Robotic lawn mower with enhanced cutting performance

Abstract

The present disclosure relates to a robotic lawn mower (100) having a first end portion (101) and a second end portion (102) and comprising a body (140), at least two drive wheels (130a, 130b), at least one steerable wheel (131a, 131b), a rotatable mowing deck (160) having a rotation axis (152), and at least two electric motor arrangements (150, 165). The at least two drive wheels (130a, 130b) have a drive wheel axis (145) having a center (146) and are drivably connected to a first electric motor arrangement (150), wherein the at least one steerable wheel (131a, 131b) has a corresponding steering axis (153, 154). A steering attachment axis (151) extending through the at least one steering axis (153, 154) and parallel to the drive wheel axis (145) is located between the second end portion (102) and the drive wheel axis (145). The mowing deck (160) is drivably connected to a second electric motor arrangement (165), wherein the mowing deck (160) is at least partially located between the steering attachment axis (151) and the second end portion (102).

Description

Technical Field

[0001] This disclosure relates to a robotic lawn mower suitable for operation within a specific operating area. The robotic lawn mower includes a body, at least two drive wheels, at least one rotatable wheel, a control unit adapted to control the operation of the robotic lawn mower, a rotatable mowing disc having a rotation axis, and at least two electric motors. Background Technology

[0002] Robotic lawn mowers, such as robotic lawn mowers, are becoming increasingly popular. These mowers are typically powered by rechargeable batteries and are designed to automatically cut grass on a user's lawn. They can automatically recharge without user intervention and require no manual management after the initial setup.

[0003] In common applications in work areas such as gardens, parks, sports fields, and golf courses, the work area is enclosed by a boundary line to keep the robotic lawnmower within the designated area. Electrical control signals can be transmitted through the boundary line, generating a (electro)magnetic field emanating from it. The robotic work tool is typically equipped with one or more sensors suitable for sensing these control signals.

[0004] Alternatively, or as a supplement, robotic lawn mowers can be equipped with a navigation system adapted for satellite navigation using GPS (Global Positioning System) or some other Global Navigation Satellite System (GNSS), such as using Real-Time Kinematics (RTK) technology.

[0005] A problem associated with robotic lawnmowers is their often limited ability to cut grass close to objects and boundaries. That is, the cutting unit is typically located under the mower body, and parts of the mower body and / or wheels attached to it may obstruct the cutting unit from reaching grass close to objects and boundaries. If this is the case, the cutting results will be compromised, as grass may remain uncut near objects such as trees, stones, furniture, and building walls.

[0006] Another issue associated with robotic lawn mowers is their limited ability to cut relatively long grass, as they also have a limited ground clearance for safety reasons.

[0007] Therefore, it is desirable to provide an apparatus and method for cutting grass close to objects and boundaries, and for cutting relatively long grass. Summary of the Invention

[0008] The purpose of this disclosure is to provide an apparatus and method for cutting grass close to objects and boundaries and for cutting relatively long grass.

[0009] This objective is achieved by means of a robotic lawnmower having a first end portion and a second end portion. The robotic lawnmower includes: a body; at least two drive wheels; at least one rotatable wheel; a control unit adapted to control the operation of the robotic lawnmower; a rotatable mowing disc having a rotation axis; and at least two electric motor units. The at least two drive wheels have drive wheel axes having a center, and the at least two drive wheels are drivably connected to the first electric motor unit, wherein the at least one rotatable wheel has a corresponding rotation axis. A rotation attachment axis extending through the at least one rotation axis and parallel to the drive wheel axis is located between the second end portion and the drive wheel axis. The mowing disc is drivably connected to the second electric motor unit, wherein the mowing disc is at least partially located between the rotation attachment axis and the second end portion.

[0010] In this way, the mowing disc is positioned such that it can move laterally in an arc when the drive wheel is driven by the first electric motor in different directions of rotation. This allows the mowing disc to reach positions relatively close to the edge.

[0011] According to some sources, when the rotation axis passes through the mowing disc, the rotation axis is located between the swivel attachment axis and the second end portion.

[0012] In this way, the mowing disc is positioned such that it can move laterally in an arc when the drive wheel is driven by the first electric motor in different directions of rotation.

[0013] According to some aspects, the control unit is adapted to control the robotic lawnmower to move toward a boundary, such that a first end portion approaches the boundary and determines whether the distance to the boundary meets a certain condition. When the condition is met, the control unit is adapted to stop the robotic lawnmower and control the drive wheels to turn in opposite directions, such that a second end portion of the robotic lawnmower moves in an arc along a cutting arc, enabling the mowing disc to cut the grass within the cutting arc.

[0014] In this way, grass that is relatively close to the boundary can be cut.

[0015] According to some sources, the center of the cutting arc is located along the drive wheel axis. According to others, the center of the cutting arc is located at the center of the drive wheel axis.

[0016] This means that circumferential movement can be easily achieved by turning the drive wheels in different directions.

[0017] According to some aspects, the boundary is in the form of a boundary line defining the operating area of ​​the robotic lawn mower, wherein the control unit is adapted to stop the robotic lawn mower (when the robotic lawn mower is on the boundary line). A condition involves that the distance between the determined boundary line and the robotic lawn mower is less than a first threshold.

[0018] According to some aspects, the boundary is the form of the object, where the cutting arc has the closest arc portion to the object, where the condition involves that the distance between the determined object and the robotic lawn mower is less than a second threshold.

[0019] Obviously, boundaries can take many forms, but they can still cut grass that is relatively close to the boundary.

[0020] According to some aspects, the cutting arc has an angular extension range of more than 180°, wherein the control unit is adapted to control the robotic lawn mower to continue moving when the center of the second end portion follows the extension of the cutting arc to reach the end of the cutting arc.

[0021] This means the robotic lawnmower will continue moving away from the boundary at an angle to its initial approach angle. This, in turn, allows the robotic lawnmower to repeat the above process in an arc-shaped motion, enabling it to cut the continuous grass edges near the boundary. This can be combined with cutting the remaining grass on the lawn.

[0022] According to some aspects, the robotic lawn mower also includes: a first arc-shaped protective wall extending at least partially along a second end portion; and at least one other arc-shaped protective wall. These protective walls extend from the body toward the ground during normal operation and are radially spaced apart.

[0023] Given the location of the mowing disc, the protective wall protects people and animals near the second end section from injury during normal operation.

[0024] According to some aspects, the protective walls at least primarily follow corresponding protective wall arcs, wherein all protective wall arcs share a common center. According to some aspects, this common center is the center of the drive wheel axis.

[0025] In this way, the grass will not bend when moving between the protective walls during arc-shaped movements.

[0026] According to some aspects, at least primarily following the corresponding protective wall arc, the arcuate extension of at least one protective wall includes a tapered end portion.

[0027] This allows the grass to easily separate between the protective walls when making arc-shaped movements.

[0028] According to some aspects, the second electric motor is positioned closer to the drive wheel axis than the axis of rotation. In this way, the weight of the second electric motor is positioned closer to the drive wheel, which will provide enhanced traction.

[0029] According to some aspects, the robotic lawn mower is suitable for use in both forward and backward directions, wherein a first end portion faces the forward direction and a second end portion faces the backward direction.

[0030] In this way, when the protective wall is located at the second end portion, relatively tall grass can enter between the robotic lawnmower and the ground without bending, or only slightly bending, before reaching the mowing disc. This is advantageous because it allows for more efficient grass cutting and can be achieved by positioning the mowing disc relatively close to the second end portion.

[0031] According to some aspects, a robotic lawn mower includes a cutting disc assembly, wherein the cutting disc assembly includes a cover portion, which in turn includes cutting holes. The cover portion is located between the mowing disc and the ground during normal operation and, during normal operation, at least primarily covers the ground-facing side of the mowing disc.

[0032] This provides enhanced protection for the cutting blade.

[0033] In some respects, the cutting disc device is movable, allowing the distance between the cutting disc and the ground to be adjusted.

[0034] This provides enhanced control over the cutting height of the grass.

[0035] According to some aspects, the front portion includes a housing wall that at least partially surrounds the cutting disc.

[0036] This provides enhanced protection for the cutting blade.

[0037] According to some aspects, the cutting disc device also includes one or more protective walls that extend at least partially along the second end portion, wherein the protective walls extend from the body toward the ground during normal operation and are radially spaced apart.

[0038] This provides enhanced protection for the cutting blade.

[0039] Depending on some aspects, one or more protective walls are divided into two parts, which are separated by a mowing disc and its covering portion.

[0040] In this way, the protective wall and the cutting disc device become one unit.

[0041] According to some aspects, the control unit is adapted to control the second electric motor device to rotate the mowing disc in a first rotational direction and in a second rotational direction opposite to the first rotational direction. The control unit is also adapted to control the second electric motor device to rotate the mowing disc to a maximum extent in a rotational direction consistent with the current mowing direction, at which point the mowing disc is closest to the second end portion.

[0042] This provides improved cutting results and less clogging.

[0043] This disclosure also relates to methods associated with the above advantages.

[0044] Generally, all terms used in the claims will be interpreted according to their ordinary meaning in the art, unless otherwise expressly stated herein. All references to “a / an / the element, device, component, apparatus, step, etc.” will be interpreted openly as referring to at least one instance of that element, device, component, apparatus, step, etc., unless otherwise expressly stated. The steps of any method disclosed herein need not be performed in the exact order disclosed, unless expressly stated. Other features and advantages of this disclosure will become apparent upon review of the appended claims and the following description. Those skilled in the art will recognize that the various features of this disclosure can be combined to produce embodiments other than those described below without departing from the scope of this disclosure. Attached Figure Description

[0045] This disclosure will now be described in more detail with reference to the accompanying drawings, in which:

[0046] Figure 1 A top view of a robotic lawn mower is shown.

[0047] Figure 2 A bottom view of the robotic lawn mower is shown.

[0048] Figure 3 A side-view stereoscopic bottom view of a robotic lawn mower is shown;

[0049] Figure 4 This shows a magnified side stereoscopic bottom view of the robotic lawn mower;

[0050] Figure 5 A side view of a robotic lawn mower is shown.

[0051] Figure 6 A schematic diagram illustrating the movement patterns of a robotic lawn mower is shown.

[0052] Figure 7 A schematic diagram of the control unit is shown;

[0053] Figure 8The computer program product is shown;

[0054] Figure 9 A flowchart of the method according to this disclosure is shown;

[0055] Figure 10 A perspective bottom view of the front section of a robotic lawn mower is shown, with the cutting disc assembly in a first position; and

[0056] Figure 11 A three-dimensional bottom view of the front section of the robotic lawn mower is shown, with the cutting disc assembly in the second position. Detailed Implementation

[0057] Various aspects of this disclosure will be described more fully below with reference to the accompanying drawings. However, the different apparatuses, systems, computer programs, and methods disclosed herein can be implemented in many different forms and should not be construed as being limited to the aspects set forth herein. Like reference numerals in the drawings consistently refer to the same elements.

[0058] The terminology used herein is for the purpose of describing various aspects of this disclosure only and is not intended to limit this disclosure. As used herein, unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well.

[0059] Figure 1 A top view of the robotic lawn mower 100 is shown. Figure 2 A bottom view of the robotic lawn mower 100 is shown. Figure 3 A side perspective perspective bottom view of a robotic lawn mower is shown. The robotic lawn mower 100 has a first end portion 101 and a second end portion 102, and is adapted for a forward travel direction F and a backward travel direction R. According to some aspects, the first end portion 101 faces the forward travel direction F, and the second end portion 102 faces the backward travel direction R. The robotic lawn mower 100 includes a body 140, at least two drive wheels 130a, 130b, at least one rotatable wheel 131a, 131b, a control unit 110 adapted to control the operation of the robotic lawn mower 100, a rotatable mowing disc 160 having a rotation axis 152, and at least two electric motor devices 150, 165 (in... Figure 2 (Shown only schematically). At least one rotatable wheel has a corresponding axis of rotation 153, 154.

[0060] According to some aspects, as shown in this example, the robotic lawnmower 100 includes four wheels: two larger drive wheels 130a and 130b and two smaller swivel wheels 131a and 131b, which are in the form of casters and are configured to rotate about corresponding axes of rotation 153 and 154 when the robotic lawnmower 100 turns. For this purpose, the swivel wheels 131a and 131b are connected to the body 140 by means of corresponding swivel wheel retainers 158a and 158b, wherein, according to some aspects, the swivel wheel retainers 158a and 158b rotate relative to the body and are fixed relative to the swivel wheels 131a and 131b. Of course, the opposite situation can be contemplated.

[0061] The robotic lawnmower 100 can be a multi-chassis type or a single-chassis type. A multi-chassis type includes more than one body section that can move relative to each other. A single-chassis type includes only one body section. In this exemplary embodiment, the robotic lawnmower 100 is a single-chassis type, having a body section 140. The body section 140 substantially houses all the components of the robotic lawnmower 100.

[0062] The robotic lawn mower 100 also includes at least one rechargeable power source, such as a battery 155 (in Figure 1 (Shown only schematically) for supplying power to electric motor units 150, 165. Battery 155 is configured to be charged by means of charging current received from a charging station via charging skids 156 or other suitable charging connectors. Inductive charging by means of electrical contact only, without current contact, is also conceivable. The battery typically includes a rechargeable power supply 155 comprising one or more cells that can be arranged separately or integrally to form a combined battery.

[0063] According to some aspects, the robotic lawn mower 100 may also include at least one navigation sensor device 175 and / or at least one line sensor 173 (in Figure 1 (Illustrated only). In one embodiment, navigation sensor device 175 includes one or more sensors for inferring navigation. Examples of sensors used for inference calculations include odometers, accelerometers, gyroscopes, and compasses, to name just a few. Depending on some aspects, navigation sensor device 175 may include satellite navigation sensors, such as GPS (Global Positioning System) devices or other Global Navigation Satellite System (GNSS) devices, for example using real-time kinematics (RTK) technology.

[0064] Line sensor 173 is adapted to sense boundary line control signals, and / or at least one environmental detection device 170, 171 is adapted to detect objects. In this example, radar transceivers 170, 171 are provided, and are adapted to transmit signals and receive reflected signals reflected by objects. Other environmental detection devices, such as camera devices, ultrasonic devices, and lidar devices, are conceivable as alternatives or in any suitable combination.

[0065] The control unit 110 is adapted to control the environmental detection devices 170, 171 and / or the line sensor 173, based on information obtained by means of the environmental detection devices 170, 171 and / or the line sensor 173, and to control the speed and direction of the robotic lawn mower 100 when the robotic lawn mower 100 is moving.

[0066] Drive wheels 130a and 130b have a drive wheel axis 145 with a center 146, and the drive wheels are drivably connected to a first electric motor device 150. A gyration attachment axis 151, extending through at least one gyration axis 153 and 154 and parallel to the drive wheel axis 145, is located between the second end portion 102 and the drive wheel axis 145. This means that the maximum first axial distance d1 between the gyration attachment axis 151 and the second end portion 102 is less than the maximum second axial distance d2 between the drive wheel axis 145 and the second end portion 102.

[0067] According to some aspects, at least two drive wheels 130a, 130b form a pair of drive wheels, the pair of drive wheels having a drive wheel axis 145, the drive wheel axis having a center 146 located between the pair of drive wheels 130a, 130b.

[0068] The first electric motor assembly 150 is adapted to drive the drive wheels 130a and 130b in the same direction of rotation or at different speeds in different directions of rotation. According to some aspects, the first electric motor assembly 150 includes two independent electric motors, and according to some other aspects, each such electric motor is mounted on the corresponding drive wheel 130a and 130b, for example, mounted in the hub of the corresponding drive wheel.

[0069] The mowing disc 160 is drivably connected to a second electric motor device 165, which in this example is a cutting motor. According to some aspects, the mowing disc 160 includes a plurality of cutting blades 157; in this example, three cutting blades 157 are shown (in...). Figure 2 Only one is shown in the image.

[0070] According to this disclosure, the mowing disc 160 is at least partially located between the gyroattachment axis 151 and the second end portion 102. This means that at least some portions of the mowing disc 160 are positioned closer to the second end portion 102 than any portion of the gyroattachment axis 151.

[0071] In this way, the mowing disc 160 is positioned such that when the drive wheels 130a and 130b are driven by the first electric motor 150 in different rotational directions, the mowing disc can move laterally in an arc.

[0072] According to some aspects, when the rotation axis 152 passes through the mowing disc 160, the rotation axis 152 is located between the rotatable attachment axis 151 and the second end portion 102. In this way, the mowing disc 160 can easily follow the movement of the second end portion 102, especially when the drive wheels 130a, 130b are driven by the first electric motor device 150 in different rotational directions.

[0073] The following section will describe examples of the advantages of the layout of the rotation axis 152 of the lawn mower 160.

[0074] Based on some aspects, and referring to Figure 6 The control unit 110 is adapted to control the robotic lawnmower 100a to move toward the boundaries 182, 220 in the forward direction F of the robotic lawnmower 100, so that the first end portion 101 approaches the boundaries 182, 220, and to determine whether the distance to the boundaries 182, 220 meets a condition. When the condition is met, the control unit 110 is adapted to stop the robotic lawnmower 100b and control the drive wheels 130a, 130b to turn in opposite directions, so that the second end portion 102 of the robotic lawnmowers 100c, 100d moves in an arc along the cutting arc 210, so that the mowing disc 160 can cut the grass within the cutting arc 210. Thus, Figure 6 The images show robotic lawnmowers 100a, 100b, 100c, 100d, and 100e located at multiple different locations at different times.

[0075] In this way, grass that is relatively close to the boundary can be cut.

[0076] According to some aspects, the boundary is in the form of a boundary line 220 defining the operating area of ​​the robotic lawnmower 100, wherein the control unit 110 is adapted to stop the robotic lawnmower 100b when it is located on the boundary line 220. The robotic lawnmower 100b is then positioned at a distance from the edge of the lawn 139, and the boundary line 220 is also positioned at a distance from the edge of the lawn 139. This distance is suitable to enable the robotic lawnmowers 100c and 100d to cut grass up to the edge of the lawn 139 during arc-shaped movements, with the cutting arc 210 having a closest arc portion 211 to the edge of the lawn 139. In this example, the condition involves that the distance between the determined boundary line 220 and the robotic lawnmower 100 is less than a first threshold. This means that some predetermined reference points of the robotic lawnmower 100 are less than a second threshold, such as the line sensor 173.

[0077] According to some aspects, the boundary is in the form of object 182, and then the robotic lawnmower 100b is located at a certain distance from object 182, a distance suitable for cutting grass up to object 182 when the robotic lawnmowers 100c and 100d make arc-shaped movements, with the cutting arc 210 having the closest arc portion 211 to object 182. In this example, the condition involves that the determined distance between object 182 and robotic lawnmower 100 is less than a second threshold. This means that some predetermined reference points of robotic lawnmower 100 are less than the second threshold, such as at least one environmental detection device 170, 171.

[0078] According to some aspects, the conditions involve contact between the robotic lawnmower 100 and the object 182, which can be detected, for example, by a collision sensor and / or a radar transceiver 170 and / or a camera device.

[0079] It should be understood that Figure 6 The examples illustrate both the case where the boundary is in the form of a boundary line 220 and the case where the boundary is in the form of an object 182. Thus, the boundary can take many forms, and based on the above, it still allows for relatively close-range cutting of grass by means of an arc-shaped movement using a robotic lawnmower 100.

[0080] According to some aspects, the object may be in the form of a lawn edge 139. According to some aspects, the object may be detected individually by environmental detection devices 170, 171 or navigation sensor device 175, which may include a satellite navigation sensor, or in any suitable combination. This means that, for example, the lawn edge 139 may be detected individually by means of line sensor 173, environmental detection devices 170, 171 or navigation sensor device 175, or in combination thereof.

[0081] According to some aspects, the center 159 of the cutting arc 210 is positioned along the drive wheel axis 145. According to others, the center 159 of the cutting arc 210 is located in the center 146 of the drive wheel axis 145. This is the case when the drive wheels 130a and 130b are driven by the first electric motor 150 in different directions of rotation at the same rotational speed. Of course, this should not be interpreted literally, as small deviations can occur due to motor inaccuracies, uneven ground, uneven ground contact, and uneven ground friction. The same speed and the center 159 of the cutting arc 210 being located in the center 146 of the drive wheel axis 145 should be interpreted according to what is expected and practically achievable, rather than according to a mathematically precise meaning.

[0082] According to some aspects, the cutting arc 210 has an angular extension range of over 180°. The control unit 110 is adapted to control the robotic lawnmower 100e to continue moving forward when the center 106 of the second end portion (which, in some respects, constitutes the final point) reaches the end 212 of the cutting arc 210 following its extension. This means that the robotic lawnmower 100e will continue moving away from the boundaries 182, 220 at an angle relative to the initial approach angle. This, in turn, allows the robotic lawnmower 100 to repeat the above process and move in an arc, enabling it to cut the continuous grass edges close to the boundaries 182, 220. This can be combined with cutting the remaining grass on the lawn.

[0083] Depending on some aspects, the lawnmower 100 can be adapted to be set to a mode that cuts only the continuous grass edges near the boundaries 182, 220, without cutting the rest of the lawn during this time. This mode can be selected by the user.

[0084] Based on some aspects, and also referring to Figure 4 and Figure 5 The robotic lawn mower 100 further includes: a first arcuate protective wall 141 extending at least partially along a second end portion 102; and at least one other arcuate protective wall 142, 143, 144 extending from the body 140 toward the ground G during normal operation, the protective walls 141, 142, 143, 144 being radially spaced apart.

[0085] In this example, there are four protective walls 141, 142, 143, and 144, which are respectively the first protective wall 141, the second protective wall 142, the third protective wall 14, and the fourth protective wall 144. Since the mowing disc 160 is at least partially located between the slewing attachment axis 151 and the second end portion 102, and according to some aspects, when the slewing axis 152 passes through the mowing disc 160, the slewing attachment axis 152 is located between the slewing attachment axis 151 and the second end portion 102, the protective walls 141, 142, 143, and 144 protect people and animals near the second end portion 102 from harm during normal operation.

[0086] There is a first distance h1 between the first protective wall 141 and the ground G, which naturally varies slightly during operation. There is a second distance h2 between the first end portion 101 and the ground G, which also naturally varies slightly during operation. In this example, the first distance h1 is smaller than the second distance h2, and with the first end portion 101 facing the forward direction of travel F, this means that relatively tall grass may not bend, or only bend slightly, when it enters the space between the robotic lawnmower 100 and the ground G before reaching the mowing disc 160. The rebound effect used to bend the grass may require additional distance, and thus additional time to bend back.

[0087] This is advantageous because it allows for more efficient grass cutting, and can be achieved by positioning the mowing disc 160 relatively close to the second end portion 102, wherein the mowing disc 160 is protected by means of protective walls 141, 142, 143, 144.

[0088] According to some aspects, protective walls 141, 142, 143, and 144 are partially located between the mowing disc 160 and the ground G during normal operation. In this way, the mowing disc 160 can reach the second end portion 102 during normal operation, while people and animals near the second end portion 102 are also protected from harm.

[0089] According to some aspects, protective walls 141, 142, 143, and 144 at least primarily follow corresponding protective wall arcs 141a, 142a, 143a, and 144a, wherein all protective wall arcs 141a, 142a, 143a, and 144a have a common center 146. According to some aspects, the common center 146 is the center of the drive wheel axis 145. In this way, the grass does not bend when moving between protective walls 141, 142, 143, and 144 during arcuate movement. According to some aspects, protective walls 141, 142, 143, and 144 are radially spaced relative to the common center.

[0090] According to some aspects, at least one of the protective walls 141, 142, 143, which primarily follows the corresponding protective wall arcs 141a, 142a, 143a, 144a, has arcuate extensions comprising tapered end portions 147, 148, 149. This means that the arcuate ends of at least one protective wall 141, 142, 143 have tapered end portions 147, 148, 149. In this example, this is the case for the first three protective walls 141, 142, 143, and allows the grass to be easily separated between the protective walls 141, 142, 143, 144 during arcuate movement.

[0091] It should be noted that, according to some aspects, the rotation axis 152 can be tilted towards the ground G by a mowing disc incident angle, which constitutes an approach angle α. This tilt improves the cutting result, bringing the mowing disc 160 closer to the ground G, wherein the mowing disc 160 faces the forward travel direction F. With the first end portion 101 facing the forward travel direction F and the second end portion 102 facing the backward travel direction R, there is an advantage because the first distance h1 between the first protective wall 141 and the ground G can be increased.

[0092] It should be noted that the positions of all reference rotation axes 152 are intended to be taken into account when the rotation axis 152 passes through the mowing disc 160.

[0093] According to some aspects, the second electric motor assembly 165 is positioned closer to the drive wheel axis 145 than the rotation axis 152. In this way, the weight of the cutting motor 165 is positioned closer to the drive wheels 130a, 130b, which will provide enhanced traction. In this case, some power transmission device is needed to transmit rotational power from the cutting motor 165 to the mowing disc 160. Such a power transmission device may be, for example, in the form of a drive belt, drive chain, or gear drive.

[0094] refer to Figure 9 This disclosure also relates to a method for controlling a robotic lawnmower 100, the robotic lawnmower having: a first end portion 101; a second end portion 102; at least two drive wheels 130a, 130b having drive wheel axes 145 having a center 146, and the at least two drive wheels being drivably connected to a first electric motor assembly 150; and at least one rotatable wheel 131a, 131b having corresponding rotation axes 153, 154. A rotation attachment axis 151 extending through at least one rotation axis 153, 154 and parallel to the drive wheel axis 145 is located between the second end portion 102 and the drive wheel axis 145. The robotic lawnmower 100 also has a rotatable mowing disc 160, which is at least partially located between the rotation attachment axis 151 and the second end portion 102.

[0095] The method includes controlling the robotic lawnmower 100a to move toward boundaries 182, 220, such that the first end portion 101 approaches the boundaries 182, 220, and determining whether the distance from S200 to the boundaries 182, 220 meets a condition. When the condition is met, the method includes stopping the robotic lawnmower 100b for S300, and controlling the drive wheels 130a, 130b to turn in opposite directions for S400, such that the second end portion 102 of the robotic lawnmowers 100c, 100d moves in an arc along the cutting arc 210, allowing the mowing disc 160 to cut the grass within the cutting arc 210.

[0096] According to some aspects, when the rotation axis 152 passes through the mowing disc 160, the rotation axis 152 is located between the rotatable attachment axis 151 and the second end portion 102.

[0097] According to some aspects, the cutting arc 210 has an angular extension range of more than 180°, wherein the method includes controlling the S500 robot lawn mower 100e to continue moving after the center 106 of the second end portion follows the extension of the cutting arc 210 to reach the end 212 of the cutting arc 210.

[0098] According to some aspects, the boundary is in the form of a boundary line 220 that defines the operating area of ​​the robotic lawn mower 100, wherein the robotic lawn mower 100 is stopped S300 when it is located on the boundary line 220, wherein the condition involves that the distance between the determined boundary line 220 and the robotic lawn mower 100 is less than a first threshold.

[0099] According to some aspects, the boundary is in the form of object 182, wherein the cutting arc has the closest arc portion 211 to object 182, wherein the condition involves that the distance between the determined object 182 and the robotic lawn mower 100 is less than a second threshold.

[0100] According to some aspects, the conditions involve contact between the robotic lawnmower 100 and the object 182, which can be detected, for example, by a collision sensor and / or a radar transceiver 170 and / or a camera device.

[0101] According to some aspects, the cutting arc 210 has an angular extension range of more than 180°, wherein the control unit 110 is adapted to control the robotic lawn mower 100e to continue moving when the center 106 of the second end portion reaches the end 212 of the cutting arc 210 along the extension of the cutting arc 210.

[0102] According to some aspects, the method includes using at least one line sensor 173 to sense boundary line control signals and / or using at least one environmental detection device 170, 171 to detect object 182.

[0103] According to some aspects, the robotic lawn mower 100 is used in a forward direction F and a backward direction R, wherein a first end portion 101 faces the forward direction F and a second end portion 102 faces the backward direction R.

[0104] exist Figure 7 The diagram schematically illustrates components of a control unit 110 according to the embodiment discussed herein, in terms of multiple functional units. The processing circuitry 115 is provided using any combination of one or more suitable central processing units (CPUs, multiprocessors, microcontrollers, digital signal processors, DSPs, etc.) capable of executing software instructions stored in a computer program product (e.g., in the form of storage medium 120). The processing circuitry 115 may also be configured as at least one application-specific integrated circuit (ASIC) or field-programmable gate array (FPGA). Thus, the processing circuitry includes multiple digital logic components.

[0105] Specifically, the processing circuitry 115 is configured to cause the control unit 110 to perform a set of operations or steps to control the operation of the robotic lawnmower 100, including but not limited to controlling the radar transceiver 170, processing measurement results received via the radar transceiver 170, and propelling the robotic lawnmower 100. For example, the storage medium 120 may store a set of operations, and the processing circuitry 115 may be configured to retrieve the set of operations from the storage medium 120 to cause the control unit 110 to execute the set of operations. The set of operations may be set as a set of executable instructions. Thus, the processing circuitry 115 is configured to perform at least some portions of the methods disclosed herein.

[0106] Storage medium 120 may also include permanent memory, for example, which may be any one or a combination of magnetic memory, optical memory, solid-state memory or even remotely mounted memory.

[0107] According to some aspects, the control unit 110 also includes an interface 112 for communicating with at least one external device, such as a user terminal. Therefore, the interface 112 may include one or more transmitters and receivers, including analog and digital components and a suitable number of ports for wired communication. The interface 112 may be adapted to communicate with other devices, such as remote servers, charging stations, and / or other robotic tools. Examples of such wireless communication devices are... (IEEE 802.11b), Global System for Mobile Communications (GSM), and LTE (Long Term Evolution) are just a few examples. This means that, depending on some aspects, other units such as remote servers are suitable for partially implementing the methods disclosed herein.

[0108] Figure 8 A computer program product 400 is shown, including computer-executable instructions 410 stored on a medium 420 to perform any of the methods disclosed herein.

[0109] This disclosure is not limited to the foregoing, but can be freely varied within the scope of the appended claims. For example, the first end portion 101 may face the rearward travel direction R, and the second end portion 102 may face the forward travel direction F.

[0110] End portions 101 and 102 are shown as arcuate portions facing either the forward direction of travel F or the backward direction of travel R, wherein, according to some aspects, a first arcuate protective wall 141 constitutes the second end portion 102. According to some aspects, end portions 101 and 102 may be defined as the foremost and rearmost points of the robotic lawnmower 100. According to some aspects, the first end portion 101 is opposite to the second end portion 102, and each end portion faces the direction of travel.

[0111] According to some aspects, the slewing attachment axis 151 is connected to the point extension of the body 140 via slewing wheels 131a, 131b by means of corresponding slewing wheel retainers 158a, 158b.

[0112] According to some aspects, the robotic lawnmower 100 includes at least one protective wall that extends at least partially along or adjacent to the second end portion 102 and extends from the body 140 toward the ground G during normal operation. The protective wall may be straight and / or curved, or have any other suitable shape. In this context, "adjacent" means close to the second end portion 102, such that the protective wall provides protection against damage from the cutting blades 157 of the mowing disc 160 as it approaches the second end portion 102.

[0113] Because the mowing disc 160 is at least partially located between the swivel attachment axis 151 and the second end portion 102, and according to some aspects, when the rotation axis 152 passes through the mowing disc 160, the rotation axis 152 is located between the swivel attachment axis 151 and the second end portion 102, at least one protective wall protects people and animals near the second end portion 102 from harm during normal operation. This means that only one protective wall is required in this example, and the protective wall can have any suitable shape and does not need to be curved.

[0114] Specifically, in the case of two or more protective walls 141, 142, 143, 144, it is desirable to avoid clogging of the protective walls 141, 142, 143, 144 and improve cutting quality. When the robotic lawn mower 110 is running, the cutting performance differs depending on whether the mowing disc 160 rotates in the mowing direction or against it. Therefore, based on certain aspects and references... Figure 2 The control unit 110 is adapted to control the second electric motor device 165 to rotate the mowing disc 160 in a first rotation direction r1 and a second rotation direction r2 opposite to the first rotation direction r1. Specifically, the control unit 110 is adapted to control the second electric motor device 165 to rotate the mowing disc 160 in rotation directions r1 and r2 based on the mowing direction. Typically, the control unit 110 is adapted to control the second electric motor device 165 to rotate the mowing disc 160 to its maximum extent in rotation directions r1 and r2 that coincide with the current mowing directions m1 and m2, at which point the mowing disc 160 is closest to the second end portion 102. Here, the mowing directions m1 and m2 are the directions in which the second end portion 102 moves during mowing, but other portions can also be used as references to the mowing directions m1 and m2.

[0115] In this example, when viewed from the bottom side of the robotic lawnmower 100, the first rotation direction r1 corresponds to the first mowing direction m1, and the second rotation direction r2 corresponds to the second mowing direction m2, which is different from and, for example, opposite to the first mowing direction m1. Here, the first rotation direction r1 is clockwise, the second rotation direction r2 is counterclockwise, and the first mowing direction m1 points to the left, while the second mowing direction m2 points to the right. When viewed from the top of the robotic lawnmower 100, the first mowing direction m1 corresponds to the robotic lawnmower 100 turning to the left, and the second mowing direction m2 corresponds to the robotic lawnmower 100 turning to the right. According to some aspects, when the robotic lawnmower 100 moves in an arc along the cutting arc 210 as previously described, this arc movement points in the mowing direction.

[0116] When the robotic lawn mower 100 moves in the first mowing direction m1, it controls the mowing disc 160 to rotate in the first rotation direction r1. And when the robotic lawn mower 100 moves in the second mowing direction m2, it controls the mowing disc 160 to rotate in the second rotation direction r2.

[0117] This means that the cutting blade 157 always cuts against the direction of the grass, because the grass is drawn towards the cutting blade 157 due to its movement against the current cutting direction. This also causes the grass to be thrown out from the protective walls 141, 142, 143, and 144, so that the grass meets the cutting blade 157 as quickly as possible. This results in improved cutting results and less clogging.

[0118] Based on some aspects and references Figure 2 There is another mowing disc 180 (shown schematically only), which has a rotational axis 181 located between the rotational attachment axis 151 and the drive wheel axis 145. This other mowing disc 180 may constitute the main mowing disc 180 operating during normal cutting, and the mowing disc 160 may disengage. When the robotic lawnmower 100 is controlling the cutting of grass relatively close to the boundary, for example by making the previously described arcuate movement along the cutting arc, the main mowing disc 180 may disengage and the mowing disc 160 may engage for operation.

[0119] According to some aspects, the main mowing disc 180 has a larger diameter than the mowing disc 160, and thus a larger cutting width. Energy can be saved and efficiency improved by using only the mowing disc 160 when cutting grass relatively close to the boundary and using the main mowing disc 180 in other different situations. According to some aspects, the main mowing disc 180 can be adjusted manually or automatically in terms of grass cutting height in previously known ways. This means that the main mowing disc 180 is movable, allowing adjustment of the distance between the main mowing disc 180 and the ground G.

[0120] Based on some aspects, and referring to Figure 10 and Figure 11 The diagram shows a perspective bottom view of the front portion 535 of a robotic lawnmower, which includes a cutting disc assembly 563. The cutting disc assembly 563 includes a rotatable grass-cutting disc 560, which is at least partially located between a rotational attachment axis 551 and a second end portion 502. Alternatively, the rotational axis 552 of the cutting disc 560 may be located between the rotational attachment axis 551 and the second end portion 502 as it passes through the cutting disc 560. This positioning corresponds to the rotatable mowing disc 160 according to the previously disclosed example.

[0121] In this example, the cutting disc assembly 563 includes a cover portion 561, which in turn includes cutting holes 562 (only a few are shown for clarity). The cover portion 561 is located between the cutting disc 560 and the ground G during normal operation (e.g., ...). Figure 5(as shown), and during normal operation, the cover portion 560 at least primarily covers the side of the cutting disc 560 facing the ground G. According to some aspects, the cover portion 560 includes an opening 532 providing access to the cutting disc 560, which is suitable, for example, for changing or sharpening the cutting blade.

[0122] This provides enhanced protection for the cutting blade.

[0123] According to some aspects, the cutting disc device 563 is movable, allowing adjustment of the distance between the cutting disc 560 and the ground G. Figure 5 The minimum distance h between the cutting disc 560 and the ground G is shown in the figure. c This can be achieved in many ways; for example, the cutting disc device 563 can be slidably arranged in a track and can be locked in place by means of one or more screws (not shown). Figure 10 and Figure 11 As shown in the figure, Figure 10 The cutting disc device 563 is shown in the first position, and Figure 11 The cutting disc device 563 is shown in the second position. In the first position, the distance h between the cutting disc 560 and the ground G is... c It is less than the distance in the second position.

[0124] This provides enhanced control over the cutting height of grass in a straightforward manner.

[0125] According to some aspects, the front portion 535 includes a housing wall 564 that at least partially surrounds the cutting disc 560. The housing wall 564 may, for example, be included in the cutting disc assembly 563.

[0126] According to some other aspects, the cutting disc assembly 563 also includes one or more protective walls 541; 542a, 542b, 543a, 543b, 544a, 544b, which extend at least partially along the second end portion 502. The protective walls 541; 542a, 542b, 543a, 543b, 544a, 544b extend from the lawnmower body 540 toward the ground G during normal operation and are radially spaced, similar to the protective walls according to the prior examples disclosed above.

[0127] According to some aspects, one or more protective walls are divided into two parts 542a, 542b, 543a, 543b, 544a, and 544b, which are separated by a cutting disc 560 and its covering portion 561. The protective walls 541; 542a, 542b, 543a, 543b, 544a, and 544b may be separable from the cutting disc assembly 563. Alternatively, according to some aspects, at least one or more protective walls 541; 542a, 542b, 543a, 543b, 544a, and 544b are included in the cutting disc assembly 563.

[0128] In cases where at least one or more protective walls are included in the cutting disc assembly, such as Figure 10 and Figure 11 As shown, all protective walls 541; 542a, 542b, 543a, 543b, 544a, 544b are included in the cutting disc assembly 563. This means that when the cutting disc assembly 563 is moved to adjust the distance between the cutting disc 560 and the ground G, at least one or more protective walls 541; 542a, 542b, 543a, 543b, 544a, 544b included in the cutting disc assembly 563 are also moved in a corresponding manner, such as... Figure 10 and Figure 11 As shown.

[0129] Furthermore, according to some aspects, there is an unseparated first protective wall 541 closest to the second end portion 502. There are three other protective walls 542a, 542b; 543a, 543b; 544a, 544b separated by the cutting disc 560 and its covering portion 561, thus forming six protective sub-walls 542a, 542b, 543a, 543b, 544a, 544b. In this way, these protective walls are integrated with the cutting disc assembly.

[0130] According to some aspects, one or more protective walls 542a, 542b, 543a, 543b, 544a, 544b at least primarily follow the corresponding protective wall arc, as described with respect to the previous examples disclosed above.

[0131] In some respects, the mowing discs 160 and 560 are movable, allowing adjustment of the distance between the mowing discs 160 and 560 and the ground G, while the protective wall remains fixed relative to the body 140. In this configuration, the body 140 can provide sufficient protective coverage, making the less covered portion 561 less necessary.

[0132] Alternatively, when the protective walls are integrated with the cutting disc assembly and the protective walls 541; 542a, 542b, 543a, 543b, 544a, 544b follow the cutting disc as the cutting disc 560 shifts, a greater ground clearance can be provided, which is advantageous when cutting uneven lawns. In this case, since the body 140 is adjusted to its maximum ground clearance, providing less protective coverage, the coverage portion 561 may be more necessary.

[0133] However, it should be noted that the cover section 561 is always an optional part, which can be added when enhanced protection for the cutting blade is required.

[0134] In other words, only mowing disc 160 may exist, or alternatively, a main mowing disc 180 may also exist. At least one mowing disc is movable, allowing the distance between mowing discs 160, 560 and the ground G to be adjusted manually or automatically. One or more protective walls may be fixed relative to the body, or adapted to follow the mowing disc when it is adjusted.

Claims

1. A robotic lawn mower (100) having a first end portion (101) and a second end portion (102), the robotic lawn mower (100) comprising: The robot includes a main body (140); at least two drive wheels (130a, 130b); at least one rotatable wheel (131a, 131b); a control unit (110) adapted to control the operation of the robotic lawnmower (100); a rotatable mowing disc (160) having a rotation axis (152); and at least two electric motor units (150, 165), wherein at least two of the drive wheels (130a, 130b) have a drive wheel axis (145), the drive wheel axis having a central... The drive wheels (146) are drivably connected to the first electric motor device (150), wherein at least one of the rotatable wheels (131a, 131b) has a corresponding axis of rotation (153, 154), wherein a rotation attachment axis (151) extending through at least one of the axis of rotation (153, 154) and parallel to the drive wheel axis (145) is located between the second end portion (102) and the drive wheel axis (145), and wherein the drive wheel axis (145) is... A mowing disc (160) is drivably connected to a second electric motor (165), wherein the mowing disc (160) is at least partially located between the rotary attachment axis (151) and the second end portion (102), wherein the control unit (110) is adapted to: control the robotic lawn mower (100a) to move toward the boundary (182, 220) such that the first end portion (101) approaches the boundary (182, 220); determine the boundary (182, 220)... Whether the distance of 220) meets the condition; and when the condition is met, the control unit (110) is adapted to stop the robotic lawn mower (100b); and is adapted to control the drive wheels (130a, 130b) to turn in different directions from each other, so that the second end portion (102) of the robotic lawn mower (100c, 100d) moves in an arc along the cutting arc (210), so that the mowing disc (160) can cut the grass within the cutting arc (210).

2. The robotic lawn mower (100) according to claim 1, wherein, When the rotation axis (152) passes through the mowing disc (160), the rotation axis (152) is located between the swivel attachment axis (151) and the second end portion (102).

3. The robotic lawn mower (100) according to claim 1, wherein, The robotic lawnmower (100) also includes at least one protective wall (141, 142, 143, 144) that extends at least partially along or adjacent to the second end portion (102) and extends from the body (140) toward the ground (G) during normal operation.

4. The robotic lawn mower (100) according to claim 1, wherein, The robotic lawnmower (100) further includes: a first arcuate protective wall (141) extending at least partially along the second end portion (102); and at least one other arcuate protective wall (142, 143, 144) extending from the body (140) toward the ground (G) during normal operation, the protective walls (141, 142, 143, 144) being radially spaced apart.

5. The robotic lawn mower (100) according to claim 3, wherein, The protective walls (141, 142, 143, 144) are partially located between the mowing disc (160) and the ground (G) during normal operation.

6. The robotic lawn mower (100) according to claim 3, wherein, The protective walls (141, 142, 143, 144) at least primarily follow the corresponding protective wall arcs (141a, 142a, 143a, 144a), wherein all the protective wall arcs (141a, 142a, 143a, 144a) have a common center (146).

7. The robotic lawn mower (100) according to claim 4, wherein, The first arc-shaped protective wall (141) and the at least one other arc-shaped protective wall (142, 143, 144) at least primarily follow the corresponding protective wall arc (141a, 142a, 143a, 144a), wherein all protective wall arcs (141a, 142a, 143a, 144a) have a common center (146).

8. The robotic lawn mower (100) according to claim 6 or 7, wherein, The common center (146) is the center of the drive wheel axis (145).

9. The robotic lawn mower (100) according to claim 6 or 7, wherein, The arcuate extension of at least one protective wall (141, 142, 143) that at least primarily follows the corresponding protective wall arc (141a, 142a, 143a, 144a) includes a tapered end portion (147, 148, 149).

10. The robotic lawn mower (100) according to any one of claims 1 to 7, wherein, The second electric motor device (165) is positioned closer to the drive wheel axis (145) than the rotation axis (152).

11. The robotic lawn mower (100) according to any one of claims 1 to 7, wherein, The center of the cutting arc (210) is positioned along the drive wheel axis (145).

12. The robotic lawn mower (100) according to any one of claims 1 to 7, wherein, The center of the cutting arc (210) is located at the center (146) of the drive wheel axis (145).

13. The robotic lawn mower (100) according to any one of claims 1 to 7, wherein, The boundary is in the form of a boundary line (220) defining the operating area of ​​the robotic lawn mower (100), wherein the control unit (110) is adapted to stop the robotic lawn mower (100) when the robotic lawn mower (100) is located on the boundary line (220), wherein the condition involves that the distance between the determined boundary line (220) and the robotic lawn mower (100) is less than a first threshold.

14. The robotic lawn mower (100) according to any one of claims 1 to 7, wherein, The boundary is in the form of an object (182), wherein the cutting arc has the closest arc portion (211) to the object (182), wherein the condition involves that the distance between the determined object (182) and the robotic lawnmower (100) is less than a second threshold.

15. The robotic lawn mower (100) according to any one of claims 1 to 7, wherein, The condition involves the robotic lawnmower (100) coming into contact with an object (182).

Images