Lawn mower, anti-collision device and self-moving device

Abstract

The embodiment of the application provides a mower, a collision prevention device and a self-moving device. The mower comprises a machine body, traveling wheels and a cutter arranged on the machine body, a collision prevention plate arranged on the outside of the machine body, an elastic member having a first end, a second end and an elastic segment, the first end being connected with the machine body, the second end being connected with the collision prevention plate, so that the collision prevention plate can move relative to the machine body, the elastic segment being located between the first end and the second end, and a limiting member located on one side of the elastic member. After the collision prevention plate is subjected to a force in a first direction, the elastic segment is elastically deformed. After the collision prevention plate is subjected to a force in a second direction, a first segment of the elastic segment is elastically deformed, and the elastic deformation of a second segment of the elastic segment is limited by the limiting member. The mower or the self-moving device provided with the elastic member can resist collision forces in different directions around the mower or the self-moving device, and meet the actual use requirements of the mower or the self-moving device.

Description

Technical Field

[0001] This application relates to the field of lawnmower technology, and more particularly to a lawnmower, a collision avoidance device, and a self-moving device. Background Technology

[0002] A lawnmower, also known as a lawn trimmer, lawn mower, or lawn mower, is a mechanical tool used for trimming lawns, vegetation, etc. Currently, there are push lawnmowers, self-propelled lawnmowers (or lawnmower robots), etc., which can greatly reduce the workload of manual labor. When working on the lawn, lawnmowers sometimes collide with obstacles such as stones and walls.

[0003] The lawnmower is equipped with a crash barrier, which is supported by elastic components. The elastic deformation force of these components resists the impact force of obstacles colliding with the machine. In existing technology, the elastic deformation force of the elastic components is the same in all directions, thus its resistance to impact forces in all directions is also the same. Summary of the Invention

[0004] This application provides a technique for applying different elastic deformation forces in different directions to resist impact forces of varying magnitudes in different directions. Specifically:

[0005] In one embodiment of this application, a lawnmower is provided. The lawnmower includes:

[0006] The machine body is equipped with traveling wheels and cutting tools;

[0007] Anti-collision plates are installed on the outside of the body;

[0008] An elastic element has a first end, a second end, and an elastic segment. The first end is connected to the machine body, and the second end is connected to the anti-collision plate, allowing the anti-collision plate to move relative to the machine body. The elastic segment is located between the first end and the second end.

[0009] A limiting member is located on one side of the elastic member;

[0010] When the anti-collision plate is subjected to a force in the first direction, the elastic segment undergoes elastic deformation; when the anti-collision plate is subjected to a force in the second direction, the first segment of the elastic segment undergoes elastic deformation, and the elastic deformation of the second segment of the elastic segment is limited by the limiting member.

[0011] In another embodiment of this application, a collision avoidance device is provided. The collision avoidance device includes:

[0012] Anti-collision plates are used to be installed on the outside of the lawnmower body;

[0013] An elastic element has a first end, a second end, and an elastic segment, wherein the elastic segment is located between the first end and the second end; the first end is used to connect with the body, and the second end is used to connect with the anti-collision plate.

[0014] A limiting member is located on one side of the elastic member;

[0015] When the anti-collision plate is subjected to a force in the first direction, the elastic segment undergoes elastic deformation; when the anti-collision plate is subjected to a force in the second direction, the first segment of the elastic segment undergoes elastic deformation, and the elastic deformation of the second segment of the elastic segment is limited by the limiting member.

[0016] In yet another embodiment of this application, a self-moving device is provided. The self-moving device includes:

[0017] The equipment body is equipped with traveling wheels;

[0018] A crash barrier is installed on the outside of the equipment body;

[0019] An elastic element has a first end, a second end, and an elastic segment. The first end is connected to the machine body, and the second end is connected to the anti-collision plate, allowing the anti-collision plate to move relative to the machine body. The elastic segment is located between the first end and the second end.

[0020] A limiting member is located on one side of the elastic member;

[0021] When the anti-collision plate is subjected to a force in the first direction, the elastic segment undergoes elastic deformation; when the anti-collision plate is subjected to a force in the second direction, the first segment of the elastic segment undergoes elastic deformation, and the elastic deformation of the second segment of the elastic segment is limited by the limiting member.

[0022] In the technical solution provided by this application embodiment, a limiting member is provided on one side of the elastic member. This limiting member functions when the anti-collision plate is subjected to a force in the second direction. After the anti-collision plate is subjected to a force in the first direction, the elastic segment of the elastic member undergoes elastic deformation. However, after the anti-collision plate is subjected to a force in the second direction, the first segment of the elastic member undergoes elastic deformation, while the elastic deformation of the second segment is limited by the limiting member. In other words, the limitation by the limiting member shortens the effective length of the elastic deformation of the elastic member, thereby increasing the elastic coefficient of the elastic member and thus increasing the elastic deformation force of the elastic member in the second direction. It can be seen that the solution provided by this application embodiment, by adding a limiting member, allows the elastic member to have different elastic deformation forces in two different directions. Lawn mowers or self-moving devices using the elastic member provided by this application embodiment can resist collision forces in different directions around the lawn mower or self-moving device, meeting the actual usage needs of the lawn mower or self-moving device. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of an elastic element provided in an embodiment of this application;

[0025] Figure 2 A top view of a lawnmower provided in one embodiment of this application;

[0026] Figure 3 This is a schematic diagram of the anti-collision device inside a lawnmower in the prior art;

[0027] Figure 4a This is a structural block diagram of an anti-collision device provided in an embodiment of this application;

[0028] Figure 4b This is a schematic diagram of the deformation of the elastic element in an anti-collision device provided in an embodiment of this application;

[0029] Figure 5 A schematic diagram of another implementation of the elastic element provided in another embodiment of this application;

[0030] Figure 6 This is a schematic diagram of the appearance of a lawnmower provided in one embodiment of this application;

[0031] Figure 7 for Figure 6 The diagram shown is a top view of the lawn mowing process.

[0032] Figure 8 for Figure 7 The diagram shows a cross-section along the AA direction. Detailed Implementation

[0033] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0034] In some processes described in the specification, claims, and accompanying drawings of this application, multiple operations appearing in a specific order are included. These operations may be executed out of order or in parallel. Operation numbers such as 101, 102, etc., are merely used to distinguish different operations and do not represent any execution order. Furthermore, these processes may include more or fewer operations, and these operations may be executed sequentially or in parallel. It should be noted that the terms "first," "second," etc., used herein are used to distinguish different messages, devices, modules, etc., and do not represent a chronological order, nor do they limit "first" and "second" to different types. The embodiments described below are merely some embodiments of this application, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0035] Currently, lawnmowers on the market already have related anti-collision devices, such as anti-collision plates or shells on the outside of the lawnmower. These anti-collision plates (or shells) are movable and connected to the machine body via flexible rubber connectors to buffer and reset against external impact forces. These flexible rubber connectors can also be rubber springs. For example, Figure 1 The cylindrical rubber spring shown exhibits the same deformation force in all directions. Characteristics of cylindrical rubber springs include... Figure 1 As shown, the section modulus of the cylindrical rubber spring is the same in all directions along section 1, so the bending deformation force per unit displacement is the same for this type of cylindrical rubber spring in all directions. However, during machine use, the impact force in front of the machine and the impact force in the left and right directions are different, which this type of cylindrical rubber spring cannot satisfy.

[0036] for example, Figure 2 and Figure 3 In the illustrated lawnmower example, the front, left, and right sides of the lawnmower body 2 are all surrounded by bumper plates 3. Two elastic elements are installed between the left and right sides of the body 2 and the bumper plates 3. Of course, one or two elastic elements can also be installed between the front of the lawnmower body 2 and the bumper plates 3. In this example, the elastic elements between the front of the body and the bumper plates are ignored. When the lawnmower encounters an obstacle in front, all four elastic elements 4 on the left and right sides of the body 2 deform simultaneously. However, when the body 2 encounters an obstacle on the side, such as a collision on the right, only the two elastic elements 4 on the right side deform. The two elastic elements 4 on the left side do not deform and do not participate in resisting the impact.

[0037] When the lawnmower encounters an obstacle in front, all four elastic elements 4 act together; however, when it encounters an obstacle on the side, only two elastic elements 4 are active. This shows that the lawnmower can withstand significantly less impact force on the side than in front. A smaller impact force on the side of the lawnmower is enough to trigger the machine's collision mechanisms (such as turning, reversing, or stopping). In reality, the product requirement is that the impact forces triggering the collision mechanisms in all directions should be roughly the same.

[0038] Therefore, a solution is needed to make the elastic deformation force of the elastic element different in different directions without changing the elastic element. In this way, by combining and setting the position arrangement, the collision force of the triggering collision mechanism in all directions of the body can be made to be roughly the same.

[0039] Figure 4a and 4b A schematic diagram of the anti-collision device provided in one embodiment of this application is shown. Figure 4a and 4b As shown, the anti-collision device includes: an anti-collision plate 3, an elastic element 4, and a limiting element 6. The anti-collision device can be installed on a self-moving device, such as a lawnmower. The self-moving device can be various types of robots, such as cleaning robots (e.g., sweeping robots, floor scrubbing robots, etc.) or service robots (e.g., robots providing consultation, guidance, etc.), and this embodiment does not limit this. Taking a lawnmower as an example, the anti-collision plate is used to be installed on the outside of the lawnmower's body. The elastic element 4 has a first end 41, a second end 42, and an elastic segment 43, with the elastic segment 43 located between the first end 41 and the second end 42; the first end 41 is used to connect to the body, and the second end 42 is used to connect to the anti-collision plate. The limiting element 6 is located on one side of the elastic element 4.

[0040] Wherein, after the anti-collision plate 3 is subjected to a force in the first direction, the elastic segment 43 undergoes elastic deformation. For example... Figure 4b As shown, after the anti-collision plate 3 is subjected to the second directional force F1, the first segment L1 of the elastic segment 43 undergoes elastic deformation, and the elastic deformation of the second segment L2 of the elastic segment 43 is limited by the limiting member 6.

[0041] It should be noted here that: the first directional force can be perpendicular to... Figure 4b The forces acting on the paper shown.

[0042] Lawn mowers or self-moving devices using the anti-collision devices provided in this application embodiment can resist collision forces from different directions around the lawn mower or self-moving device, thus meeting the actual usage needs of the lawn mower or self-moving device.

[0043] The structure of the elastic element in this embodiment can be... Figure 1 The structure, or Figure 5 The structure shown. (As illustrated) Figure 5 As shown, the elastic element 4 includes a first end, a second end, and an elastic segment. The elastic element 4 resembles a dumbbell shape. The two large ends of the dumbbell shape are the first end and the second end, respectively, with the elastic segment in the middle. The material of the elastic element in this embodiment is not limited; it can be rubber, a flexible material with elasticity, etc. Figure 5 One side of the first end 41 of the elastic member has a flattened structure 44. This flattened structure 44 is provided to ensure the distance between the elastic segment 43 and the limiting member 6. If the distance between the limiting member 6 and the elastic segment 43 is too large, it will not effectively limit elastic deformation. Therefore, in this embodiment, the flattened structure 44 is provided at the first end of the elastic member. Figure 4a and 4b As shown, the distance between the elastic segment 43 and the limiting member 6 is very small. In specific implementations, it can be set according to the actual situation. For example, the distance between the elastic segment 43 and the limiting member 6 is less than 0.5mm, so that the limiting member 6 can play a better role in limiting elastic deformation.

[0044] Furthermore, the limiting member can be a rib. For example... Figure 4a and 4b As shown, the rib includes a fixing part and a plate body. The fixing part is fixed to the first end 41 or the body of the lawnmower. The plate body extends from the fixing part toward the second end 42 between the body and the first end 41.

[0045] The rib plate can be a telescopic plate, and the lengths of the first segment L1 and the second segment L2 are changed by altering the length of the telescopic plate. The longer the first segment L1, the shorter the second segment L2, and the more elastic the element 4... Figure 4b The greater the elastic deformation force in the direction of force F1 shown, the greater the impact force it can resist. Only a greater impact force can trigger the lawnmower's collision mechanism (such as turning, reversing, or stopping).

[0046] In this embodiment, the elastic element 4 is used in such a state that one of the first end 41 and the second end 42 can be located above the other, that is, the elastic segment 43 of the elastic element 4 is in a vertical state. For example, Figure 4a and 4b In the example shown, the first end 41 is located above the second end 42.

[0047] In this embodiment, the limiting member 6 is located on one side of the elastic member 4, and it can only change the elastic deformation force of the elastic member 4 in one direction, such as... Figure 4bThe second direction is shown by the force F1 shown in the diagram. In the first direction, such as the direction perpendicular to the paper, the elastic deformation force of the elastic element is unaffected by the limiting member 6 and retains its inherent elastic characteristics. Therefore, the solution provided in this application embodiment, by adding a limiting member, allows the elastic element to have different elastic deformation forces in two different directions. A lawnmower or self-moving device using the elastic element provided in this application embodiment can resist collision forces in different directions around the lawnmower or self-moving device, meeting the actual usage needs of the lawnmower or self-moving device.

[0048] Figure 6 , 7 Figures 8 and 9 show a schematic diagram of the structure of a lawnmower provided in one embodiment of this application. Figure 6 , 7 As shown in Figure 8, the lawnmower includes a body, a bumper, elastic components, and limiting components. The body 2 is equipped with travel wheels 5 and blades (not shown in the figure). The bumper 3 is located on the outer side of the body 2. For example... Figure 5 As shown, the elastic element 4 has a first end 41, a second end 42, and an elastic segment 43. The first end 41 is connected to the body 2, and the second end 42 is connected to the anti-collision plate 3, allowing the anti-collision plate 3 to move relative to the body 2; the elastic segment 43 is located between the first end 41 and the second end 42. A limiting member 6 is located on one side of the elastic element 4.

[0049] When the anti-collision plate 3 is subjected to a first directional force F2, the elastic segment 43 undergoes elastic deformation; when the anti-collision plate 3 is subjected to a second directional force F1 or F3, the first segment L1 of the elastic segment 43 undergoes elastic deformation, and the elastic deformation of the second segment L2 of the elastic segment 43 is limited by the limiting member 6.

[0050] Furthermore, such as Figure 8 As shown, the limiting member 6 can be a rib. The distance d between the rib and the second segment L2 can be less than 0.5 mm.

[0051] The stiffening plate may include a fixing part and a plate body. The fixing part may be fixed to the first end 41 or the body 2. The plate body extends from the fixing part toward the second end 42 between the body 2 and the first end 41.

[0052] The first direction may be parallel to the direction of travel of the machine body; the second direction may be perpendicular to the direction of travel of the machine body. For example... Figure 7 As shown, the directions corresponding to forces F1 and F3 can be the second direction. The direction corresponding to force F2 can be the first direction.

[0053] like Figure 7 and 8As shown, the body 2 has a front end, a rear end, a left side, and a right side. The side of the elastic member 4 facing the body 2 is the inner side. Figure 8 As shown, the limiting member 6 is provided on the inner side of the elastic member 4 located on the left and / or right side of the body 2.

[0054] like Figure 8 As shown, the first end 41 is located above the second end 42; the limiting member 6 extends downward from above.

[0055] In one feasible technical solution, the limiting member is a telescopic plate; by changing the length of the telescopic plate, the lengths of the first segment and the second segment are changed.

[0056] For example, the lawnmower provided in this embodiment may be equipped with a control device and a telescopic drive device. The control device controls the telescopic drive device to output telescopic power to drive the telescopic plate to extend and retract. The control device can control the telescopic drive device to output corresponding telescopic power according to telescopic parameters input by the user. Alternatively, the control device can calculate corresponding telescopic parameters based on the elastic deformation force input by the user, and then control the telescopic drive device to output corresponding telescopic power based on the telescopic parameters. The telescopic parameters may be the required extension or reduction length of the telescopic plate, etc.

[0057] The aforementioned control device can be a central control board on the lawnmower. In addition to controlling the telescopic drive device, the central control board can also receive sensing information from multiple sensors on the lawnmower (such as vision sensors, lidar, touch switches, etc.). Based on the information sensed by each sensor, it controls the lawnmower's travel drive device to output corresponding driving force to drive the travel wheels forward and backward. It can also control the raising, starting and stopping of the lawnmower's blades, etc. The embodiments of this application do not specifically limit this.

[0058] In one specific embodiment, the ratio of the first segment L1 to the second segment L2 is 2 to 0.3.

[0059] See the examples above, such as Figure 7 As shown, two elastic elements 4 are installed on both the left and right sides of the lawnmower. Furthermore, as analyzed above, the impact force that the sides of the lawnmower can withstand is significantly less than that from the front. Therefore, in Figure 7 In the lawnmower shown, the first direction (e.g.) Figure 7 The direction of the force F2 in the middle) is parallel to the direction of travel of body 2, and the second direction (such as...) Figure 7The forces F1 and F3 acting in the machine body 2 are perpendicular to the direction of travel of the machine body 2. Thus, the elastic coefficient K1 of the four elastic elements 4 in the direction parallel to the direction of travel of the machine body 2 is the inherent property of each elastic element's elastic segment. The elastic coefficients of the two left and two right elastic elements perpendicular to the direction of travel are increased to K2 due to the action of the limiting element. Assuming K2 = 2K1, the elastic coefficient is proportional to the elastic deformation force of the elastic element. Correspondingly, the elastic deformation force N2 of the elastic element in the second direction is 2N1; where N1 is the elastic deformation force of the elastic element in the first direction. Thus, when the lawnmower is subjected to such forces... Figure 7 In the first direction F2 shown, the resultant force of the elastic deformation formed by the four elastic elements is 4N1; the lawnmower is subjected to such... Figure 7 In the second direction shown, F2 or F3, the resultant elastic deformation force formed by the two lateral elastic elements is 2N2. Therefore, 2N2 = 4N1. This means the elastic deformation forces in both directions of the lawnmower are the same or approximately the same. This satisfies the practical needs of the lawnmower, ensuring that the collision mechanism is triggered only when the same collision force occurs in each direction; rather than triggering the collision mechanism only when there is a large frontal collision, while a smaller lateral collision can trigger it.

[0060] It should be noted that the elastic element in this embodiment can be implemented using the structure described in the previous elastic element embodiments. Furthermore, the cross-sectional shape, size, position of the elastic element on the machine body, and number of elastic elements can be determined based on the lawnmower model and product positioning (user needs, etc.). For example, Figure 2 In the example shown, the lawnmower has two elastic elements 4 on the left and two elastic elements 4 on the right, and they are arranged symmetrically. Figure 7 As shown in the diagram, when the lawnmower collides forward, the elastic deformation force provided by the four elastic elements is 4N1. When the forward collision force is greater than 4N1, a collision mechanism (such as the lawnmower turning, reversing, or stopping) will be triggered. When the lawnmower collides laterally, the elastic deformation force provided by the two elastic elements is 2N2 (2N2 = 4N1). When the lateral collision force is greater than 2N2, a collision mechanism (such as the lawnmower turning, reversing, or stopping) will be triggered. Therefore, the solution adopted in this embodiment can resist collision forces from different directions around the lawnmower or self-moving device, meeting the actual usage needs of the lawnmower or self-moving device.

[0061] When a lawnmower encounters an obstacle during operation, the obstacle first collides with the bumper. Under a force exceeding the elastic deformation of the elastic element, the bumper deforms, causing displacement. Sensors detect this and generate a collision signal. The control device can control the drive mechanism of the tensioner wheel to output steering power, reverse power, or stop outputting power, and can also control the lawnmower blades to stop working, ensuring safety during lawnmower operation.

[0062] The sensor in this embodiment can be a potentiometer-type displacement sensor, a Hall-effect displacement sensor, or a photoelectric displacement sensor, etc., and this embodiment does not limit it.

[0063] In this embodiment, the traveling wheels can have independent drives. For example, each traveling wheel has its own drive unit, which facilitates the rotation and movement of the lawnmower.

[0064] Furthermore, the lawnmower's body includes a chassis; tension wheels can be located on both sides of the chassis. A cutter head is also mounted on the chassis. Casters may also be installed at the front end of the chassis.

[0065] The front end of the crash barrier can be nested with a charging interface, within which a contact piece is nested. This contact piece is electrically connected to the lawnmower's battery via a wiring harness. When the charging terminal on the base station is electrically connected to the contact piece, the lawnmower's battery can be charged. The chassis also features a blade disc, which can be connected to a blade disc lifting assembly. This assembly allows the blade disc to move up and down as needed for mowing. The lawnmower can also be equipped with an infrared photoelectric switch, positioned above the casters, to monitor the casters' movement, promptly detect any jammed casters, and notify the user to resolve the issue.

[0066] Furthermore, the anti-collision plate is provided on at least one of the front, right, left and rear sides of the body; at least one elastic element is provided between the anti-collision plate and any side of the body.

[0067] Figure 7 In the example shown, the front, right, and left sides of the fuselage 2 are all equipped with anti-collision plates 3. That is, the anti-collision plates 3 are U-shaped, surrounding the front, right, and left sides of the fuselage 2. At least one elastic element 4 can be provided between the front side of the fuselage 2 and the anti-collision plate 3. Two elastic elements 4 are provided between the right side of the fuselage 2 and the anti-collision plate 3, and limiting elements 6 are provided inside the two elastic elements 4. Two elastic elements 4 are provided between the left side of the fuselage 2 and the anti-collision plate 3, and limiting elements 6 are provided inside the two elastic elements 4.

[0068] The elastic element provided in this application embodiment can also be used in other equipment besides lawnmowers, such as cleaning robots (e.g., sweeping robots, floor scrubbing robots, etc.) and service robots (e.g., robots that provide consultation, guidance, etc.). Another embodiment of this application provides a self-moving device. This self-moving device includes: a device body, a crash barrier, an elastic element, and a limiting element. The device body is equipped with wheels. The crash barrier is disposed on the outer side of the device body. The elastic element has a first end, a second end, and an elastic segment. The first end is connected to the device body, and the second end is connected to the crash barrier, allowing the crash barrier to move relative to the device body. The elastic segment is located between the first end and the second end. The limiting element is located on one side of the elastic element. When the crash barrier is subjected to a force in a first direction, the elastic segment undergoes elastic deformation; when the crash barrier is subjected to a force in a second direction, the first segment of the elastic segment undergoes elastic deformation, and the elastic deformation of the second segment of the elastic segment is limited by the limiting element.

[0069] To solve this problem, limiting components are added to the sides of the impact plate on both sides of the impact plate. These limiting components do not affect the deformation of the spring when the machine encounters an obstacle directly in front of it. When the machine encounters an obstacle on the side, the limiting components will resist the deformation of the impact plate spring, thereby increasing the impact force on the side of the machine.

[0070] The elastic element in the various embodiments of this application may be, but is not limited to, a spring, a rubber spring, an elastic mechanism, etc.

[0071] Furthermore, the positional relationships of the elastic element, the body, and the limiting element described in this embodiment, as well as the specific implementation of each structure, can be found in the description above and will not be repeated here. Additionally, the number and position of the elastic element need to be determined based on the specific structure of the device body.

[0072] The technical solution provided in this application can achieve the required side impact force by adjusting the height of the limiting member without affecting the frontal impact force.

[0073] The technical solutions provided in the embodiments of this application will be described below in conjunction with specific application scenarios.

[0074] The intelligent lawnmower uses the anti-collision device provided in the above embodiment. Elastic members are symmetrically arranged on both the left and right sides of the lawnmower. A limiting member is provided on the inner side of each elastic member.

[0075] The intelligent lawnmower is working on the lawn. During its movement, it collides with an undetected low-lying rock. Elastic components on both the left and right sides of the mower resist the impact. If the collision force exceeds the sum of the elastic deformation forces provided by the left and right components, the collision mechanism is triggered. The intelligent lawnmower reverses and turns to avoid the rock.

[0076] The intelligent lawnmower continued moving forward, colliding with an unidentified object on its left side. The impact force from this object was resisted by the elastic component on the left side. Because the impact force was less than the elastic deformation force of the left-side elastic component, the collision mechanism was not triggered, and the lawnmower continued moving forward.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A lawnmower, characterized in that, include: The machine body is equipped with traveling wheels and cutting tools; Anti-collision plates are installed on the outside of the body; An elastic element has a first end, a second end, and an elastic segment. The first end is connected to the machine body, and the second end is connected to the anti-collision plate, allowing the anti-collision plate to move relative to the machine body. The elastic segment is located between the first end and the second end. A limiting member is located on one side of the elastic member; Wherein, when the anti-collision plate is subjected to a force in the first direction, the elastic segment undergoes elastic deformation; when the anti-collision plate is subjected to a force in the second direction, the first segment of the elastic segment undergoes elastic deformation, and the elastic deformation of the second segment of the elastic segment is limited by the limiting member; The first direction is parallel to the direction of travel of the machine body; the second direction is perpendicular to the direction of travel of the machine body. The first end is located above the second end; The limiting member extends downward from above.

2. The lawnmower according to claim 1, characterized in that, The limiting component is a rib plate.

3. The lawnmower according to claim 2, characterized in that, The distance between the stiffening plate and the second segment is less than 0.5 mm.

4. The lawnmower according to claim 2, characterized in that, The stiffening plate includes: A fixing part is fixed to the first end or the body; The plate extends from the fixing part toward the second end between the body and the first end.

5. The lawnmower according to claim 1, characterized in that, The body has a front end, a rear end, a left side, and a right side; The side of the elastic element facing the body is the inner side; The limiting member is provided on the inner side of the elastic member located on the left and / or right side of the body.

6. The lawnmower according to any one of claims 1 to 5, characterized in that, The limiting component is a telescopic plate; The lengths of the first segment and the second segment are changed by altering the length of the retractable plate.

7. The lawnmower according to any one of claims 1 to 5, characterized in that, The ratio of the first segment to the second segment is 2 to 0.

3.

8. A collision avoidance device, characterized in that, The anti-collision device, intended for installation on a lawnmower, includes: Anti-collision plates are used to be installed on the outside of the lawnmower body; An elastic element has a first end, a second end, and an elastic segment, wherein the elastic segment is located between the first end and the second end; the first end is used to connect with the body, and the second end is used to connect with the anti-collision plate. A limiting member is located on one side of the elastic member; Wherein, when the anti-collision plate is subjected to a force in the first direction, the elastic segment undergoes elastic deformation; when the anti-collision plate is subjected to a force in the second direction, the first segment of the elastic segment undergoes elastic deformation, and the elastic deformation of the second segment of the elastic segment is limited by the limiting member; The first direction is parallel to the direction of travel of the machine body; the second direction is perpendicular to the direction of travel of the machine body. The first end is located above the second end; The limiting member extends downward from above.

9. A self-moving device, characterized in that, include: The equipment body is equipped with traveling wheels; A crash barrier is installed on the outside of the equipment body; An elastic element has a first end, a second end, and an elastic segment. The first end is connected to the equipment body, and the second end is connected to the anti-collision plate, allowing the anti-collision plate to move relative to the equipment body. The elastic segment is located between the first end and the second end. A limiting member is located on one side of the elastic member; Wherein, when the anti-collision plate is subjected to a force in the first direction, the elastic segment undergoes elastic deformation; when the anti-collision plate is subjected to a force in the second direction, the first segment of the elastic segment undergoes elastic deformation, and the elastic deformation of the second segment of the elastic segment is limited by the limiting member; The first direction is parallel to the travel direction of the device body; the second direction is perpendicular to the travel direction of the device body. The first end is located above the second end; The limiting member extends downward from above.

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