjustment device to adjust the spacing between the legs on both sides of the bottom of the body to avoid repeated trampling of the lawn.

9. The lawnmower according to claim 8, characterized in that, The leg spacing adjustment device in each of the outriggers is individually controlled and adjusted by the control component.

10. The lawnmower according to claim 8, characterized in that, The leg spacing adjustment device includes: Lead screw; An electric motor is connected to the lead screw to drive the lead screw to perform linear motion.

11. The lawnmower according to claim 10, characterized in that, The leg spacing adjustment device also includes a locking structure, which is connected to the lead screw to fix the lead screw.

12. The lawnmower according to claim 11, characterized in that, The locking structure includes: A plurality of limiting holes are provided at intervals along the axial direction of the lead screw; Limit screw; A locking motor is connected to the limiting screw and drives the limiting screw to move linearly, so as to insert into or withdraw from the limiting hole.

13. A lawnmower control method, characterized in that, Applied to the lawnmower of claim 1, the method comprises: Detect the tilt state of the lawnmower body; Based on the tilt state, the height adjustment device of the outrigger corresponding to the lawnmower is controlled to adjust the height of the outrigger until the body of the lawnmower is kept horizontal. When the lawnmower starts working or returns to charging, adjust the distance between the outriggers on both sides of the bottom of the machine to avoid repeatedly rolling over the lawn.

14. A lawnmower control method, characterized in that, Applied to the lawnmower of claim 8, the method comprises: Determine the distance between the left and right outriggers of the lawnmower when it is in operation; When the lawnmower leaves the charging station and begins working, adjust the distance between the left and right outriggers.

15. The lawnmower control method according to claim 14, characterized in that, The method further includes: When a charging command is received or the lawnmower's voltage is below the recharge threshold; Control the leg spacing adjustment device in the lawnmower outriggers to adjust the spacing between the left and right outriggers of the lawnmower so that the spacing between the two outriggers of the lawnmower matches the charging station; Control the lawnmower to return to charging.

16. The lawnmower control method according to claim 14, characterized in that, The distance between the left and right outriggers of the lawnmower increases or decreases sequentially.

17. The lawnmower control method according to claim 14, characterized in that, The distance between the left and right outriggers of the lawnmower varies randomly.

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