Self-moving device and its automatic working system

Abstract

The application relates to a self-moving device which moves and works in a working area, comprising a shell, a walking module installed on the shell and used for driving the shell to move, a main working module installed on the shell and used for executing a main working task, an auxiliary working module installed on the shell and used for executing an auxiliary working task, and a control module used for controlling the walking module, the main working module and the auxiliary working module; the self-moving device comprises a wireless communication module used for receiving a control signal generated by user operation; the self-moving device comprises an automatic working mode and an auxiliary working mode; in the auxiliary working mode, the control module controls the auxiliary working module to work based on at least the control signal; and the control module interrupts the control of the auxiliary working module to stop working based on the control signal. The self-moving device can increase the auxiliary working module and keep safe working.

Description

[0001] This application is a divisional application of the Chinese patent application for invention with the title of "Self-moving device and its automatic working system", application number 201980040394.4, filed on September 12, 2019. TECHNICAL FIELD

[0002] The present application relates to a self-moving device and its automatic working system. BACKGROUND

[0003] With the development of science and technology, intelligent self-moving devices are well known. Since the self-moving devices can automatically execute the pre-set tasks according to the pre-set programs without human operation and intervention, they are widely used in industrial applications and home products. The industrial applications are robots performing various functions, and the home product applications are lawn mowers, vacuum cleaners, etc. These intelligent self-moving devices greatly save people's time and bring great convenience to industrial production and home life.

[0004] Taking an automatic lawn mower as an example, the automatic lawn mower generally moves and cuts within a specified working area. The working area can be a region defined by a boundary line, a working area defined by a beacon, or a working area without an actual physical boundary, which is defined by a map or the like. The automatic lawn mower includes a cutting system, and a protective cover is provided on the periphery of the cutting system to prevent the cutting system from causing harm to the operator. The cutting system includes a cutting member, which is usually a metal blade. In order to ensure that the user will not be injured, in one case, the periphery of the metal blade is provided with a protective cover, and there is a certain distance between the protective cover and the periphery of the automatic lawn mower. In this way, the distance between the end of the metal blade and the periphery profile of the automatic lawn mower will be relatively large. In another case, the distance between the metal blade and the periphery profile of the automatic lawn mower can ensure that the user cannot touch the metal blade. In this way, the distance between the end of the metal blade and the periphery profile of the automatic lawn mower will be larger. That is, during the cutting operation, there will be a cutting area between the end of the metal blade and the boundary of the working area, or between the end of the metal blade and the obstacles such as corners, fences, and steps. These cutting areas need to be processed by the user in a traditional way, such as using a grass trimmer for manual trimming, which causes many inconveniences in operation. SUMMARY

[0005] To overcome the defects of the prior art, one problem to be solved by the present application is to provide a self-moving device with auxiliary working capability and safe working.

[0006] One of the technical solutions adopted by the present application to solve the problems of the prior art is:

[0007] A self-moving device, moving and working in a working area, comprising: a housing; a walking module, installed on the housing, driving the housing to move; a main working module, installed on the housing, performing a main working task; an auxiliary working module, installed on the housing, performing an auxiliary working task; a control module, used for controlling the walking module, the main working module and the auxiliary working module; the self-moving device comprises a wireless communication module, used for receiving a control signal generated by a user operation; the self-moving device comprises an automatic working mode and an auxiliary working mode, in the auxiliary working mode, the control module controls the auxiliary working module to work based on at least the control signal; the control module interrupts the control of the auxiliary working module to stop working based on the control signal.

[0008] In one of the embodiments, the interruption of the control signal comprises that the wireless communication module stops receiving the control signal for a time greater than a preset interruption time.

[0009] In one of the embodiments, the preset interruption time is less than or equal to 3 seconds.

[0010] In one of the embodiments, in the auxiliary working mode, if the control module judges that a distance between a signal source of the control signal and the wireless communication module is greater than or equal to a first preset distance, the control module controls the auxiliary working module to stop working.

[0011] In one of the embodiments, the first preset distance is less than or equal to 20 meters.

[0012] In one of the embodiments, in the auxiliary working mode, if the distance between the signal source and the wireless communication module is greater than a second preset distance, the control module controls the auxiliary working module to reduce a working speed, so that a working energy of the auxiliary working module is less than a preset energy; the second preset distance is less than the first preset distance.

[0013] In one of the embodiments, the second preset distance is less than or equal to 6 meters.

[0014] In one of the embodiments, if the control module judges that a control signal strength is less than or equal to a preset strength, the control module controls the auxiliary working module to stop working.

[0015] In one of the embodiments, the control module controls the self-moving device to switch to the auxiliary working mode based on at least two preset signals.

[0016] In one of the embodiments, if the at least two preset signals received by the control module satisfy a preset condition, the control module controls the self-moving device to switch to the auxiliary working mode.

[0017] In one of the embodiments, the preset condition comprises a preset time and / or a preset sequence.

[0018] In one of the embodiments, the at least one preset signal is received by the wireless communication module.

[0019] In one of the embodiments, the at least one preset signal comprises the control signal.

[0020] In one of the embodiments, the self-moving device comprises an interaction module, and the at least one preset signal is generated by a user operating the interaction module.

[0021] In one of the embodiments, in the auxiliary working mode, the control module controls the auxiliary working module to stop working based on a stop signal.

[0022] In one of the embodiments, the stop signal is received by the wireless communication module.

[0023] In one of the embodiments, in the auxiliary working mode, the control module controls the walking module to move along a preset path.

[0024] In one of the embodiments, the self-moving device comprises a path detection module for detecting the preset path, and the control module automatically controls the moving direction of the walking module according to the output of the path detection module.

[0025] In one of the embodiments, the control module judges whether the self-moving device is on the preset path according to the output of the path detection module, and controls the auxiliary working module to stop working if the self-moving device is not on the preset path.

[0026] In one of the embodiments, the preset path comprises an inner boundary and / or an outer boundary of the working area.

[0027] In one of the embodiments, in the auxiliary working mode, the working energy of the auxiliary working module is less than 5J.

[0028] In one of the embodiments, in the auxiliary working mode, the working energy of the auxiliary working module is less than 2J.

[0029] In one of the embodiments, in the auxiliary working mode, the maximum moving speed of the walking module is less than 25m / min.

[0030] In one of the embodiments, in the auxiliary working mode, the maximum moving speed of the walking module is greater than 5m / min.

[0031] In one of the embodiments, the auxiliary working module comprises a grass cutting head, and the grass cutting head is provided with a grass cutting rope.

[0032] In one of the embodiments, the wireless communication module comprises a Bluetooth communication module.

[0033] In one of the embodiments, if the auxiliary working module stops working, the control module controls the self-moving device to switch to the automatic working mode.

[0034] In one of the embodiments, in the automatic working mode, the control module autonomously controls the walking module and the main working module.

[0035] In one of the embodiments, in the automatic working mode, the control module controls the auxiliary working module to stop working.

[0036] Another technical solution adopted by the present application to solve the problems in the prior art is:

[0037] An automatic working system comprises a self-moving device and a user terminal,

[0038] The self-moving device moves and works in a working area, and comprises a housing, a walking module installed on the housing to move the housing, a main working module installed on the housing to perform a main working task, an auxiliary working module installed on the housing to perform an auxiliary working task, a control module for controlling the walking module, the main working module and the auxiliary working module, and a wireless communication module for receiving a signal sent by the user terminal.

[0039] The user terminal comprises an input module for a user to operate to generate a signal, a processing module for processing the signal, and a remote communication module for sending the signal; the input module comprises a first input unit for generating a control signal, and the signal comprises the control signal.

[0040] The self-moving device comprises an automatic working mode and an auxiliary working mode, in the auxiliary working mode, the control module controls the auxiliary working module to work based on at least the control signal; and the control module controls the auxiliary working module to stop working based on the control signal.

[0041] In one of the embodiments, the control signal interruption comprises that the wireless communication module stops receiving the control signal for a time greater than a preset interruption time.

[0042] In one of the embodiments, the preset interruption time is less than or equal to 3 seconds.

[0043] In one of the embodiments, in the auxiliary working mode, if the distance between the wireless communication module and the remote communication module is less than or equal to a first preset distance, the control module controls the auxiliary working module to stop working.

[0044] In one of the embodiments, the first preset distance is less than or equal to 20 meters.

[0045] In one of the embodiments, in the auxiliary working mode, if the distance is greater than a second preset distance, the control module controls the auxiliary working module to reduce the working speed, so that the working energy of the auxiliary working module is less than a preset energy.

[0046] In one of the embodiments, the second preset distance is less than or equal to 6 meters.

[0047] In one of the embodiments, the input module includes a second input unit for generating a start signal.

[0048] In one of the embodiments, the processing module controls the remote communication module to send the control signal based on the start signal.

[0049] In one of the embodiments, if the control signal and the start signal received by the processing module satisfy a preset condition, the control module controls the remote communication module to send the control signal.

[0050] In one of the embodiments, the preset condition includes a preset time and / or a preset sequence.

[0051] In one of the embodiments, the control module controls the self-moving device to switch to the auxiliary working mode based on the control signal.

[0052] In one of the embodiments, the processing module controls the remote communication module to send the start signal and the control signal.

[0053] In one of the embodiments, the self-moving device includes an interaction module for generating a start signal.

[0054] In one of the embodiments, the control module controls the self-moving device to switch to the auxiliary working mode based on the start signal and the control signal.

[0055] In one of the embodiments, the control module controls the self-moving device to switch to the auxiliary working mode based on the start signal and the control signal.

[0056] In one of the embodiments, if the start signal and the control signal received by the control module satisfy a preset condition, the control module controls the self-moving device to switch to the auxiliary working mode.

[0057] In one of the embodiments, the first input unit comprises touch-sensitive keys, and the control signals are generated by user touching.

[0058] In one of the embodiments, the first input unit is connected to the processing module through a first connecting circuit or a second connecting circuit, and the first connecting circuit and the second connecting circuit are connected in parallel.

[0059] In one of the embodiments, the input module comprises a third input unit for generating a stop signal, and the control module controls the auxiliary working module to stop working based on the stop signal.

[0060] Compared with the prior art, the present application has the following advantages:

[0061] The self-moving device is installed with the auxiliary working module, so that the user only needs to operate the user terminal to complete the work such as grass cutting and branch trimming, which makes the work process more convenient and easier. BRIEF DESCRIPTION OF DRAWINGS

[0062] The above-mentioned purposes, technical solutions and advantages of the present application can be realized through the following drawings:

[0063] Figure 1 Fig. 1 is a schematic diagram of an automatic working system in one embodiment.

[0064] Figure 2 Fig. 2 is a structural schematic diagram of a self-moving device in one embodiment.

[0065] Figure 3 Fig. 3 is a structural schematic diagram of an automatic grass cutter in one embodiment.

[0066] Figure 4 Fig. 4 is a schematic diagram of working areas of various modules of an automatic grass cutter in one embodiment.

[0067] Figure 5 Fig. 5 is a schematic diagram of working areas of various modules of an automatic grass cutter in another embodiment.

[0068] Figure 6 Fig. 6 is a schematic diagram of working areas of various modules of an automatic grass cutter in another embodiment.

[0069] Figure 7 Fig. 7 is a schematic diagram of moving direction of an automatic grass cutter in one embodiment.

[0070] Figure 8is a schematic view of the moving direction of the automatic mower in another embodiment.

[0071] Figure 9 is a schematic view of the structure of the user terminal in an embodiment.

[0072] Figure 10 is a schematic view of the height adjustment structure in an embodiment.

[0073] Figure 11 is a schematic view of the position relationship between the automatic mower and the obstacle in an embodiment.

[0074] Figure 12 is a schematic view of the automatic mower system in an embodiment.

[0075] Figure 13 is a schematic view of the structure of the user terminal in an embodiment.

[0076] Figure 14 is a schematic view of the structure of the user terminal in another embodiment.

[0077] Figure 15 is a schematic view of the structure of the automatic mower in an embodiment. DETAILED DESCRIPTION

[0078] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0079] Figure 1 is an automatic working system, such as a lawn mower system, in an embodiment. Figure 1 In the embodiment, the automatic working system includes a self-moving device 1, a boundary 3, and a docking station 5. The boundary 3 is used to limit the working area 7 of the automatic working system, the self-moving device 1 walks and works within the boundary 3, and the docking station 5 is used for the self-moving device 1 to dock, especially to return to recharge energy when the energy is insufficient.

[0080] The boundary 3 can be the outer boundary of the working area 7, which is the periphery of the entire working area 7, usually connected at both ends to enclose the working area 7. The boundary 3 can be a physical boundary formed by a wall, a fence, a railing, etc., or an electronic boundary formed by an electromagnetic signal or a light signal emitted by a boundary signal generating device, or a passive magnetic device capable of generating a magnetic field, or absolute coordinates or relative coordinates learned or recorded by the self-moving device 1, or other environmental information capable of determining the position, etc. The boundary 3 can also be a general term for the outer boundary and the inner boundary of the working area 7, and the inner boundary includes obstacles or other areas within the working range that the self-moving device 1 is not suitable to enter. The obstacles are parts or areas within the working range that cannot be walked on, such as sofas, beds, cabinets, etc. indoors, or ponds, flower beds, etc. outdoors.

[0081] In this embodiment, the self-moving device 1 is an automatic lawnmower. In other embodiments, the self-moving device 1 can be an automatic vacuum cleaner, an automatic spraying device, an automatic monitoring device, or other devices suitable for unattended operation, which automatically moves on the ground or surface of the work area 7 to complete the corresponding work. The self-moving device 1 includes a walking module, a main working module, a boundary detection module, an energy module, and a control module.

[0082] like Figure 2 As shown, the walking module 23 is used to drive the self-moving device 1 to move within the working area 7, and typically consists of a wheel set mounted on the self-moving device 1 and a walking motor driving the wheel set. The wheel set includes a drive wheel connected to the walking motor and auxiliary wheels that mainly provide auxiliary support. In this embodiment, there are two drive wheels located at the rear of the self-moving device 1, and each drive wheel is connected to a walking motor. There are one or two auxiliary wheels located at the front of the self-moving device 1.

[0083] The main working module 25 is used to perform the main working tasks of the self-moving device 1. If the self-moving device 1 is an automatic lawnmower, the main working module includes lawnmower blades, a cutting motor, etc., and may also include components such as a lawnmower height adjustment mechanism to optimize or adjust the lawnmower effect. If the self-moving device 1 is an automatic vacuum cleaner, the main working module includes a vacuum motor, a vacuum port, a vacuum hose, a vacuum chamber, a dust collection device, and other working components used to perform vacuuming tasks.

[0084] The boundary detection module is used to detect the relative positional relationship between the self-moving device 1 and the boundary 3, which may include one or more of the following: distance, angle, and orientation inside or outside the boundary 3. The composition and principle of the boundary detection module can be varied, such as infrared, ultrasonic, collision detection, magnetic induction, etc. The placement and number of its sensors and corresponding signal generating devices are also diverse and related to the path planning method.

[0085] The energy module is used to provide power for the various operations of the self-moving device 1. It includes a rechargeable battery and a charging connection structure, which is typically a charging electrode.

[0086] The control module 31 is used to control the automatic movement and operation of the self-moving device 1. It is the core component of the self-moving device 1. Its functions include controlling the start and stop of the main working module, controlling the start and stop of the walking module, controlling the direction of movement, judging the energy of the energy module, and promptly instructing the self-moving device 1 to return to the charging station for automatic docking and charging, etc. The control module typically includes a microcontroller, memory, and other peripheral circuits.

[0087] In addition to the modules mentioned above, the self-moving device 1 also includes a housing 21 for accommodating and installing the various modules, a control panel for user operation, etc. The self-moving device 1 may also include various environmental sensors, such as humidity sensors, temperature sensors, acceleration sensors, light sensors, etc. These sensors can help the self-moving device determine the working environment in order to execute the corresponding program.

[0088] In one embodiment, the self-moving device 1 includes an auxiliary working module 33 for performing auxiliary working tasks of the self-moving device 1. Optionally, if the self-moving device 1 is an automatic lawnmower, the auxiliary working module may include an auxiliary cutting module, a fertilizing module, or a leaf collection module, etc. If the self-moving device 1 is a cleaning robot, the auxiliary working module may include a watering module or a mopping module, etc.

[0089] Dock station 5 is typically located within the working area, such as near or on boundary 3, and is connected to mains power or other power supply systems to allow the self-moving device 1 to return and recharge. Dock station 5 is equipped with charging electrodes for docking with the corresponding electrodes of the self-moving device 1. Optionally, dock station 5 may not have charging electrodes, but instead has a wireless charging module that senses the wireless charging module of the self-moving device 1 to achieve wireless charging.

[0090] In one embodiment, the self-moving device 1 includes a main working mode and an auxiliary working mode. In the main working mode, the control module 31 autonomously controls the walking module 23 and the main working module 25. In the auxiliary working mode, the control module 31 controls the auxiliary working module 33 to work based on preset signals generated by user operation.

[0091] Figure 9 A schematic diagram of the structure of user terminal 9 in one embodiment, as shown below. Figure 9 As shown, the automated operating system includes a user terminal 9, which can establish a communication connection with the self-moving device 1. The user terminal 9 includes a remote communication module 10, a processing module 12, and an input module 14, with the input module 14 and the remote communication module 10 respectively connected to the processing module 12. Optionally, the user terminal 9 also includes an indicator light 16, connected to the processing module, used to indicate the communication connection status. Depending on actual needs, the input module 14 can be equipped with several buttons, each corresponding to a different function. The self-moving device 1 includes a wireless communication module 65, which can establish a communication connection with the user terminal 9 to receive signals. The user terminal 9 can be an independent controller, a control device detachably connected to the self-moving device 1, or a user terminal such as a mobile phone or computer. The user controls the operation of the self-moving device 1 at least partially through the operation of the user terminal 9.

[0092] In one embodiment, the input module 14 includes a first input unit for generating a control signal and a second input unit for generating a start signal. (Continue to the next step)Figure 9 In one embodiment, the first input unit includes a key 141, and the second input unit includes a key 143. The key 141 is a start key for a user to operate to generate a start signal. The key 143 is a control key for a user to operate to generate a control signal. Alternatively, the key 143 is a touch sensor for detecting a user touching the user terminal 9 and generating a control signal, so that the user can touch the touch sensor 143 and send a control signal when the user holds the user terminal in a normal posture. In this embodiment, the touch sensor is a capacitive sensor.

[0093] In one embodiment, the input module 14 includes a third input unit. In this embodiment, the third input unit includes a stop key 145 for generating a stop signal. The control module 31 stops the walking module 23 and the auxiliary work module 33 based on the stop signal.

[0094] In one embodiment, to avoid the key 143 and the signal transmission circuit or the control circuit connected thereto from failing during operation, the key 143 is connected to two independent channels of circuit. If the circuit of one channel fails, the circuit of the other channel can ensure normal control by the user. In another embodiment, the key 143 includes a key one and a key two. If any one of the key one or the key two fails, the other one can still work normally to ensure normal control by the user.

[0095] In one embodiment, if the user terminal 9 is in a working state, when the user presses the key 141 and the key 143 to generate a start signal and a control signal, the processing module 12 controls the remote communication module 10 to send the start signal and the control signal, respectively. In a communication state, the wireless communication module 65 receives the start signal and the control signal. The control module 31 controls the auxiliary work module 33 to work based on the start signal and the control signal.

[0096] In one embodiment, if the user terminal 9 is in a working state, when the user presses the key 141 and the key 143, the processing module 12 receives the start signal and the control signal, respectively, and meets a preset condition, the processing module 12 controls the remote communication module 10 to send the control signal. In this embodiment, the preset condition includes the processing module 12 receiving the start signal and the control signal within a preset time. The preset time can be 10 seconds, 20 seconds, etc., which can be set according to actual needs. In other embodiments, the preset condition includes the processing module 12 receiving the start signal and the control signal in a preset order. The control module 31 controls the auxiliary work module 33 to work based on the control signal. The preset order can be receiving the start signal first and then receiving the control signal, or receiving the control signal first and then receiving the start signal, or receiving the start signal and the control signal at the same time, etc.

[0097] In one embodiment, the self-moving device 1 comprises an interaction module 35 for generating signals in response to user operations. In this embodiment, the interaction module 35 comprises a start key arranged on the housing 21, and the user terminal 9 is provided with a control key. When the user operates the start key, the control module 31 receives a start signal, and when the user operates the control key, the user terminal 9 sends a control signal, which is received by the control module 31 through the wireless communication module 65. If the start signal and the control signal received by the control module 31 meet preset conditions, the control module 31 controls the auxiliary work module 33 to work.

[0098] The wireless communication module 65 comprises an antenna, which is arranged on the upper portion of the self-moving device 1, and optionally, on the upper portion of the auxiliary work module 33, so as to avoid being interfered by the metal in the automatic mower 11 and affecting the sending and receiving of signals by the wireless communication module 65.

[0099] In one embodiment, in the auxiliary work mode, the control module 31 controls the auxiliary work module 33 to work based on at least the control signal. If the control signal received by the control module 31 is interrupted, the control module 31 controls the auxiliary work module 33 to stop working.

[0100] In one embodiment, the interruption of the control signal specifically refers to that the time during which the wireless communication module 65 fails to receive the control signal is greater than a preset interruption time. In this embodiment, the preset interruption time is less than or equal to 3 seconds. According to actual needs, the preset interruption time can be 4 seconds, 5 seconds, etc. Here, the situation in which the wireless communication module 65 fails to receive the control signal includes that the user releases the key of the user terminal 9, or the user terminal 9 loses connection with the self-moving device 1, or the user terminal 9 loses power, or there is an obstacle between the user terminal 9 and the self-moving device 1, etc.

[0101] If the user continuously holds the user terminal 9 and contacts the key 143, the user terminal 9 continuously sends the control signal, which indicates that the user is in a control state, and the control module 31 controls the auxiliary work module 33 to work according to the received control signal. If the control module 31 confirms that the user terminal 9 is started, and the control signal received by the control module 31 is interrupted, the control module 31 controls the auxiliary work module 33 to stop working. Optionally, the control module 31 controls the auxiliary work module 33 and the walking module 23 to stop working.

[0102] In one embodiment, if the control module 31 receives a stop signal, i.e., the user presses the stop key 145, the control module 31 controls the auxiliary work module 33 to stop working. Optionally, the control module 31 controls the auxiliary work module 33 and the walking module 23 to stop working.

[0103] In one embodiment, to ensure that the user can control the device 1 within its effective control range, the control module 31 determines the distance between the user terminal 9 and the device 1 based on the received control signal. If the distance between the user terminal 9 and the device 1 is greater than or equal to a preset distance, the auxiliary working module 33 stops working. In this embodiment, the preset distance is less than or equal to 20 meters. That is, when the effective distance between the user terminal 9 and the device 1 is less than 20 meters, the user terminal 9 can control the device 1. When the effective distance between the user terminal 9 and the device 1 is greater than 20 meters, the control signal sent by the user terminal 9 cannot control the auxiliary working module 33.

[0104] Figure 12 A schematic diagram of an automatic lawn mowing system in one embodiment, such as Figure 12 As shown, the automatic lawn mowing system includes: an automatic lawn mower 11; a docking station 105 for parking and charging the automatic lawn mower 11; a boundary signal generator located on the docking station 105 that generates boundary signals; and a boundary line 103 connecting the boundary signal generator, forming a closed loop with the boundary line 103, which carries a boundary signal, and the area within the boundary line 103 forms the working area 107 of the automatic lawn mower 11. The automatic lawn mower 11 includes a housing 61, and mounted on the housing 61 are a walking module 51, a main cutting module 53, a boundary detection module 55, an energy module 57, and a control module 59.

[0105] The main cutting module 53 is a cutter head, including a chassis that rotates around the axis of the rotating shaft. The chassis forms a plane perpendicular to the axis of the rotating shaft, with a central opening that is fitted with the rotating shaft. The rotating shaft is located at the center of the chassis. It also includes a main cutting element disposed on the circumferential edge of the chassis. The main cutting element rotates together with the chassis around the axis of the rotating shaft. The chassis and the main cutting element rotate to form a main cutting area with the center of the spool as the first axis of rotation.

[0106] With the forward direction of the automatic lawnmower 11 as the longitudinal direction of the housing 61, the direction perpendicular to the ground as the vertical direction of the housing 61, and the direction perpendicular to both the longitudinal and vertical directions as the transverse direction of the housing 61, the housing 61 includes a longitudinal axis 111. The main cutting module 53 is mounted on the longitudinal axis 111 of the housing 61, ensuring that the distance between the periphery of the housing 61 and the main cutting module 53 is sufficiently large to guarantee user safety. If the automatic lawnmower 11 moves along the boundary line 103 inside the boundary line 103, the main cutting area formed by the main cutting module 53 may not cover the boundary of the working area 107.

[0107] In one embodiment, the boundary detection module 25 includes a first boundary signal sensor and a second boundary signal sensor symmetrically arranged at the front of the housing 61 to determine whether the robotic lawnmower 11 is inside or outside the boundary line 103 by detecting the boundary signal. If the first boundary signal sensor detects that the robotic lawnmower 11 is outside the boundary line 103, it means that the robotic lawnmower 11 has driven out of the boundary line 103 on the side where the first boundary signal sensor is located. At this time, the control module 59 controls the robotic lawnmower 11 to turn, that is, the robotic lawnmower 11 will partially drive out of the boundary line 103 and then turn. Generally, in order to avoid the robotic lawnmower 11 frequently colliding with obstacles such as walls, fences, steps, etc. or entering areas that do not need to be worked on, the distance between the boundary line 103 set at the edge of the obstacle and the obstacle or other boundaries is about 30 cm. If the robotic lawnmower 11 parks at the docking station 105 when returning and part of it is inside the boundary line 103 and part of it is outside the boundary line 103, that is, when the robotic lawnmower 11 returns across the line, the main cutting module 53 can only cut the area about 10 mm outside the boundary line 103, so there is about 20 mm of the area to be trimmed between the boundary line 103 and the obstacle that the robotic lawnmower 11 cannot process. Considering an extreme case, the robotic lawnmower 11 can completely move along the wall, fence, etc. obstacle, but due to the distance between the periphery of the housing 61 and the main cutting area, it cannot completely process the area to be trimmed. Therefore, if only the main cutting module 53 is installed, the robotic lawnmower 13 cannot cut to the edge.

[0108] Figure 3 is a structural schematic diagram of the robotic lawnmower, as shown in Figure 12 and Figure 3 In order to solve the problem that the main cutting module 53 cannot cut to the edge, the robotic lawnmower 11 further includes an auxiliary cutting module 63. In this embodiment, the auxiliary cutting module 63 includes a grass hitting head, a storage seat for accommodating the wire reel, and a wire reel around which a grass hitting rope is wound. When the grass hitting head is working, the storage seat is driven to rotate to drive the wire reel and the grass hitting rope to rotate synchronously, forming an auxiliary cutting area with the center of the wire reel as a second rotation axis.

[0109] The grass clippings generated by the working of the auxiliary cutting module 63 are easy to stick to the housing 61, and water washing is an important way to solve this problem. In order to prevent the internal parts of the auxiliary cutting module 63 from being damaged by water during water washing, the auxiliary cutting module 63 needs to be waterproof designed. Continuing to refer to Figure 3In one embodiment, the auxiliary cutting module 63 comprises an auxiliary cutting motor for driving the rotary motion of the cutting head. The auxiliary cutting motor is arranged in a motor protection cover for preventing dust, rain, snow and other elements from damaging the motor and ensuring the normal and continuous operation of the motor. In the present embodiment, the motor protection cover comprises an outlet for the output shaft of the auxiliary cutting motor to extend out of the cover. Except for the outlet, the motor protection cover is a sealed structure, i.e. it does not comprise a heat dissipation hole for the motor to dissipate heat. Therefore, the material of the motor protection cover comprises a heat conductive material such as an aluminum shell. In the present embodiment, the motor protection cover and the housing of the auxiliary cutting motor have a gap in the height direction to allow the air outlet of the auxiliary cutting motor to discharge air flow and circulate air flow in the motor protection cover. In one embodiment, the auxiliary cutting module 63 comprises a cooling fan arranged below the motor protection cover for assisting heat dissipation. In one embodiment, one side of the motor protection cover faces the main cutting module 53 and the other side faces the outside of the automatic lawn mower 11. The motor protection cover on the other side comprises a heat dissipation hole to help the auxiliary cutting motor dissipate heat. The side of the motor protection cover facing the main cutting module 53 does not have a heat dissipation hole to prevent grass clippings generated by the operation of the main cutting module 53 from entering the auxiliary cutting motor.

[0110] In one embodiment, a sealing element is arranged between the outlet of the motor protection cover and the output shaft of the auxiliary cutting motor to further isolate the environment inside and outside the motor protection cover while maintaining the normal rotation of the output shaft of the auxiliary cutting motor. In one embodiment, the live parts in the auxiliary cutting module 63 are isolated from the external environment by encapsulation, including water-proof encapsulation such as epoxy resin encapsulation glue, or water-proof surface coating such as three-proof paint or nano coating.

[0111] Figure 4 is a schematic diagram of the working areas of the modules of the automatic lawn mower in one embodiment, such as Figure 4As shown, in order to achieve that the automatic mower 11 can cut the area to be trimmed outside the boundary line 103 when moving along the boundary line 103, the auxiliary cutting area formed by the auxiliary cutting module 63 works tangentially to or beyond the housing 61. If the walking module 51 is located within the housing 61 in the lateral direction, the distance between the second rotating shaft and the outer edge of the housing 61 in the lateral direction is less than or equal to the radius of the auxiliary cutting area; if the walking module 51 is located outside the housing 61 in the lateral direction, the distance between the second rotating shaft and the outer edge of the walking module 51 in the lateral direction is less than or equal to the radius of the auxiliary cutting area; so that the auxiliary cutting area is tangential to or beyond the housing 61 or the walking module 51. In this way, if the automatic mower 11 can move along the obstacle, the auxiliary cutting area can completely cover the area around the obstacle. When the automatic mower 11 moves along the boundary line 103, as long as the auxiliary cutting area can cover the area to be trimmed outside the boundary line 103 in the lateral direction, the automatic mower 11 can completely cut to the edge without the need for the user to process again. The side where the auxiliary cutting module 63 is installed is the left side or the right side of the moving direction of the automatic mower 11; if the auxiliary cutting module 63 includes two grass cutting heads, one can be installed on the left side and the right side of the moving direction of the automatic mower 11 respectively, and the control module 59 can control one of them to work or both to work simultaneously. In other embodiments, the auxiliary cutting area beyond the housing 61 in the longitudinal direction can also achieve cutting to the edge. In particular, for the case where there is an obstacle in the working area 107, when the automatic mower 11 encounters an obstacle during the forward movement, the automatic mower 11 does not need to change the moving mode to cover the edge of the obstacle with the auxiliary cutting area beyond the housing 61.

[0112] Figure 5 is a schematic diagram of the working area of each module of the automatic mower in another embodiment, as Figure 5As shown, the main cutting module 53 is installed on one side of the longitudinal axis 111 of the housing 61, so that the main cutting area can be closer to the obstacle, thus cutting to the area that cannot be cut when the main cutting module 53 is installed on the longitudinal axis 111. However, in order to avoid accidental injury, a protective cover is generally provided on the side where the user can access the main cutting element, so as to ensure that the user cannot reach and access the main cutting element, which results in a distance between the main cutting module 53 and the protective cover, and causes the automatic mower 11 to be unable to cut to the edge even when cutting along the obstacle. Therefore, the auxiliary cutting module 63 is also installed on the same side of the longitudinal axis 111 of the housing 61, for example, the main cutting module 53 and the auxiliary cutting module 63 are both installed on the right side of the automatic mower 11 in the traveling direction. The main cutting module 53 and the auxiliary cutting module 63 are installed on the housing 61 in such a manner that the main cutting module 53 can maximize the cutting to the vicinity of the boundary of the working area 107, thereby reducing the working load of the auxiliary cutting module 63. Since the main cutting module 53 and the auxiliary cutting module 63 are installed on the same side, in order to make the main cutting module 53 and the auxiliary cutting module 63 face the outside of the working area 107, the moving direction of the automatic mower 11 when moving along the boundary line 103 is consistent when the main cutting module 53 is working or when the auxiliary cutting module 63 is working, without the need to change the direction.

[0113] Figure 6 is a schematic view of the working area of each module of the automatic mower in another embodiment, as shown, Figure 6 As shown, the main cutting module 53 is installed on one side of the longitudinal axis 111 of the housing 61, and the auxiliary cutting module 63 is installed on the other side of the longitudinal axis 111 of the housing 61. Since the main cutting module 53 and the auxiliary cutting module 63 are installed on different sides of the longitudinal axis 111, the space of the housing 61 can be fully utilized, so that the structural layout of each module of the automatic mower 11 is more compact. In order to achieve cutting to the edge, the direction in which the automatic mower 11 moves along the boundary line 103 when the main cutting module 53 is working is opposite to the direction in which the automatic mower 11 moves along the boundary line 103 when the auxiliary cutting module 63 is working.

[0114] In one embodiment, the auxiliary cutting element of the auxiliary cutting module 63 is a grass rope. The working energy of the grass rope is less than or equal to the full energy, and the safety energy is less than or equal to 5J, so that the person or animal contacting the grass rope will not be injured. In this embodiment, the grass rope is made of nylon material. By limiting the material and shape of the grass rope and limiting the working speed of the grass head, the working energy of the grass rope is controlled within the safe range. In other embodiments, the grass rope can be made of other flexible materials such as resin and fiber. The auxiliary cutting module 63 can also be other cutting devices other than the grass head, and can also be a metal element without a blade or a plastic blade, as long as the working energy of the auxiliary cutting element is less than the safety energy. In one embodiment, the safety energy is less than or equal to 2J.

[0115] In one embodiment, when the auxiliary cutting module 63 is working, the maximum moving speed of the automatic mower 11 does not exceed the preset speed range. The moving speed of the automatic mower 11 is related to the working energy of the auxiliary cutting module 63. If the moving speed of the automatic mower 11 is too large, in order to reduce the possibility of missed cutting, the auxiliary cutting module 63 needs to cooperate with a larger working energy, thereby affecting the working safety. In this embodiment, the preset speed range is less than or equal to 25 m / min.

[0116] If the moving speed of the automatic mower 11 is small, the working energy of the auxiliary cutting module 63 can be correspondingly reduced to improve safety. However, too small moving speed will affect the working efficiency of the automatic mower 11, increase the working time, and affect the user experience. In one embodiment, the preset speed range is greater than or equal to 5 m / min.

[0117] In one embodiment, the driving wheel includes a hub cover, and the surface of the hub cover is approximately smooth, and the groove depth is less than or equal to 5 mm. The greater the groove depth of the hub cover, the higher the possibility of grass clippings adhering, which requires the user to clean. Therefore, the approximately smooth surface of the hub cover can reduce the grass clippings adhesion rate. It can be understood that the surface of the housing 61 near the auxiliary cutting module 63 is also approximately smooth.

[0118] In one embodiment, the housing 61 includes a base and an upper cover mounted on the base. Since the working area of the auxiliary cutting module 63 overlaps the side edge portion of the upper cover in the height direction, in order to avoid the interference of the housing 61 with the working of the auxiliary cutting module 63, the height difference between the housing 61 overlapping the auxiliary cutting module 63 in the height direction and the plane where the working area of the auxiliary cutting module 63 is located is greater than or equal to 5 mm.

[0119] In one embodiment, as shown in FIG. 6, the auxiliary cutting module 63 is arranged on the housing 61, and the auxiliary cutting module 63 is arranged on the side of the housing 61. Figure 6As shown, the main cutting module 53 and the auxiliary cutting module 63 are located on opposite sides of the longitudinal axis of the housing 61. The horizontal distance between the housing 61 on the side where the auxiliary cutting module 63 is located and the main cutting module 53 is greater than or equal to 180mm, to prevent the user from inserting their fingers and causing injury when the main cutting module 53 is in operation.

[0120] In one embodiment, housing 61 includes a movable cover mounted on the base or top cover, located on the side where the auxiliary cutting module 63 is located. When the auxiliary cutting module 63 is mounted on housing 61, the movable cover moves upward to prevent interference with the operation of the auxiliary cutting module; when the auxiliary cutting module 63 is not mounted on housing 61, the movable cover moves downward to prevent the user from inserting their hands or feet into the main cutting module 53. In other embodiments, when the auxiliary cutting module 63 is mounted on housing 61, this part of the top cover is detached from housing 61; when the auxiliary cutting module 63 is not mounted on housing 61, this part of the top cover is mounted on housing 61. In one embodiment, a maximum radius of the auxiliary cutting area is set, which is less than or equal to the distance between the second rotating shaft and other structures of the automatic lawnmower 11. (Continue to refer to...) Figure 4 A limiting element 37 is installed at the edge of the auxiliary cutting area to limit the length of the trimming rope, thereby limiting the maximum radius of the auxiliary cutting area. The auxiliary cutting module 63 is installed on one side of the longitudinal axis 111 of the housing 61. Because the trimming rope wears out significantly during operation, the trimming head will frequently release a section of the trimming rope. Normally, the length of the released trimming rope is relatively fixed, but the typical trimming head release structure inevitably releases a longer section of the trimming rope than normal. This can cause the trimming rope to hit other structures of the automatic lawnmower 11, such as the walking module 51 or the main cutting module 53, causing some damage. In this embodiment, the limiting element 37 is installed on the housing 61 and includes a blade for cutting the trimming rope that exceeds the set length. By limiting the length of the trimming rope with the limiting element 37, it is ensured that the working areas of the auxiliary cutting module 63 and other modules do not interfere with each other.

[0121] In one embodiment, the auxiliary wheel is located at the front side and the drive wheel is located at the rear side in the moving direction of the automatic mower 11, and the rear side of the auxiliary wheel and the rear side of the auxiliary cutting module 63 form a region A. The installation height of the limiting element 37 is substantially parallel to the cutting region of the auxiliary cutting module 63 and is located in the region A. In this embodiment, the limiting element 37 is installed in the region A and is close to the auxiliary wheel. When the automatic mower 11 encounters an obstacle, the auxiliary wheel encounters and goes over the obstacle first, and the limiting element 37 located at the rear side of the auxiliary wheel can also go over the obstacle. In other embodiments, the limiting element 37 is installed in the region A and is close to the drive wheel. When the obstacle is located at the rear side of the automatic mower 11, the drive wheel is more likely to contact and go over the obstacle, and the limiting element 37 can also go over the obstacle to avoid collision. In other embodiments, the walking module 51 includes two drive wheels at the front side and two drive wheels at the rear side, and does not include an auxiliary wheel. The limiting element 37 is also located in the region A.

[0122] In one embodiment, the limiting element 37 is installed on a movable structure, such as an elastic structure. When encountering an obstacle, the limiting element 37 can be driven by the movable structure to avoid the obstacle, and after leaving the obstacle, the limiting element 37 can automatically return to the original position. In one embodiment, the height of the limiting element 37 is greater than 30 mm, i.e., the distance between the limiting element 37 and the horizontal ground is greater than 30 mm. In one embodiment, the auxiliary cutting module 63 includes a grass hitting head, and the control module 59 controls the grass hitting head to rotate backward. If the grass hitting head is located at the left side of the housing 61, the control module 59 controls the grass hitting head to rotate counterclockwise, and if the grass hitting head is located at the right side of the housing 61, the control module 59 controls the grass hitting head to rotate clockwise. Since the grass clippings move in the corresponding rotation direction when the grass hitting head rotates and cuts, if the grass hitting head rotates forward, the grass clippings are likely to accumulate at the front side of the automatic mower 11, and when the automatic mower 11 moves forward again, the grass hitting head acts on the accumulated grass clippings, which increases the working load of the grass hitting head. Therefore, the backward rotation of the grass hitting head can reduce the working load of the grass hitting head. Further, for the auxiliary wheel installed below the housing 61, if the grass clippings accumulate on the auxiliary wheel, it is difficult to remove them; if the drive wheel is not covered by the housing 61, it is relatively easy to remove the grass clippings. Therefore, the backward rotation of the grass hitting head can help the walking module to remove the grass clippings and prevent affecting the movement of the automatic mower 11.

[0123] In one embodiment, a separation cover is provided between the main cutting module 53 and the auxiliary cutting module 63. The separation cover at least partially covers the main cutting module 53 or at least partially covers the auxiliary cutting module 63, so as to prevent the grass clippings from entering the auxiliary cutting module 53 when the main cutting module 53 is working, or the grass clippings from entering the main cutting module 53 when the auxiliary cutting module 63 is working.

[0124] In one embodiment, the main cutting module 53 comprises a blade arranged at an inclination, and the auxiliary cutting module 63 comprises a grass trimming head or a grass trimming rope arranged at an inclination, so that the inclination angle of the grass trimming rope when working is consistent with the inclination angle of the blade of the main cutting module 53, thereby keeping the cutting surface after cutting by the auxiliary cutting module 63 consistent with the cutting surface after cutting by the main cutting module 53, and obtaining a better cutting effect. In one embodiment, the inclination angle is 3 degrees.

[0125] In one embodiment, two grass trimming ropes are installed on the grass trimming head, and there is a height difference in the vertical direction. When the grass trimming head is working, the upper and lower grass trimming ropes form a first cutting plane and a second cutting plane, respectively. If the height of the lawn is high, the first cutting plane and the second cutting plane can cut the grass, respectively. Since the working frequency of the auxiliary cutting module 63 is lower than that of the main cutting module 53, the height of the grass in the edging area to be trimmed is greater than that of the grass in the working area 107. If the grass trimming head is installed with one grass trimming rope, the length of the grass clippings after cutting by the grass trimming head is relatively long. By installing two grass trimming ropes to cut the grass in the edging area to be trimmed, the grass clippings can be further refined, so that the grass clippings do not block the lawn and affect the aesthetics, and even affect the growth of the lawn.

[0126] In one embodiment, the control module 59 determines the length of the grass trimming rope exposed from the grass trimming head by detecting the working parameters of the grass trimming head. If the length is less than a threshold value, the control module 59 controls the grass trimming head to automatically release the grass trimming rope, i.e., to automatically release a certain length of the grass trimming rope, so that the auxiliary cutting area restores the original working area. Specifically, the working voltage and other parameters of the grass trimming head can be detected, and the control module 59 determines the relationship between the working voltage and the threshold value, thereby controlling the grass trimming head to release the grass trimming rope.

[0127] In one embodiment, the grass trimming rope is wound on a reel installed on the grass trimming head. When the grass trimming rope on the reel is used up, a new reel needs to be replaced for the grass trimming head to work. The control module 59 determines whether the grass trimming rope is used up by detecting the working parameters of the grass trimming head. If the grass trimming rope is used up, the user is reminded to replace it. Specifically, the grass trimming head comprises a driving motor. The motor speed, current or power and the like are detected by a sensor. When the measured signal of the driving motor of the grass trimming head is less than a preset value, it is determined that the grass trimming rope is used up. When the control module 59 determines that the grass trimming rope is used up, a reminding device such as an optical module installed on the housing 61 can be used for reminding, or a wireless signal transmission mode can be used to transmit a line replacement reminding signal to a terminal device such as a mobile phone, a computer or the like.

[0128] In one embodiment, the direction in which the walking module 51 moves along the boundary line 103 can include two directions, a first direction in which the auxiliary cutting module 63 can cut to the edge and a second direction opposite to the first direction. The control module 59 controls the walking module 51 to move along the boundary line 103 in the first direction, and when the automatic mower 11 moves in the first direction, the side on which the auxiliary cutting module 63 is installed is opposite to the other side relative to the longitudinal axis 111 and faces outside the working area 107, so that the auxiliary cutting area extends to the boundary line 103 or beyond the boundary line 103, thereby cutting to the area that the main cutting module 53 cannot cut.

[0129] Figure 7 is a schematic diagram of the moving direction of the automatic mower in one embodiment, as shown in Figure 7 the auxiliary cutting module 63 is installed on the left side of the longitudinal axis 111, and the control module 59 needs to control the walking module 51 to move along the boundary line 103 in the clockwise direction, i.e., the clockwise direction along the boundary line 103 is the first direction, and the counterclockwise direction is the second direction.

[0130] Figure 8 is a schematic diagram of the moving direction of the automatic mower in another embodiment, as shown in Figure 8 the auxiliary cutting module 63 is installed on the right side of the longitudinal axis 111, and the control module 59 needs to control the walking module 51 to move along the boundary line 103 in the counterclockwise direction, i.e., the counterclockwise direction along the boundary line 103 is the first direction, and the clockwise direction is the second direction.

[0131] With reference to Figure 12 In one embodiment, the boundary detection module 55 includes a first magnetic field sensor and a second magnetic field sensor, and the magnetic field signal generated by the current on the boundary line 103 is detected by the first magnetic field sensor and the second magnetic field sensor, so as to determine whether it is located inside or outside the boundary line 103. The first magnetic field sensor is installed on the left side of the longitudinal axis 111, and the second magnetic field sensor is installed on the right side of the longitudinal axis 111. In order to control the direction in which the automatic mower 11 moves along the boundary line 103 to be the clockwise direction, the control module 59 needs to control the first magnetic field sensor to be located outside the boundary line 103 and the second magnetic field sensor to be located inside the boundary line 103; if the direction in which the automatic mower 11 moves along the boundary line 103 is controlled to be the counterclockwise direction, the control module 59 needs to control the first magnetic field sensor to be located inside the boundary line 103 and the second magnetic field sensor to be located outside the boundary line 103. In other embodiments, the control module 59 can also control the automatic mower 11 to walk along one side of the boundary line 103 and control the walking direction by the magnetic field signal detected by the first magnetic field sensor and the second magnetic field sensor to determine whether it is located inside or outside the boundary line 103, and the specific details are not described herein.

[0132] With reference to Figure 4 ,Figure 5 and Figure 6 In one embodiment, the distance from the first rotating shaft to the longitudinal axis 111 is a first distance, the distance from the second rotating shaft to the longitudinal axis 111 is a second distance, and the difference between the second distance and the first distance is less than or equal to the sum of the radii of the main cutting area and the auxiliary cutting area. During the movement of the automatic mower 11 along the boundary line 103, the area on the lawn worked by the main cutting module 53 is an area a with a width equal to the diameter of the main cutting area, and the area on the lawn worked by the auxiliary cutting module 63 is an area b with a width equal to the diameter of the auxiliary cutting area. If the difference between the second distance and the first distance is greater than the sum of the radii of the main cutting area and the auxiliary cutting area, there is a gap between the area a and the area b in the transverse direction, resulting in an uncut area around the obstacle after the main cutting module 53 and the auxiliary cutting module 63 work. Thus, after the automatic mower 11 moves along the boundary line 103 in a specific manner and completes cutting, the control module 59 needs to control the relative distance between the walking module 51 and the boundary line 103 according to the detection of the signal strength of the boundary line 103 by the boundary detection module 55, so as to realize cutting of the uncut area. This working manner not only increases the load of the control module 59, but also reduces the working efficiency of the automatic mower 11. Therefore, when the difference between the second distance and the first distance is less than or equal to the sum of the radii of the main cutting area and the auxiliary cutting area, the area a and the area b are tangent or intersect in the transverse direction, ensuring that the obstacle is completely cut after the main cutting module 53 and the auxiliary cutting module 63 work.

[0133] In one embodiment, in order to avoid the auxiliary cutting module 63 from contacting the uneven ground and affecting the free movement of the automatic mower 11, the height of the auxiliary cutting module 63 is greater than or equal to 30 mm, i.e., the distance between the auxiliary cutting module 63 and the horizontal ground is greater than or equal to 30 mm. Figure 10 is a schematic view of the height adjustment structure in one embodiment, as Figure 10As shown, the main cutting module 53 comprises a main height adjustment module for adjusting the height of the main cutting module 53. Generally, the cutting height of the main cutting module 53 is between 20mm and 100mm, and users in different regions such as Europe and America have different requirements. In order to ensure the passability of the automatic mower 11, the cutting height of the auxiliary cutting module 63 is greater than or equal to 20mm, which is adapted to the main cutting module 53. In an embodiment, in order to achieve the cutting effect, the cutting height of the auxiliary cutting module 63 cannot be too high, and the cutting height of the auxiliary cutting module 63 is less than or equal to 100mm, which is adapted to the main cutting module 53. If the maximum cutting height of the main cutting module 53 is 80mm, the cutting height of the auxiliary cutting module 63 is less than or equal to 80mm. In an embodiment, in order to ensure the visual effect, it is necessary to keep the cutting height of the auxiliary cutting module 63 within a certain range of the cutting height of the main cutting module 53. Optionally, the cutting height of the auxiliary cutting module 63 is set to the average value of the minimum cutting height and the maximum cutting height of the main cutting module.

[0134] With reference to the foregoing Figure 10 In an embodiment, the auxiliary cutting module 63 comprises an auxiliary height adjustment module for adjusting the height of the auxiliary cutting module 63. The height adjustment range of the auxiliary cutting module 63 is the same as that of the main cutting module 53. In an embodiment, the main height adjustment module and the auxiliary height adjustment module are drivingly connected through a transmission module, so that when the main height adjustment module adjusts the height of the main cutting module 53, the auxiliary height adjustment module can be driven to adjust the height of the auxiliary cutting module 63.

[0135] In an embodiment, during the working process of the auxiliary cutting module 63, the main cutting module 53 is started in a preset manner to prevent the grass clippings generated by the working of the auxiliary cutting module 63 from accumulating on the main cutting module 53. Therefore, the main cutting module 53 can be started periodically to make the grass clippings fall off by rotating; or can be started when the main cutting module 53 detects that the weight is greater than a preset value; or can be started when the distance between the auxiliary cutting module 63 and the user terminal 9 meets a preset distance. In this embodiment, the control module 59 can control the main cutting module to start at a normal working speed, or can start at a larger or smaller speed, as long as the grass clippings can fall off.

[0136] In an embodiment, the housing 61 is provided with a warning module, which can include warning lights or buzzers, etc. When the auxiliary cutting module 63 is working, the control module 59 controls the warning module to start, so as to remind the user and avoid accidental contact with the auxiliary cutting module 63. The warning module includes sound warning or light warning, etc.

[0137] In one embodiment, the noise intensity generated by the auxiliary cutting module 63 is greater than the preset noise intensity when the auxiliary cutting module 63 is working, and the preset noise intensity is greater than the noise intensity generated when the main cutting module 53 is working. In this embodiment, the noise intensity generated by the auxiliary cutting module 63 is greater than or equal to 60 dB at a position one meter away from the auxiliary cutting module 63.

[0138] In one embodiment, since the automatic mower 11 may pass the stop station 105 during the process of moving along the boundary line 103, the auxiliary cutting element may contact the stop station 105, thereby damaging the stop station 105 or damaging the auxiliary cutting element. Taking the grass string as an example, in order to reduce the wear of the grass string and the damage of the stop station 105, the surface of the stop station can be designed with a rounded corner to avoid the contact between the grass string and the corner of the stop station 105.

[0139] In one embodiment, the height of the stop station 105 is lower than the height of the auxiliary cutting area in the working stroke of the auxiliary cutting module 63. In one embodiment, for the plane where the auxiliary cutting area is located, the distance between the stop station 105 and the second rotating shaft is greater than the radius of the auxiliary cutting area, so that the auxiliary cutting element cannot contact the stop station 105.

[0140] In one embodiment, the automatic mowing system has at least two working modes: a main cutting mode and an auxiliary cutting mode. In the main cutting mode, the control module 59 automatically controls the automatic mower 11 to move and work within the boundary line 103 or along the boundary line 103. In the auxiliary cutting mode, if the control module 59 continuously receives a preset signal, at least based on the preset signal, the control module 59 controls the auxiliary cutting module 63 to work; if the preset signal received by the control module 59 is interrupted, the control module 59 controls the auxiliary cutting module 63 to stop working. The user indirectly controls whether the auxiliary cutting module 63 works or not by operating the user terminal 30, which ensures that whether the auxiliary cutting module 63 works or not is monitored and decided by the user, and ensures that the user can quickly respond to abnormal situations. In this way, even if the auxiliary cutting module 63 has the possibility of accidental contact with people or animals during the working process, the dangerous situation can be eliminated through the user's monitoring.

[0141] Figure 13 FIG. 1 is a structural schematic diagram of the user terminal in one embodiment, as shown in FIG. 1, the user terminal 30 comprises a display screen 31, a processor 32, a memory 33, a communication interface 34, and a power supply 35. Figure 13As shown, the user terminal 30 comprises a remote communication module 36, a processing module 32 and a button 34, the button 34 comprises a button 341 and a button 343, if the user presses the button 341 and the button 343 respectively, the processing module 32 sends a start signal and a control signal through the remote communication module 36. The automatic mower 11 further comprises a wireless communication module 65, if the remote communication module 36 establishes a connection with the wireless communication module 65, when the control module 59 receives the start signal and the control signal through the wireless communication module 65, the control module 59 controls the automatic mower 11 to start the auxiliary cutting mode. In this embodiment, pressing two or more buttons can avoid user misoperation. There are many ways to start the auxiliary cutting mode, such as voice input, password input, etc.

[0142] In one embodiment, if the start signal and the control signal received by the control module 59 meet the preset condition, the control module 59 controls the automatic mower to switch to the auxiliary cutting mode. In this embodiment, the preset condition includes that the processing module 32 receives the start signal and the control signal within a preset time. In other embodiments, the preset condition includes that the processing module 32 receives the start signal and the control signal in a preset order.

[0143] In one embodiment, if the user terminal 30 is in a working state, when the user presses the button 141 and the button 143, the processing module 32 receives the start signal and the control signal respectively, and meets the preset condition, the processing module 32 controls the remote communication module 36 to send the control signal. When the control module 59 receives the control signal, the control module 59 controls the automatic mower to switch to the auxiliary cutting mode.

[0144] In one embodiment, the housing 21 is provided with a start button, and the user terminal 30 is provided with a control button. When the user operates the start button, the control module 59 receives the start signal, when the user operates the control button, the user terminal 30 sends the control signal, and the control module 59 receives the control signal through the wireless communication module 65. If the start signal and the control signal received by the control module 59 meet the preset condition, the control module 59 controls the automatic mower to switch to the auxiliary cutting mode.

[0145] If the user terminal 30 establishes a communication connection with the automatic mower 11, when the user continuously presses the button 343, the processing module 32 sends the control signal through the remote communication module 36. In the auxiliary cutting mode, if the control module 59 continuously receives the control signal through the wireless communication module 65, the control module 59 controls the auxiliary cutting module 63 to work. In the auxiliary cutting mode, the control module 59 continuously judges whether the control signal is received, if the control signal received by the control module 59 is interrupted, the control module 59 controls the auxiliary cutting module 63 to stop working.

[0146] Continuing to refer to Figure 13In one embodiment, the user terminal 30 comprises the key 341 and the key 343, and further comprises the key 345. When the user presses the key 345, the user terminal 30 sends a stop signal, and the control module 59 controls the auxiliary cutting module 63 to stop working according to the received stop signal.

[0147] In one embodiment, the key 343 is a contact sensor. The user can continuously operate the key 343 by continuously contacting the key 343, so that the user terminal 30 continuously sends the control signal. When the user no longer contacts the key 343, the user terminal 30 no longer sends the control signal. Alternatively, the key 341 and / or the key 345 can also be a contact sensor. The contact sensor can be a capacitive sensor, a piezoelectric sensor, etc. In other embodiments, the user terminal 30 is wholly or partially installed with a capacitive sensor. When the user contacts a corresponding position of the user terminal 30, the capacitive sensor can detect the user operation, and the user terminal 30 accordingly sends a preset signal. When the user intends to stop the working of the auxiliary cutting module 63, the user can press the key 345 to make the user terminal 30 send a stop signal, or directly release the user terminal 30. In this embodiment, the contact sensor is used to replace the traditional key, which can improve the convenience of the user continuously operating the user terminal 30. Alternatively, the key 341 and / or the key 345 can also be other inductive sensors, such as an infrared sensor, an acceleration sensor, etc.

[0148] In one embodiment, the user terminal 30 comprises a direction control key. The user sends a direction signal by operating the direction control key of the user terminal 30 to control the moving direction of the automatic mower 11. In this embodiment, when the distance between the user terminal 30 and the automatic mower 11 is less than a direction control distance, the user is allowed to control the moving direction of the automatic mower 11 through the direction control key. In one embodiment, when the distance between the user terminal 30 and the automatic mower 11 is greater than the direction control distance, the control module 59 ignores the direction signal sent by the user terminal 30, i.e. the user is not allowed to control the moving direction of the automatic mower 11 through the direction control key. In this embodiment, the direction control distance is 6 meters. Alternatively, when the control module 59 receives the direction signal sent by the user terminal 30, the control module 59 controls the auxiliary cutting module 63 to stop working.

[0149] In one embodiment, the user terminal 30 is a mobile terminal. The user terminal 30 can be a terminal device capable of accessing a communication network based on a network protocol and having a data sending function. Specifically, the client can be a mobile smart phone, a computer (including a notebook computer and a desktop computer), a tablet electronic device, a personal digital assistant (PDA), a smart wearable device, etc.

[0150] Figure 14 is a structural schematic diagram of the user terminal in yet another embodiment. As shown inFigure 14 In one embodiment, the user terminal 30 is a mobile terminal. The user can send a signal by operating the virtual or physical keys of the user terminal 30. The user can send a signal by operating a specific key to control the auxiliary cutting module 63 to work or stop working. In other embodiments, the user can not operate a specific key to send a signal to control the auxiliary cutting module 63. When the user holds the user terminal 30, the user terminal 30 detects that the holding state is not a stationary state by using the existing sensors. The user terminal 30 determines the posture of the user terminal 30 by using a compass or a gyroscope. If the posture changes continuously, the user terminal 30 sends a control signal to control the auxiliary cutting module 63 to work. If the posture remains unchanged, the user terminal 30 no longer sends a control signal, and the auxiliary cutting module 63 stops working. For example, the user terminal 30 captures images by using a camera. If the images change frequently, the user terminal 30 sends a control signal to control the auxiliary cutting module 63 to work. If the images almost do not change, the auxiliary cutting module 63 stops working. As long as the user terminal 30 can detect the holding state of the user by using the existing sensors of the user terminal 30, and ensure that the automatic mower 11 works under the monitoring of the user, the user terminal 30 can send a control signal by using the output of the sensors, so that the control module 59 controls the auxiliary cutting module 63 to work.

[0151] In one embodiment, the user terminal 30 is a mobile terminal. The user terminal 30 includes a pressure sensing module. When the pressure sensing module detects that the user presses, it is considered that the user is in a state of monitoring the working of the automatic mower 11. The user terminal 30 can send a control signal by using the output of the pressure sensor, so that the control module 59 controls the auxiliary cutting module 63 to work.

[0152] In one embodiment, the user terminal 30 is a mobile terminal. The user terminal 30 includes an interface for electrically connecting with an external device. The user terminal 30 can be connected with the external device through the interface. The external device can include an accelerometer, a gyroscope, etc. The external device can detect the monitoring state of the user. The user terminal 30 sends a control signal by using the detection signal output by the external device, so that the control module 59 controls the auxiliary cutting module 63 to work.

[0153] In one embodiment, the user terminal 30 can also include an APP running on any of the above listed devices, which has the function of sending instructions to the automatic mower 11. When the APP switches to the background, the control signal sent by the user terminal 30 stops, and the control module 59 controls the auxiliary cutting module 63 to stop working. Alternatively, when the APP switches to the background, the user terminal 30 sends a stop signal, and the control module 59 controls the auxiliary cutting module 63 to stop working. Or, when the APP switches to the background, the user terminal 30 sends a stop signal, and the control module 59 controls the auxiliary cutting module 63 and the walking module 51 to stop working. The APP switching to the background includes the user terminal being in a telephone answering state or a short message reading state, etc. In one embodiment, if there is a telephone access, the user hangs up the phone within a certain time, then the user terminal 30 is not affected by the operation; if the user does not hang up the phone within a certain time, the user terminal 30 sends a stop signal to control the auxiliary cutting module 63 and / or the walking module 51 to stop working.

[0154] In one embodiment, the control module 59 judges the relationship between the signal strength sent by the user terminal 30 and the preset strength, and if the signal strength received by the wireless communication module 65 is less than the preset strength, the control module 59 controls the auxiliary cutting module 63 to stop working. At this time, the user continues to operate the user terminal 30, and the user terminal 30 can send control signals, but the wireless communication module 65 cannot receive the control signals, or even if it can receive the control signals, the control module 59 will process it as an unreceived state, that is, the control module 59 controls the auxiliary cutting module 63 to stop working. Here, the comparison between the signal strength and the preset strength is to keep the user terminal 30 and the automatic mower 11 within a certain distance, and other parameters other than signal strength can also be used to judge the distance relationship. In other embodiments, the control module 59 judges the distance relationship between the user terminal 30 and the automatic mower 11 through the control signals received by the wireless communication module 65, and if the distance between the user terminal 30 and the automatic mower 11 is greater than the first preset distance, the control module 59 controls the auxiliary cutting module 63 to stop working.

[0155] In one embodiment, the user terminal 30 is at different distances from the automatic mower 11, and the working energy of the auxiliary cutting module 63 is different. When the working energy of the auxiliary cutting module 63 is large, in order to ensure that the user can identify the abnormal situation in time and control through the user terminal 30, the user terminal 30 needs to be constrained within the first preset distance from the automatic mower 11. If the distance between the automatic mower 11 and the user terminal 30 is less than the first preset distance, the control module 59 controls the auxiliary cutting module 63, so that the working energy of the auxiliary cutting module 63 is less than the first preset energy. If the distance between the automatic mower 11 and the user terminal 30 is greater than the first preset distance and less than the second preset distance, the control module 59 controls the auxiliary cutting module 63 to reduce the working energy, so that the working energy of the auxiliary cutting module 63 is less than the second preset energy, and the second preset energy is less than the first preset energy. The first preset energy is 0.5J, and the second preset energy is 0.25J.

[0156] For a specific auxiliary cutting module, its working energy is mainly affected by the working speed. In an embodiment, the working speed of the auxiliary cutting module 63 is different in different cases. When the distance between the user terminal 30 and the automatic mower 11 is greater than a first preset distance, the working speed of the auxiliary cutting module 63 is small; when the distance between the user terminal 30 and the automatic mower 11 is less than the first preset distance, the working speed of the auxiliary cutting module 63 is large. In an embodiment, the working speed of the auxiliary cutting module 63 includes at least two kinds: a first working speed and a second working speed, the first working speed is high speed, and the second working speed is low speed. The control module 59 judges the relationship between the distance between the user terminal 30 sending the control signal and the remote communication module 36 and the first preset distance and the second preset distance. If the distance between the user terminal 30 and the automatic mower 11 is greater than the second preset distance, the user terminal 30 and the automatic mower 11 cannot establish an effective communication connection, and the control module 59 controls the auxiliary cutting module 63 to stop working. If the distance between the user terminal 30 and the automatic mower 11 is less than the first preset distance, the control module 59 controls the auxiliary cutting module 63 to work at the first working speed; if the distance between the user terminal 30 and the automatic mower 11 is greater than the first preset distance and less than the second preset distance, the control module 59 controls the auxiliary cutting module 63 to work at the second working speed; and if the distance between the user terminal 30 and the automatic mower 11 is greater than the second preset distance, the control module 59 controls the auxiliary cutting module 63 to stop working. Since the auxiliary cutting module 63 works at the first working speed, a large amount of energy is generated, which may cause harm to people or animals. Therefore, when the user is far away from the self-moving device 1, the auxiliary cutting module 63 works at the second working speed, and a small amount of energy is generated, which reduces or avoids causing harm. In this way, if the area of the working area 107 is large, during the movement of the automatic mower 11, if the user does not move, the distance between the user and the automatic mower 11 will exceed the first preset distance. By switching the working speed, not only can the state of the auxiliary cutting module 63 being frequently switched between working and not working be avoided, but also the user can be reminded to adjust the position. In this embodiment, the first preset distance is 6 meters, and the second preset distance is 20 meters. In other embodiments, the values of the first preset distance and the second preset distance can be adjusted according to safety requirements and the area of the working area.

[0157] In an embodiment, in the auxiliary cutting mode, if the user does not operate the user terminal 30 within a specified period of time, or the distance between the user terminal 30 and the automatic mower 11 exceeds the preset distance, when the user terminal 30 returns to the effective distance of the automatic mower 11, or the user operates the user terminal 30 again to send a control signal, so that the control module 59 receives an effective control signal, the control module 59 controls the auxiliary cutting module 63 to continue working; if the control module 59 cannot receive an effective control signal for more than a specified period of time, the auxiliary cutting mode is switched to the main cutting mode. After the auxiliary cutting mode is interrupted, the user needs to operate the user terminal 30 to send a start signal to restart the auxiliary cutting mode.

[0158] In one embodiment, the automatic mower 11 comprises a path detection module 67 capable of detecting a preset path set by a user, and the control module 59 controls the automatic mower 11 to move along the preset path through the output signal of the path detection module 67. The movement along the preset path can be that the walking module 51 is partially located on one side of the preset path and partially located on the other side of the preset path, or that the walking module 51 is completely located on one side of the preset path, which is not specifically limited here. The purpose of setting the preset path is to assist the cutting module 63 to complete the corresponding work task in the corresponding area when the automatic mower 11 moves along the preset path. The control module 59 automatically controls the movement of the self-moving device through the output of the sensor, without the need for the user to control the moving direction of the automatic mower 11, which not only can reduce the error caused by the user control, but also can reduce the complexity of the user operation, while ensuring the user monitoring and maximizing the degree of automation of the automatic mower 11. In other embodiments, the preset path set by the user can be the boundary line 103 or a part of the boundary line 103, and the control module 59 can control the walking module 51 to move along the preset path through the output of the boundary detection module 55. The preset path can be a specific path set by the user in the working area 107, or can be the boundary line 103 or a part of the boundary line 103. If the preset path is the boundary line 103 or a part of the boundary line 103, the control module 59 can control the walking module 51 to move along the preset path through the output of the boundary detection module 55, that is, the boundary detection module 55 can output the detection result for the control module 59 to judge as the path detection module 67. Specifically, the boundary line 103 comprises an outer boundary line set on the outer boundary of the working area 107 and an inner boundary line set on the inner boundary of the working area 107.

[0159] In one embodiment, the control of the walking module 51 to move along the preset path specifically refers to the control of the automatic mower 11 to move on the preset path. In the auxiliary cutting mode, the control module 59 judges whether the automatic mower 11 is on the preset path, if not, the control module 59 controls the walking module 51 to move and controls the automatic mower 11 to approach the preset path through the output of the path detection module 67; if the automatic mower 11 is on the preset path, the control module 59 controls the walking module 51 to move along the preset path.

[0160] In one embodiment, the preset path may include any one or more combinations of physical or electronic components, specifically a signal generating device that generates virtual signals, relative coordinates or absolute coordinates stored in the control module 59, etc. For example, the preset path is set using magnetic materials, such as magnetic nails or magnetic strips. The shape of the magnetic strips can be adjusted according to user needs to adapt to the working requirements of the auxiliary cutting module 63. Correspondingly, the path detection module 67 includes a sensor that detects the magnetic field generated by the magnetic material, and by detecting parameters such as magnetic field strength and direction, the automatic lawnmower 11 moves along the preset path.

[0161] In one embodiment, in the assisted cutting mode, if the control module 59 continuously receives a control signal and determines that the automatic lawnmower 11 is on the preset path, it controls the assisted cutting module 63 to operate; if the control module 59 continuously receives a control signal but determines that the automatic lawnmower 11 is not on the preset path, it controls the assisted cutting module 63 to stop operating; if the control signal received by the control module 59 stops, the control module 59 controls the assisted cutting module 63 to stop operating regardless of whether the automatic lawnmower 11 is on the preset path. By determining the positional relationship between the automatic lawnmower 11 and the preset path, the control module 63 can reduce the ineffective working time of the assisted cutting module 63, thereby saving the energy of the energy module 57 and improving work efficiency; furthermore, restricting the assisted cutting module 63 to operate only on the preset path reduces the working range of the assisted cutting module 63, which can reduce the possibility of the assisted cutting module 63 causing accidental damage.

[0162] Figure 15 A schematic diagram of the structure of an automatic lawnmower in one embodiment, such as... Figure 15 As shown, the auxiliary cutting module 63 includes a pruning module. When the automatic lawnmower 11 moves along a preset path, the auxiliary cutting module 63 faces the area to be pruned, enabling the automatic lawnmower 11 to complete the pruning work in the area after moving along the preset path. Therefore, users can easily complete the work that originally required manual pruning shears through the auxiliary cutting mode of the automatic lawnmower 11.

[0163] In one embodiment, the automatic lawnmower 11 includes a prompting module 67, which stores additional conditions for activating the auxiliary cutting mode, including the working schedule of the automatic lawnmower 11, the remaining energy of the energy module 57, etc. If the prompting module 67 determines that the additional conditions are met, it sends a prompt signal to the user terminal 30. The user can understand the working status of the automatic lawnmower 11 based on the prompt signal, ensuring more efficient manual control. The wireless communication module 65 includes Bluetooth communication, Wi-Fi communication, or cellular network communication, etc.

[0164] In one embodiment, the automatic lawnmower 11 includes a trimming mode.Figure 11 is a schematic diagram of the position relationship between the automatic mower and the obstacle in an embodiment, as Figure 11 shown, a to-be-edged region includes at least one starting point 100 and at least one ending point 200, and the user sets a first mark 101 corresponding to the starting point 100 and a second mark 201 corresponding to the ending point 200 on or within a certain range of the boundary line 13, and the mark can be a passive magnetic device or a metal piece, etc. The automatic mower 11 is provided with a mark detection module for detecting the first mark 101 and the second mark 201. When the automatic mower 11 moves along the boundary line 13 in the first direction from the parking station 15, if the mark detection module detects the first mark 101, the control module 31 controls the auxiliary cutting module 33 to work, and if the mark detection module detects the second mark 201, the control module 31 controls the auxiliary cutting module 33 to stop working, so that the auxiliary cutting module 33 only works in the to-be-edged region. When the automatic mower 11 moves along the boundary line 13 in the first direction from the parking station 15, the first mark 101 is detected first, and then the second mark 201 is detected. Since the to-be-edged region is small, the possibility of a person or an animal entering the to-be-edged region when the automatic mower 11 works is small, and the possibility of the auxiliary cutting module 33 causing injury to the person or the animal when working is also small.

[0165] With reference to Figure 11 In an embodiment, the automatic mower 11 is provided with a boundary detection module 27 including a distance detection module, and the main direction of the distance detection module is the same as the direction of the auxiliary cutting module 33 when working, i.e., the outer side of the working area 17. In this embodiment, the to-be-edged region is the region between the boundary line 13 and the obstacle outside the boundary line 13, and when the automatic mower 11 moves along the boundary line 13 and approaches the obstacle, the distance detection module can detect the distance between the automatic mower and the obstacle. When the automatic mower 11 moves along the boundary line 13 in the first direction, if the distance detected by the distance detection module is less than a preset distance, the control module 31 controls the auxiliary cutting module 33 to work; and if the detected distance is greater than the preset distance, the control module 31 controls the auxiliary cutting module 33 to stop working.

[0166] With reference to Figure 11In one embodiment, the automatic mower 11 comprises a boundary learning mode, in which the automatic mower 11 moves along the boundary line 13 in a first direction, and the control module 31 records a first point 101 and a second point 201 on the boundary line 13 corresponding to the start point 100 and the end point 200 of the area to be edged by the user operating the user device 9. The automatic mower 11 comprises a communication module 35 installed on the housing 21 and capable of communicating with the user device 9 and receiving signals. When the automatic mower 11 moves along the boundary line 13 in the first direction, if the automatic mower 11 passes the start point 100 of the area to be edged, the user operates the user device 9 to send a learning signal, so that the control module 31 records the first point 101 on the boundary line 13, and if the automatic mower 11 passes the end point 200 of the area to be edged, the user again operates the user device 9 to send a learning signal, so that the control module 31 records the second point 201 on the boundary line 13. In the edging mode, when the automatic mower 11 moves along the boundary line 13 in the first direction, the control module 31 controls the auxiliary cutting module 33 to start working from the first point 101 and stop working when passing the second point 201. In other embodiments, in order to avoid modifying the first point 101 and the second point 201 recorded by the control module 31 by mistake, the user needs to unlock the record by inputting a password or the like before modifying.

[0167] It is conceivable to those skilled in the art that the present application can have other implementation manners, but as long as the technical essence adopted is the same or similar to the present application, or any changes and substitutions based on the present application are within the protection scope of the present application.

Claims

1. A self-moving device for moving and working within a work area, comprising: case; A walking module, installed on the housing, drives the housing to move; The main working module is installed in the housing and rotates along the first axis to form the main working area; An auxiliary working module is installed in the housing and rotates along the second axis to form an auxiliary working area, which includes areas that cannot be covered by the main working area. Its features are, The self-moving device also includes: The control module controls the self-moving device to move and work automatically within the defined work area. The housing includes a movable cover; the auxiliary working module is detachably mounted on the housing; when the auxiliary working module is mounted on the housing, the movable cover moves upward or is detached from the housing; when the auxiliary working module is not mounted on the housing, the movable cover moves downward or is mounted on the housing.

2. The self-moving device of claim 1, wherein, The housing includes a base and a top cover mounted on the base. The movable cover is mounted on the base or the top cover and is located on the side where the second rotating shaft is located.

3. The self-moving device of claim 2, wherein, The movable shield is movable relative to the base or the top cover.

4. The self-moving device of claim 2, wherein, The movable shield is detachable relative to the base or the top cover.

5. The self-moving device according to claim 1, Its features are, The cutting height of the auxiliary working module is kept within a certain range from the cutting height of the main working module.

6. The self-moving device according to claim 5, characterized in that, The self-moving device further includes a height adjustment module, which is connected to the auxiliary working module and / or the main working module, and is used to adjust the height of the auxiliary working module and / or the main working module.

7. The self-moving device according to claim 5, characterized in that, The main working module includes a main height adjustment module for adjusting the height of the main working module.

8. The self-moving device according to claim 7, characterized in that, The auxiliary working module includes an auxiliary height adjustment module for adjusting the height of the auxiliary working module.

9. The self-moving device according to claim 8, characterized in that, The main height adjustment module and the auxiliary height adjustment module are connected by a transmission module, so that when the main height adjustment module adjusts the height of the main working module, it can drive the auxiliary height adjustment module to adjust the height of the auxiliary working module.

10. The self-moving device according to claim 5, characterized in that, The distance between the auxiliary working module and the ground where the self-moving device is located is greater than or equal to 30mm.

11. The self-moving device according to claim 1, Its features are, The auxiliary cutting area formed by the auxiliary working module extends beyond the shell. The auxiliary working module includes a grass-cutting head, which is equipped with a grass-cutting rope. The grass-cutting head drives the grass-cutting rope to rotate in order to cut grass. The auxiliary working module operates at a working energy of less than or equal to 5J.

12. The self-moving device according to claim 11, characterized in that, The working energy of the auxiliary working module is less than or equal to 2J.

13. The self-moving device according to claim 11, characterized in that, When the auxiliary working module is working, the maximum moving speed of the walking module is less than 25m / min.

14. The self-moving device according to claim 13, characterized in that, When the auxiliary working module is working, the maximum moving speed of the walking module is greater than 5m / min.

15. The self-moving device according to claim 1, Its features are, The self-moving device includes an isolation cover located within the housing, between the main working module and the auxiliary working module.

16. The self-moving device according to claim 15, characterized in that, The isolation shield at least partially covers the main working module; or, the isolation shield at least partially covers the auxiliary working module.

17. The self-moving device according to claim 1, Its features are, The auxiliary working module rotates backward along the direction of movement of the self-moving device.

18. The self-moving device according to claim 17, characterized in that, The auxiliary working module is located on the left side of the housing and controls its counterclockwise rotation; the auxiliary working module is located on the right side of the housing and controls its clockwise rotation.

19. The self-moving device according to claim 17, characterized in that, The auxiliary working module includes a grass-cutting head, which is equipped with a grass-cutting rope. The grass-cutting head drives the grass-cutting rope to rotate in order to cut grass.

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