Smart lawnmower

Abstract

This invention relates to an intelligent lawnmower, comprising a boundary sensor for detecting boundary lines and an RFID reader for repositioning. The RFID reader includes an antenna module and a reading module. The antenna module emits radio waves to activate an electronic tag to emit and receive radio frequency signals. The reading module reads the identification information from the radio frequency signals. The electronic tag is installed in the working area of ​​the intelligent lawnmower. The boundary sensor and the antenna module are spaced apart in both the front-to-back and vertical directions of the intelligent lawnmower. In this invention, the antenna module and the boundary sensor are spaced apart, and the magnetic field generated by the antenna module after being powered on will not interfere with the boundary sensor or reduce the strength of the magnetic field detected by the boundary sensor. Therefore, the intelligent lawnmower can accurately identify boundary lines and operate normally within the working area.

Description

Technical Field

[0001] This invention relates to the field of garden tool technology, and more particularly to an intelligent lawnmower that prevents electromagnetic interference. Background Technology

[0002] Smart lawnmowers are common garden tools widely used for mowing lawns. To prevent them from wandering around and damaging the lawn, users need to define the working area before they begin mowing. Current methods for setting this area involve drawing a boundary line around the lawn; the area enclosed by this line is the working area. The smart lawnmower uses boundary sensors to detect the boundary line and stay within that area while mowing.

[0003] When a smart lawnmower performs mowing operations within its work area, it frequently needs to reposition itself to determine its current location for accurate navigation. Existing repositioning methods primarily involve installing multiple electronic tags along the boundary lines. Each tag has unique identification information. Correspondingly, the smart lawnmower stores the absolute coordinates of each tag's location and is equipped with an RFID reader. When the smart lawnmower moves through the work area past a tag, it uses the RFID reader to read the tag's identification information and retrieves its corresponding absolute coordinates, updating these coordinates to reflect the lawnmower's current position.

[0004] However, the above-mentioned smart lawnmower repositioning solution has the following problems: the magnetic field generated by the radio frequency identification reader will interfere with the boundary sensor, reduce the strength of the magnetic field detected by the boundary sensor, so that the smart lawnmower cannot detect the boundary line, thus affecting the normal operation of the smart lawnmower.

[0005] Therefore, it is indeed necessary to provide an improved intelligent lawnmower to overcome the shortcomings of existing technology. Summary of the Invention

[0006] In view of the shortcomings of the existing technology, the purpose of this invention is to provide an intelligent lawnmower that is resistant to electromagnetic interference.

[0007] The present invention addresses the problems of existing technologies by employing the following technical solution: A smart lawnmower, autonomously moving and mowing within a working area defined by a boundary line, comprising: a housing; a boundary sensor installed within the housing, the boundary sensor detecting an electromagnetic field and generating a detection signal, the electromagnetic field being formed by current flowing through the boundary line; and a radio frequency identification (RFID) reader installed within the housing, comprising an antenna module and a reading module, the antenna module emitting radio frequency waves to activate an electronic tag to emit and receive radio frequency signals, the reading module reading identification information from the radio frequency signals, and the electronic tag being installed within the working area; the boundary sensor and the antenna module are spaced apart in both the front-to-back and height directions of the smart lawnmower.

[0008] Furthermore, the boundary sensor is located above the antenna module, and in the height direction of the smart lawnmower, the distance between the lowest point of the boundary sensor and the highest point of the antenna module is not less than 10mm.

[0009] Furthermore, the boundary sensor is located in front of the antenna module, and in the front-rear direction of the smart lawnmower, the distance between the rearmost end of the boundary sensor and the frontmost end of the antenna module is not less than 20mm.

[0010] Furthermore, the intelligent lawnmower also includes a control board installed inside the housing, the boundary sensor and the reading module are both installed on the control board, and the antenna module is separately disposed from the control board and electrically connected to it via wires.

[0011] Furthermore, the housing includes a top surface and a bottom surface disposed opposite to each other, a front surface and a rear surface disposed opposite to each other, and a protective surface connected between the bottom surface and the front surface. The protective surface extends upward from the bottom surface until it connects with the front surface, and the antenna module is disposed behind the protective surface.

[0012] Furthermore, the antenna module is mounted on the bottom surface, and the wire extends from the antenna module through the space above the protective surface until it is connected to the control board.

[0013] Furthermore, the intelligent lawnmower also includes a lidar and a brushless motor that drives the lidar to rotate. The brushless motor and the antenna module are spaced apart in both the front-to-back and height directions of the intelligent lawnmower.

[0014] Furthermore, the antenna module is located in front of the brushless motor, and in the front-rear direction of the smart lawnmower, the distance between the rearmost end of the antenna module and the frontmost end of the brushless motor is not less than 30mm.

[0015] Furthermore, the intelligent lawnmower also includes a control component installed within the housing. The control component is configured to preprocess the detection signal to obtain a gain signal. When the signal strength of the gain signal is less than a first threshold, the control component controls the radio frequency identification reader to stop working.

[0016] Furthermore, the control component is also configured to control the intelligent lawnmower to stop moving when the signal strength of the gain signal is less than a second threshold; wherein the first threshold is greater than the second threshold.

[0017] Compared with the prior art, the present invention has the following beneficial effects: The intelligent lawnmower includes a boundary sensor for detecting boundary lines and an RFID reader for repositioning. The RFID reader includes an antenna module and a reading module. The antenna module emits radio waves to activate the electronic tag to emit and receive radio frequency signals. The reading module reads the identification information in the radio frequency signals. The electronic tag is installed in the working area of ​​the intelligent lawnmower. The boundary sensor and the antenna module are spaced apart in the front-back direction and the height direction of the intelligent lawnmower. In this way, the antenna module and the boundary sensor are spaced apart from each other. The magnetic field generated by the antenna module after it is powered on will not interfere with the boundary sensor and reduce the intensity of the magnetic field detected by the boundary sensor. Thus, the intelligent lawnmower can accurately identify the boundary line and operate normally in the working area. Attached Figure Description

[0018] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings:

[0019] Figure 1 This is a schematic diagram of the overall structure of the intelligent lawnmower in a preferred embodiment of the present invention;

[0020] Figure 2 yes Figure 1 A cross-sectional view of the intelligent lawnmower shown;

[0021] Figure 3 yes Figure 1 The diagram shown is a structural schematic of the smart lawnmower after part of its casing has been removed.

[0022] Figure 4 yes Figure 3 A partial schematic diagram of a cross-sectional view of the smart lawnmower shown;

[0023] Figure 5 yes Figure 3 A partial schematic diagram of a top view of the smart lawnmower shown.

[0024] Meaning of the reference numerals in the diagram:

[0025] Smart lawnmower 100 housing 1

[0026] Top surface 11 Bottom surface 12

[0027] Front end 13 Back end 14

[0028] Protective surface 15 First support surface 16

[0029] Second support surface 17 Walking component 2

[0030] Cutting component 3 Cutting piece 31

[0031] Cutting motor 32, motor barrel 33

[0032] Four-bar linkage 34 Control component 4

[0033] Control board 40, Energy component 5

[0034] Boundary sensor 6 RFID reader 7

[0035] Antenna module 71 Reading module 72

[0036] Wire 73, LiDAR 8 Detailed Implementation

[0037] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention. In the description of this specification, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples.

[0038] The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. For example, terms such as "upper," "lower," "front," and "rear" that indicate orientation or positional relationship are based solely on the orientation or positional relationship shown in the accompanying drawings and are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device / element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention.

[0039] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0040] Please see Figures 1 to 5The image shows an intelligent lawnmower 100 according to an embodiment of the present invention, including a housing 1, a walking component 2 for supporting the movement of the housing 1, a cutting component 3 disposed at the bottom of the housing 1, a control component 4 installed inside the housing 1 for controlling the automatic operation of the walking component 2 and controlling the automatic operation of the cutting component 3, and an energy component 5 for supplying power to the intelligent lawnmower 100.

[0041] The housing 1 includes a first outer shell and a second outer shell connected to the first outer shell. The first outer shell is used to install functional mechanisms and components such as the walking assembly 2, the cutting assembly 3, the control assembly 4, and the energy assembly 5. The second outer shell is configured to at least partially cover the first outer shell, mainly to enhance the aesthetics and recognizability of the intelligent lawnmower 100. It should be noted that the first outer shell serving as a base for installing various functional mechanisms and components, and the second outer shell serving as a top cover, is only one optional embodiment of the present invention. In other embodiments, the second outer shell may also serve as a base, and the first outer shell as a top cover.

[0042] The walking assembly 2 is used to move the intelligent lawnmower 100 within the working area, and includes a drive wheel assembly and a caster wheel assembly mounted on the housing 1. Specifically, there are two drive wheel assemblies, each connected to a corresponding drive motor (not shown). The drive motors drive the drive wheel assemblies to rotate, enabling the intelligent lawnmower 100 to move automatically. The caster wheel assembly mainly serves as an auxiliary support. There are one or two caster wheel assemblies, located at the front of the intelligent lawnmower 100. The caster wheel assemblies are not connected to the drive motors, but they are driven to roll while supporting the intelligent lawnmower 100's movement. With the above structural arrangement, the intelligent lawnmower 100 can be controlled by the control assembly 4, flexibly moving and turning on the working surface. During normal movement, the two drive motors output the same speed, directly driving or indirectly driving the intelligent lawnmower 100 through a transmission structure such as gears or belts, and the caster wheel assemblies also roll accordingly. When turning, the two drive motors output different speeds, and the intelligent lawnmower 100 turns towards the drive wheel with the lower speed or towards the drive wheel that is moving backward.

[0043] The cutting assembly 3 includes at least a cutting element 31 for cutting turf and a cutting motor 32 for driving the cutting element 31. Specifically, the cutting motor 32 is mounted on the first outer shell of the housing 1. The cutting motor 32 is electrically connected to the control assembly 4, which can control the start and stop of the cutting motor 32 and adjust its speed. The cutting motor 32 is housed in a motor cylinder 33. A four-bar linkage 34 is provided between the motor cylinder 33 and the first outer shell, and the four-bar linkage 34 rotatably connects the motor cylinder 33 and the first outer shell. Thus, when the intelligent lawnmower 100 encounters obstacles such as stones or low shrubs during its movement, the cutting element 31 will not collide directly with the obstacles. Instead, it will be pushed by the obstacles and drive the motor cylinder 33 to move in the vertical direction. This avoids damage to the cutting element 31 from direct collision with obstacles and also improves the obstacle-crossing ability of the intelligent lawnmower 100. It should be noted that the cutting component 31 can be a cutting disc and multiple cutting blades mounted on the cutting disc, or it can be a single cutting blade; there is no limitation here.

[0044] The control component 4 is used to control the automatic walking and operation of the intelligent lawnmower 100. The functions it performs include controlling the cutting component 3 to start or stop, generating a walking path and controlling the walking component 2 to follow it, receiving environmental signals detected by the intelligent lawnmower 100, judging the power of the energy component 5 and controlling the intelligent lawnmower 100 to return to the charging station for automatic charging, etc.

[0045] The energy component 5, used to power the intelligent lawnmower 100, is installed in the aforementioned housing 1. Specifically, the energy component 5 is constructed as a battery pack, and the first housing has a battery pack compartment (not shown), in which the battery pack is detachably installed. The battery pack is electrically connected to the aforementioned battery pack compartment, and wires (not shown) extend from the battery pack compartment for electrical connection with the aforementioned walking component 2, cutting component 3, and control component 4, thereby enabling the battery pack to power the aforementioned functional components.

[0046] For ease of understanding, in this invention, the horizontal working surface that the intelligent lawnmower 100 travels through during the cutting operation is used as a reference object, the plane parallel to the horizontal working surface is used as the horizontal plane, the direction perpendicular to the horizontal working surface is used as the height direction of the intelligent lawnmower 100, the forward direction of the intelligent lawnmower 100 is used as forward, and the opposite direction of the forward direction is used as backward. The direction parallel to the forward and backward directions is used as the front-back direction of the intelligent lawnmower 100.

[0047] The intelligent lawnmower 100 also includes a boundary detection device for detecting boundary lines. Specifically, the working area of ​​the intelligent lawnmower 100 is formed by a boundary line, which divides a specific area into two zones: the area inside the boundary line is the working area, and the area outside the boundary line is the non-working area. The boundary line is constructed as a cable through which a corresponding periodic current flows. This current generates a periodic magnetic field near the boundary line. The magnetic field has directionality and strength, and the direction is opposite on both sides of the boundary line, that is, the direction is opposite inside and outside the working area. The closer to the boundary line, the stronger the magnetic field signal.

[0048] The boundary detection device includes at least two boundary sensors 6, which are installed inside the housing 1. In this embodiment, the boundary sensor 6 is constructed as an inductive sensor, which can detect electromagnetic fields, generate detection signals, and obtain gain signals by the control component 4. Based on the strength and direction of the gain signals, the intelligent lawnmower 100 can identify whether it is located inside or outside the boundary line and perform motion control accordingly.

[0049] It should be noted that in this embodiment, the aforementioned periodic current signal can be a square wave pulse signal, as its generation method and identification are relatively easy, thereby reducing costs and improving efficiency. Of course, in other embodiments, the type of current signal can be selected and adjusted adaptively according to specific circumstances.

[0050] The smart lawnmower 100 also includes an RFID reader 7, which works in conjunction with an electronic tag (not shown) installed in the working area to enable repositioning of the smart lawnmower 100. Specifically, the RFID reader 7 is installed inside the housing 1 and includes an antenna module 71 and a reading module 72. The antenna module 71 emits radio waves to activate the electronic tag to emit and receive radio frequency signals, and the reading module 72 reads the identification information in the radio frequency signals.

[0051] In this embodiment, multiple electronic tags are spaced apart along the boundary line. These electronic tags are constructed as RFID beacons, and each tag stores unique identification information. During boundary map creation, the control component 4 controls the intelligent lawnmower 100 to move along the boundary line. During mapping, when the intelligent lawnmower 100 passes an electronic tag, it reads the tag's identification information, establishes a correspondence between this identification information and the current absolute coordinates, and stores it in the intelligent lawnmower 100's memory. Thus, when the intelligent lawnmower 100 performs cutting operations according to the planned path, the antenna module 71 emits electromagnetic waves to activate the electronic tag to emit electromagnetic signals and receives these signals. The reading module 72 reads the identification information from the electromagnetic signals, and the control component 4 retrieves the pre-stored correspondence between the identification information and absolute coordinates in the memory. Then, it updates the absolute coordinates corresponding to the current electronic tag to the coordinates of the intelligent lawnmower 100's current position to achieve repositioning.

[0052] Boundary sensor 6 and antenna module 71 are spaced apart in both the front-to-back direction and the height direction of the smart lawnmower 100. Specifically, boundary sensor 6 is located above antenna module 71, and in the height direction of the smart lawnmower 100, the distance between the lowest point of boundary sensor 6 and the highest point of antenna module 71 is not less than 10mm; boundary sensor 6 is located in front of antenna module 71, and in the front-to-back direction of the smart lawnmower 100, the distance between the rearmost point of boundary sensor 6 and the frontmost point of antenna module 71 is not less than 20mm.

[0053] In this embodiment, the distance between the antenna module 71 and the boundary sensor 6 is increased not only in the front-to-back direction, but also in the height direction. This reduces the weakening of the magnetic field signal of the boundary line detected by the boundary sensor 6 by the magnetic field generated by the antenna module 71 when it is working, thereby preventing the smart lawnmower 100 from failing to accurately detect the boundary line due to electromagnetic interference.

[0054] Especially when the intelligent lawnmower 100 moves to a relatively central area of ​​the working area, it is far from the boundary line. The magnetic field signal strength detected by the boundary sensor 6 is weak. By increasing the distance between the antenna module 71 and the boundary sensor 6 in both the front-to-back and height directions in this embodiment, the magnetic field of the antenna module 71 will not further weaken the magnetic field signal detected by the boundary sensor 6, thus preventing the boundary sensor 6 from detecting the magnetic field signal. As a result, the intelligent lawnmower 100 will not frequently trigger the shutdown protection due to the inability to detect the boundary line, thereby improving the stability of the intelligent lawnmower 100's operation.

[0055] The intelligent lawnmower 100 also includes a lidar 8 and a brushless motor (not shown) that drives the lidar 8 to rotate. The brushless motor and the antenna module 71 are spaced apart in both the front-to-back and height directions of the intelligent lawnmower 100. Specifically, the antenna module 71 is located in front of the brushless motor, and in the front-to-back direction of the intelligent lawnmower 100, the distance between the rearmost end of the antenna module 71 and the frontmost end of the brushless motor is not less than 30mm; the brushless motor is located above the antenna module 71, and in the height direction of the intelligent lawnmower 100, the distance between the bottommost end of the brushless motor and the topmost end of the antenna module is not less than 6mm.

[0056] In this embodiment, the distance between the antenna module 71 and the brushless motor is increased not only in the front-to-back direction, but also in the height direction. This is to prevent the antenna module 71 from being unable to detect the electromagnetic signal emitted by the electronic tag due to the magnetic field generated when the brushless motor rotates, thereby preventing the intelligent lawnmower 100 from being unable to accurately reposition due to electromagnetic interference, which would affect the planned cutting operation of the intelligent lawnmower 100.

[0057] The control component 4 is configured to preprocess the magnetic field signal detected by the boundary sensor 6, i.e. the detection signal, to obtain a gain signal. When the signal strength of the gain signal is less than a first threshold, the radio frequency identification reader 7 is controlled to stop working; when the strength of the gain signal is less than a second threshold, the smart lawnmower 100 is controlled to stop moving; when the first threshold is greater than the second threshold.

[0058] Specifically, after the boundary sensor 6 detects the magnetic field signal of the boundary line, the control component 4 performs preprocessing such as noise reduction and enhancement on the magnetic field signal through modules such as amplification circuit and filtering circuit to obtain the aforementioned gain signal. The control component 4 detects the strength of the gain signal in real time and compares it with the first threshold and the second threshold. When the strength of the gain signal is less than the first threshold, it is determined that the boundary sensor 6 may be affected by electromagnetic interference from the antenna module 71 of the RFID reader 7 and the external environment. At this time, the RFID reader 7 is controlled to stop working to avoid further reduction in the strength of the aforementioned gain signal, which would prevent the smart lawnmower 100 from detecting the boundary line normally. When the strength of the gain signal is less than the aforementioned second threshold, it is determined that the smart lawnmower 100 is already in the area outside the boundary line or in an abnormal electromagnetic interference state. The control component 4 controls the smart lawnmower 100 to stop moving to avoid the safety hazards caused by continued movement.

[0059] In this embodiment, a first threshold greater than the second threshold is set. When the strength of the gain signal reaches the first threshold, the radio frequency identification reader 7 is controlled to stop working, so as to further reduce the interference of the radio frequency identification reader 7 on the magnetic field signal detected by the boundary sensor 6, thereby prioritizing the ability of the intelligent lawnmower 100 to accurately detect the boundary line and maintain normal walking operation.

[0060] Furthermore, in this embodiment, controlling the RFID reader 7 to stop working only means controlling the antenna module 71 to stop working. Therefore, after the smart lawnmower 100 recovers from the abnormal state, the RFID reader 7 can quickly resume normal operation, improving the working efficiency of the smart lawnmower 100. Of course, it should be noted that in other embodiments, both the antenna module 71 and the reading module 72 can be controlled to stop working simultaneously. This can further reduce the energy consumption of the smart lawnmower 100 and improve energy utilization.

[0061] Control component 4 is further configured to: record the duration during which the signal strength of the gain signal is less than the second threshold, thereby obtaining a first duration;

[0062] If the first duration reaches a first time threshold, the system controls the smart lawnmower to stop cutting and issues an error alert command.

[0063] Specifically, if the signal strength of the gain signal continues to decrease until it falls below the second threshold after the RFID reader 7 stops working, and the second threshold is less than the first threshold, then the smart lawnmower is controlled to stop moving to prevent the smart lawnmower 100 from continuing to move outside the boundary line and causing safety hazards. At this time, the RFID reader 7 is kept stopped working, and the duration for which the signal strength of the gain signal is less than the second threshold is recorded as the first duration. When the first duration reaches the first time threshold, if the gain signal strength is still lower than the second threshold, then the smart lawnmower 100 is determined to be in an abnormal state, the smart lawnmower 100 is controlled to stop cutting, and an error reminder command is issued.

[0064] Furthermore, after controlling the RFID reader 7 to stop working, the control component 4 is also configured to:

[0065] The duration for which the signal strength of the gain signal is less than the first threshold is recorded to obtain the second duration;

[0066] Determine whether the second duration reaches the second time threshold. If the second duration reaches the second time threshold, control the smart lawnmower to find the boundary line.

[0067] During the process of the smart lawnmower moving to the boundary line, if the signal strength of the gain signal is greater than or equal to the first threshold, the radio frequency identification reader resumes operation and controls the smart lawnmower to continue the planned cutting.

[0068] When the smart lawnmower reaches the boundary line, if the signal strength of the gain signal is always less than the first threshold, the smart lawnmower will be controlled to stop moving and an error warning command will be issued.

[0069] Specifically, when the detected gain signal strength is less than the first threshold, the RFID reader 7 stops working, and the smart lawnmower 100 continues to cut along the original path. It then begins recording the duration the gain signal strength is less than the first threshold, i.e., the second duration. When the second duration reaches the second time threshold, if the gain signal strength is still less than the first threshold, it is determined that the current working state is abnormal, such as being affected by abnormal electromagnetic waves in the surrounding environment or being trapped in an area far from the boundary line and unable to return to the normal walking path. At this time, a rescue action is performed, i.e., the smart lawnmower 100 searches for the boundary line and moves towards the nearest boundary line. During the process of the smart lawnmower 100 moving to the boundary line, if the detected gain signal strength is again greater than or equal to the first threshold, it is determined that the smart lawnmower 100 is freed, the RFID reader 7 resumes working, and the planned cutting continues. When the smart lawnmower 100 reaches the boundary line, if the gain signal strength is consistently less than the first threshold, it is determined that the smart lawnmower 100 is in an abnormal state, the smart lawnmower stops moving, and an error warning command is issued.

[0070] The control component 4 is also configured to shut down the brushless motor driving the LiDAR 8 when the intelligent lawnmower 100 executes mapping instructions. Specifically, before the intelligent lawnmower 100 officially begins cutting operations, the user can issue mapping instructions through an external terminal or the operation panel of the intelligent lawnmower 100. After receiving the mapping instructions, the control component 4 shuts down the aforementioned brushless motor and controls the intelligent lawnmower 100 to walk along the boundary line to map. In this way, when the intelligent lawnmower 100 walks past the aforementioned electronic tag, it can accurately read the identification information of the electronic tag, establish the correspondence between the identification information and the absolute coordinates of the current position, and store it in the memory of the intelligent lawnmower 100. The electronic tag will not be unrecognizable due to the magnetic field generated when the brushless motor rotates, thereby avoiding the intelligent lawnmower 100 missing electronic tags during the mapping process, which would lead to abnormal subsequent planning and cutting.

[0071] The intelligent lawnmower 100 also includes a control board 40 installed inside the housing 1. The boundary sensor 6 and the reading module 72 are both installed on the control board 40. The antenna module 71 is separately installed from the control board 40 and electrically connected via a wire 73. In this embodiment, the reading module 72 and the boundary sensor 6 are integrated onto a single control board 40, while the antenna module 71 is installed separately and spaced apart from the control board 40. This facilitates the spaced arrangement of the boundary sensor 6 and the antenna module 71 in both the front-to-back and height directions of the intelligent lawnmower 100. Furthermore, the reading module 72 and the boundary sensor 6 share a single circuit board, eliminating the need for a separate circuit board for the reading module 72. This simplifies the installation structure of the RFID reader 7 and the boundary sensor 6, reduces costs, and minimizes the internal space occupied by the intelligent lawnmower 100.

[0072] The housing 1 includes a top surface 11 and a bottom surface 12 disposed opposite to each other, a front surface 13 and a rear surface 14 disposed opposite to each other, and a protective surface 15 connecting the bottom surface 12 and the front surface 13. Specifically, the protective surface 15 extends upwards from the bottom surface 12 until it connects with the front surface 13. The antenna module 71 is located behind the protective surface 15 and mounted on the bottom surface 12. The wire 73 extends from the antenna module 71 through the space above the protective surface 15 until it connects with the control board 40. In this way, on the one hand, the protective surface 15 is constructed as a forward-sloping surface, which can improve the climbing ability of the intelligent lawnmower 100. At the same time, the protective surface 15 is located in front of the antenna module 71. When the intelligent lawnmower 100 encounters a low obstacle, the protective surface 15 will contact the obstacle first and thus form a buffer, reducing the impact transmitted to the antenna module 71. On the other hand, the upper part of the forward-sloping protective surface 15 defines a large space for the wire 73 to run freely without other parts contacting the wire 73. This avoids the wire 73 being torn by tension or worn by long-term contact with other parts during the operation of the intelligent lawnmower 100.

[0073] The intelligent lawnmower 100 also includes a first support surface 16 for mounting the control board 40 and a second support surface 17 for mounting the antenna module 71. The first support surface 16 is located above the second support surface 17, and the distance between the first support surface 16 and the second support surface 17 in the height direction of the intelligent lawnmower is not less than 10 mm. Specifically, the first support surface 16 is used to support the control board 40, and it is located above the bottom surface 12 and integrally formed or connected to the bottom surface 12. Correspondingly, the second support surface 17 is integrally formed with the bottom surface 12. By setting the distance between the first support surface 16 and the second support surface 17 to not less than 10 mm, the attenuation of the magnetic field signal of the boundary line detected by the boundary sensor 6 by the magnetic field generated by the antenna module 71 when it is working is further reduced.

[0074] This invention is not limited to the specific embodiments described above. Those skilled in the art will readily understand that many alternative solutions for the intelligent lawnmower of this invention can be found without departing from the principles and scope of the invention. The scope of protection of this invention is defined by the claims.

Claims

1. A smart lawnmower that autonomously moves and mows within a work area defined by a boundary line, comprising: case; A boundary sensor is installed inside the housing. The boundary sensor detects electromagnetic fields and generates detection signals. The electromagnetic fields are formed by current flowing through the boundary line. An RFID reader is installed inside the housing and includes an antenna module and a reading module. The antenna module emits radio waves to activate the electronic tag to emit radio frequency signals and receives the radio frequency signals. The reading module reads the identification information in the radio frequency signals. The electronic tag is installed in the working area. The features are as follows: the boundary sensor and the antenna module are spaced apart in both the front-to-back and height directions of the intelligent lawnmower; the intelligent lawnmower also includes a control component installed in the housing, the control component being configured to preprocess the detection signal to obtain a gain signal, wherein when the signal strength of the gain signal is less than a first threshold, the control component controls the radio frequency identification reader to stop working; and when the signal strength of the gain signal is less than a second threshold, the control component controls the intelligent lawnmower to stop moving; wherein the first threshold is greater than the second threshold.

2. The intelligent lawnmower according to claim 1, characterized in that: The boundary sensor is located above the antenna module, and in the height direction of the smart lawnmower, the distance between the lowest point of the boundary sensor and the highest point of the antenna module is not less than 10mm.

3. The intelligent lawnmower according to claim 1, characterized in that: The boundary sensor is located in front of the antenna module, and in the front-rear direction of the smart lawnmower, the distance between the rearmost end of the boundary sensor and the frontmost end of the antenna module is not less than 20mm.

4. The intelligent lawnmower according to claim 1, characterized in that: The intelligent lawnmower also includes a control board installed inside the housing. The boundary sensor and the reading module are both installed on the control board. The antenna module is separately installed from the control board and electrically connected to it via wires.

5. The intelligent lawnmower according to claim 4, characterized in that: The housing includes a top surface and a bottom surface opposite to each other, a front surface and a rear surface opposite to each other, and a protective surface connecting the bottom surface and the front surface. The protective surface extends upward from the bottom surface until it connects with the front surface, and the antenna module is disposed behind the protective surface.

6. The intelligent lawnmower according to claim 5, characterized in that: The antenna module is mounted on the bottom surface, and the wire extends from the antenna module through the space above the protective surface until it is connected to the control board.

7. The intelligent lawnmower according to claim 1, characterized in that: The intelligent lawnmower also includes a lidar and a brushless motor that drives the lidar to rotate. The brushless motor and the antenna module are spaced apart in both the front-to-back and height directions of the intelligent lawnmower.

8. The intelligent lawnmower according to claim 7, characterized in that: The antenna module is located in front of the brushless motor, and in the front-rear direction of the smart lawnmower, the distance between the rearmost end of the antenna module and the frontmost end of the brushless motor is not less than 30mm.

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