Smart mower

Abstract

An intelligent mower (100) is integrated with a control module and a protection device, and the control module is configured to control the protection device to actively switch between a protection state and a non-protection state according to the distance between the body (110) and a preset object. When the distance between the body (110) and the preset object is far, and the cutting mechanism (130) does not need to be protected, the control module controls the protection device to be in the non-protection state to ensure the normal operation of the cutting mechanism (130). When the distance between the body (110) and the preset object is close, and the cutting mechanism (130) needs to be protected, the control module controls the protection device to actively act to protect the cutting mechanism (130), so that the intelligent mower (100) can approach the preset object for cutting.

Description

Technical Field

[0001] This invention relates to the field of self-moving tools, and in particular to intelligent lawnmowers. Background Technology

[0002] Traditional outdoor commercial lawnmowers mainly include ride-on lawnmowers and push lawnmowers. However, these lawnmowers are not intelligent products and require full human intervention, leading to increased labor costs for mowing.

[0003] On the other hand, although there are also intelligent outdoor commercial lawnmowers, these lawnmowers have low chassis. Although they meet safety requirements, they are only suitable for simple working environments such as football fields and golf courses. In other words, these lawnmowers have limited ability to handle complex working environments such as dense grass, obstacles, and steps. Summary of the Invention

[0004] Therefore, it is necessary to provide an intelligent lawnmower that can effectively solve the problem of human intervention, and can cut grass in complex conditions such as high density, obstacles, and steps, while meeting safety requirements.

[0005] According to a first aspect of this application, an intelligent lawnmower includes: a body; a movement module disposed on the body and configured to drive the body to move along a set path or within a working area; a cutting mechanism including a cutting element disposed at the bottom of the body to perform a cutting task; the intelligent lawnmower further includes a protective device having a protective state and a non-protective state, wherein the protective device can protect the cutting element in the protective state; and a control module connected at least to the protective device and configured to control the protective device to be in the protective state or the non-protective state according to the distance between the body and a preset object.

[0006] The aforementioned intelligent lawnmower integrates a control module and a protective device. The control module is configured to actively switch the protective device between protected and unprotected states based on the distance between the mower and a preset object. For example, when the distance between the mower and the preset object is large and protection of the cutting element is not required, the control module keeps the protective device in an unprotected state to ensure normal operation of the cutting mechanism. When the distance between the mower and the preset object is small and protection of the cutting element is required, the control module actively activates the protective device to protect the cutting element, allowing the intelligent lawnmower to approach the preset object for cutting. Therefore, this intelligent lawnmower utilizes the control module to actively control the action of the protective device based on the distance between the mower and the preset object, accurately switching between protected and unprotected states to achieve both edge cutting and safe cutting with active protection. In complex working conditions, such as dense grass, obstacles, and steps, this intelligent lawnmower requires no human intervention and can simultaneously meet the needs of edge cutting and cutting safety.

[0007] In one embodiment, the cutting mechanism has two opposing sides, the line connecting the two sides intersecting the travel direction of the machine body. The protective device includes: a drive mechanism connected to the control module; and a protective structure connected to the drive mechanism and at least partially disposed on at least one side of the cutting mechanism. The control module is configured to control the drive mechanism to drive the protective structure to move relative to the machine body to a preset position when the distance between the machine body and a preset object is less than or equal to a preset distance, so that the protective device is in the protective state.

[0008] In one embodiment, when the distance between the fuselage and the preset object is less than or equal to a preset distance, the control module is configured to control the drive mechanism to drive the protective structure to move along the direction toward the ground to the preset position.

[0009] In one embodiment, the driving mechanism includes a lifting mechanism; the protective structure moves relative to the machine body at least between a first position and a second position, the first position being higher than the second position, and the preset position including the second position; when the distance between the machine body and the preset object is less than or equal to a preset distance, the lifting mechanism drives the protective structure to move to the second position to protect the cutting element; when the distance between the machine body and the preset object is greater than the preset distance, the lifting mechanism drives the protective structure to move to or remain at the first position.

[0010] In one embodiment, in the second position, the bottom of the protective structure is 38mm to 55mm above the ground, and the distance D between the side of the protective structure facing away from the machine body and the outer contour of the cutting mechanism is greater than or equal to 90mm.

[0011] In one embodiment, the intelligent lawnmower further includes a distance acquisition module connected to the control module, the distance acquisition module being able to acquire at least the distance between the machine body and a preset object.

[0012] In one embodiment, the preset object includes obstacles in the working area, wherein obstacles with pre-stored location information within the intelligent lawnmower are defined as marked obstacles, and the preset distance includes a first preset distance; the distance acquisition module includes a positioning component, which is configured to locate the position coordinates of the machine body to determine the distance between the machine body and the marked obstacle; when the distance between the machine body and the marked obstacle is less than or equal to the first preset distance, the drive mechanism drives the protective structure to move to the preset position.

[0013] In one embodiment, when the distance between the fuselage and the marked obstacle is less than or equal to the first preset distance, the drive mechanism begins to drive the protective structure to move, and the protective structure moves to the preset position before reaching the critical distance from the marked obstacle.

[0014] In one embodiment, the first preset distance ranges from 1.5m to 2.5m; the critical distance ranges from 0.2m to 0.8m.

[0015] In one embodiment, the preset object includes obstacles in the working area, wherein obstacles within the smart lawnmower without pre-stored location information are defined as random obstacles, and the preset distance includes a second preset distance; the distance acquisition module includes a detection component, which is configured at least to detect the random obstacles and determine the distance between the machine body and the random obstacles; when the distance between the machine body and the random obstacles is less than or equal to the second preset distance, the drive mechanism drives the protective structure to move to the preset position.

[0016] In one embodiment, the control module has a timing control function. When the distance between the fuselage and the random obstacle is less than or equal to a second preset distance, the control module controls the detection component to monitor the random obstacle within a preset time. After the preset time, if the distance between the fuselage and the random obstacle is still less than or equal to the second preset distance, the drive mechanism drives the protective structure to move to the preset position.

[0017] In one embodiment, the preset object includes the boundary of the work area; the preset distance includes a third preset distance; the distance acquisition module includes a positioning component, which is configured to locate the position coordinates of the fuselage to determine the distance between the fuselage and the boundary; when the distance between the fuselage and the boundary is less than or equal to the third preset distance, the drive mechanism drives the protective structure to move to the preset position.

[0018] In one embodiment, the drive mechanism includes a first driver and a transmission member connected to the first driver. The protective structure is disposed on the transmission member. The first driver drives the transmission member to move relative to the fuselage, thereby causing the protective structure to move relative to the fuselage.

[0019] In one embodiment, the protective structure includes a first protective member and a second protective member respectively disposed on two sides of the cutting mechanism, and the transmission member is at least two, with the first protective member and the second protective member respectively connected to the corresponding transmission member.

[0020] In one embodiment, the protective structure is circumferentially arranged around the outside of the cutting mechanism.

[0021] According to a second aspect of this application, an intelligent lawnmower includes: a body; a moving module disposed on the body and configured to drive the body to move along a set path or within a working area; a cutting mechanism including a cutting element disposed at the bottom of the body to perform a cutting task; and a control module connected to the moving module and the cutting mechanism, at least configured to control the intelligent lawnmower to move and cut grass along the boundary of the working area; wherein the intelligent lawnmower further includes a protective structure configured to establish a protective barrier on the side of the cutting element, and, during the edge cutting process of the intelligent lawnmower, the outermost part of the protective structure is the outermost part of the intelligent lawnmower.

[0022] This protective structure provides excellent protection for the cutting element. Furthermore, during edge cutting, the outermost part of the protective structure is also the outermost part of the smart lawnmower. This indicates that at least part of the protective structure is located on the outside of the machine body during edge cutting, thus ensuring the safety of people or animals while ensuring that the cut reaches the edge, preventing the smart lawnmower from stopping far from the boundary, people, or animals, leaving large uncut areas. On the other hand, this design increases the horizontal distance from the outer end of the cutting element to the outer side of the protective structure, eliminating the need for bottom protection, thereby improving the smart lawnmower's maneuverability and reducing manufacturing costs.

[0023] According to a third aspect of this application, an intelligent lawnmower includes: a body; a moving module disposed on the body and configured to drive the body to move along a set path or within a working area; a cutting mechanism including a cutting element disposed at the bottom of the body to perform a cutting task; wherein the cutting diameter of the cutting element is greater than or equal to 500 mm; a control module connected to the moving module and the cutting mechanism, and configured at least to control the intelligent lawnmower to move and cut grass along the boundary of the working area; wherein the intelligent lawnmower further includes a protective structure configured to establish a protective barrier at least on the side of the cutting element.

[0024] This approach not only improves cutting efficiency but also ensures that the cutting reaches the edge and meets safety requirements. Attached Figure Description

[0025] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 A front view of the side-protected smart lawnmower structure described in one embodiment;

[0028] Figure 2 A bottom view of the side-protected smart lawnmower structure described in one embodiment;

[0029] Figure 3 This is a schematic diagram of a smart lawnmower with side protection during tall grass cutting, as described in one embodiment.

[0030] Figure 4 This is a schematic diagram of a smart lawnmower with side protection during low grass cutting, as described in one embodiment.

[0031] Figure 5 A front view of the fully protected smart lawnmower structure described in one embodiment;

[0032] Figure 6 This is a schematic diagram of the fully protected intelligent lawnmower structure described in one embodiment;

[0033] Figure 7 This is a schematic diagram of a smart lawnmower with full protection during tall grass cutting, as described in one embodiment.

[0034] Figure 8 This is a schematic diagram of a smart lawnmower with full protection during low grass cutting, as described in one embodiment.

[0035] Figure 9 This is a schematic diagram of the front end structure of the protective structure described in one embodiment;

[0036] Figure 10 This is a schematic diagram of the intelligent lawnmower structure when encountering obstacles, as described in one embodiment;

[0037] Figure 11 This is a schematic diagram of the intelligent lawnmower structure for obstacle crossing as described in one embodiment;

[0038] Figure 12 This is a circumferential area analysis diagram of the intelligent lawnmower described in one embodiment.

[0039] 100. Intelligent lawnmower; 110. Body; 111. Direction of travel; 120. Moving module; 130. Cutting mechanism; 131. Side view; 140. Distance acquisition module; 141. Detection component; 1411. Camera; 1412. Sensor; 142. Positioning component; 150. Protective structure; 151. First protective component; 152. Second protective component; 153. Comb groove; 160. Drive mechanism; 161. Lifting mechanism; 1 62. First driver; 163. Transmission structure; 1631. Cam; 1632. Height adjustment lever; 164. Transmission component; 170. Height adjustment mechanism; 171. Second driver; 172. Height adjustment component; 173. Linkage rod; 174. Chain; 180. Limiting structure; 181. First link; 182. Second link; 200. Obstacle; 300. First area; 310. Second area; 320. Third area; 400. Boundary. Detailed Implementation

[0040] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0041] In some embodiments, please refer to Figure 1 and Figure 5A smart lawnmower 100 includes: a body 110, a moving module 120, a protective device, and a control module. The moving module 120 is disposed on the body 110 and configured to drive the body 110 to move along a set path or within a working area. The cutting mechanism 130 includes cutting elements (such as... Figure 1 The multi-layer cutting blade shown has a cutting element located at the bottom of the machine body 110 to perform the cutting task. The protective device has a protected state and a non-protected state; in the protected state, the protective device protects the cutting element. A control module is connected to at least the protective device and is configured to control the protective device to be in the protected or non-protected state based on the distance between the machine body 110 and a preset object.

[0042] The aforementioned intelligent lawnmower 100 integrates a control module and a protective device. The control module is configured to actively switch the protective device between a protective state and a non-protective state based on the distance between the mower body 110 and a preset object. For example, when the distance between the mower body 110 and the preset object is large and protection of the cutting element is not required, the control module controls the protective device to be in a non-protective state to ensure the normal operation of the cutting mechanism 130. When the distance between the mower body 110 and the preset object is small and protection of the cutting element is required, the control module controls the protective device to actively activate and protect the cutting element, allowing the intelligent lawnmower 100 to approach the preset object for cutting. Therefore, the intelligent lawnmower 100 utilizes the control module to actively control the action of the protective device based on the distance between the mower body 110 and the preset object, accurately switching between protective and non-protective states to achieve active protection for edge cutting and safe cutting. For complex working conditions, such as dense grass, obstacles, steps, etc., this intelligent lawnmower 100 does not require human intervention and can meet the needs of cutting to the edge and cutting safety.

[0043] It should be noted that the protected state and the non-protected state represent two structural states of the protective device relative to the cutting mechanism 130. In the protected state, the protective device can shield the cutting mechanism 130, preventing people or animals from reaching into the machine body 110 and accessing the cutting elements. For example, taking a human arm as an example, when the protective device is in the protected state, the distance between the protective device and the ground can be designed to be less than or equal to the diameter of a human arm to achieve the protective function. Of course, the protected state of the protective device can also be defined using other parts of a person or an animal as examples.

[0044] Meanwhile, there are multiple ways for a protective device to switch to a protective state. For example, the protective device can switch to a protective state by moving towards the ground; or by rotating or rolling up.

[0045] It should also be noted that the preset objects may include obstacles 200 with pre-built location information in the control module, such as walls, fences, trees in the yard, swimming pools, ponds, etc.; they may also include obstacles 200 without pre-built location information, such as stones in the lawn, plastic bottles, animals, people, etc. Of course, the preset objects may also include the boundary 400 of the work area. For example, when the distance between the machine body 110 and the boundary 400 of the work area reaches a distance that can trigger protection, the control module controls the protection device to switch to protection mode to protect the cutting element.

[0046] Furthermore, the intelligent lawnmower 100 of this embodiment can be used for household lawnmowing as well as outdoor commercial lawnmowing. This embodiment does not impose specific limitations on its application. Additionally, the control module can be, but is not limited to, a microcontroller, an electronic control unit (ECU), or a programmable logic controller (PLC).

[0047] Alternatively, please refer to Figure 2 and Figure 6 The cutting mechanism 130 has two opposing sides 131. The line connecting the two sides 131 intersects the travel direction 111 of the machine body 110; that is, the two sides 131 should be understood as opposite sides on the travel direction 111 of the machine body 110. "Intersecting" includes both perpendicular and non-perpendicular states. The protective device includes a drive mechanism 160 and a protective structure 150. The drive mechanism 160 is connected to a control module. The protective structure 150 is connected to the drive mechanism 160 and is at least partially located on at least one side 131 of the cutting mechanism 130. The control module is configured to control the drive mechanism 160 to drive the protective structure 150 relative to the machine body 110 to a preset position when the distance between the machine body 110 and a preset object is less than or equal to a preset distance, so that the protective device is in a protective state.

[0048] Therefore, when the distance between the machine body 110 and the preset object is less than or equal to the preset distance, the control module controls the drive mechanism 160 to move, causing the protective structure 150 to move relative to the machine body 110 to a preset position to protect at least one side 131 of the cutting mechanism 130. This allows the intelligent lawnmower 100 to approach the preset object for cutting operations, thus meeting the requirements for edge cutting and safe cutting in complex working conditions.

[0049] It's important to clarify that "cutting to the edge" doesn't mean cutting all the grass around the preset object. It means cutting close to the edge of the preset object while ensuring its safety. After cutting, a section of grass may remain around the preset object; alternatively, it can be completely cut. For example, when the preset object is obstacle 200, cutting to the edge will leave approximately 0.15m of grass around obstacle 200, which can be removed using a lawnmower or similar equipment. When the preset object is the boundary 400 of the work area and there are no obstructions near the boundary, cutting to the edge will remove all the grass on boundary 400.

[0050] Driven by the drive mechanism 160, the protective structure 150 can move in various ways, including but not limited to rotation, translation, and rolling. When the protective structure 150 moves in a rolling manner, it can be designed as a roller shutter structure. During protection, the drive mechanism 160 drives the roller shutter structure to roll open, thus blocking at least one side 131 of the cutting mechanism 130. The drive mechanism 160 can be a motor, cylinder, hydraulic cylinder, electric cylinder, or a combination of a motor and a linkage mechanism.

[0051] It should also be noted that the protective structure 150 can provide partial or complete protection for the cutting element. For example: Please refer to... Figure 2 The protective structure 150 is enclosed on one or both sides 131; or, please refer to Figure 6 The protective structure 150 extends around the periphery of the cutting mechanism 130, etc. Please refer to... Figure 9 When the protective structure 150 can protect the front end of the machine body 110, several comb grooves 153 can be provided on the protective structure 150 at intervals. In this way, the comb grooves 153 can make it easier for the uncut grass in front to enter the cutting mechanism 130. At the same time, the comb grooves 153 also help to reduce the resistance between the protective structure 150 and the grass, and improve the passability of the intelligent lawnmower 100.

[0052] Alternatively, please refer to Figure 1 and Figure 5 When the distance between the machine body 110 and the preset object is less than or equal to the preset distance, the control module is configured to control the drive mechanism 160 to drive the protective structure 150 to move along the direction towards the ground to the preset position. Thus, it can be seen that the protective structure 150 moves in the direction towards the ground during protection, so as to lower the position of the protective structure 150 and achieve protection of the cutting element.

[0053] It should be noted that the preset position value can be determined according to the object being protected and the installation height of the cutting mechanism 130. Of course, the preset position should not be set too low, as this will reduce the mobility of the intelligent lawnmower 100 and affect its normal cutting operation.

[0054] In some embodiments, please refer to Figure 2 and Figure 6 The drive mechanism 160 includes a lifting mechanism 161. The protective structure 150 moves relative to the body 110 between at least a first position and a second position. The first position is higher than the second position. The preset position includes the second position. When the distance between the body 110 and the preset object is less than or equal to a preset distance, the lifting mechanism 161 drives the protective structure 150 to move to the second position to protect the cutting element. When the distance between the body 110 and the preset object is greater than the preset distance, the lifting mechanism 161 drives the protective structure 150 to move to or maintain the first position. Therefore, during the cutting process, when the distance between the body 110 and the preset object is less than or equal to the preset distance, the control module controls the lifting mechanism 161 to move the protective structure 150 to the second position, switching it to a protective state. This facilitates the intelligent lawnmower 100 in meeting the requirements for edge cutting and safe cutting under complex working conditions. When the distance between the machine body 110 and the preset object is greater than the preset distance, that is, when the intelligent lawnmower 100 is in the safe cutting area, the control module controls the lifting mechanism 161 to move and drive the protective structure 150 to move to or maintain the first position, so that the cutting mechanism 130 can operate normally.

[0055] It should be noted that the lifting mechanism 161 can have various designs, as long as it can drive the protective structure 150 to move between at least the first position and the second position. For example, the lifting mechanism 161 can be designed as a combination structure of motor, gear and rack; or as a combination structure of motor, cam 1631 and lifting rod; or it can be directly designed as a device with telescopic function such as cylinder or hydraulic cylinder.

[0056] It should also be noted that when the protective structure 150 is in the first position, it is in a non-protective state; when the protective structure 150 is in the second position, it is in a protective state. Furthermore, there are various possible designs for the first and second positions. For example, the first position can be controlled at a distance of 100mm to 120mm from the ground, specifically around 114mm from the ground; or the first position can be controlled as the highest point the protective structure 150 moves away from the ground. The design of the second position can be determined based on the object being protected and the installation height of the cutting mechanism 130. From a protective effect perspective, the closer the second position is to the ground, the better; however, considering mowing efficiency and accessibility, the second position should not be set too low.

[0057] Alternatively, please refer to Figure 1In the second position, the bottom of the protective structure 150 is 38mm to 55mm above the ground. This reasonable design of the second position ensures that the bottom of the protective structure 150 is 38mm to 55mm above the ground, providing effective protection while guaranteeing stable passage for the intelligent lawnmower 100 during operation, thus ensuring stable lawnmowing.

[0058] Specifically, in the second position, the bottom of the protective structure 150 is 55mm above the ground.

[0059] Additionally, please refer to Figure 2 The distance D between the side of the protective structure 150 facing away from the body 110 and the outer contour of the cutting mechanism 130 is greater than or equal to 90mm, that is, the distance between the outer end of the cutting mechanism 130 and the outer side of the protective structure 150 in the horizontal direction is controlled to meet the finger protection requirements.

[0060] It should be noted that the outer contour of the cutting mechanism 130 refers to the outermost part of the cutting mechanism 130. For example, if the cutting mechanism 130 includes at least a cutter head and blades spaced apart on the cutter head, then the outer contour of the cutting mechanism 130 can be understood as the end of the blade extending out of the cutter head. If the blade is designed to be foldable and retractable within the cutter head, the blade will unfold again under the centrifugal force of the rotating cutter head. At this time, the distance D between the outer end of the blade and the side of the protective structure 150 facing away from the machine body 110 is greater than or equal to 90mm.

[0061] In addition, there can be one or more cutting mechanisms 130. For example, there can be three cutting mechanisms 130. The three cutting mechanisms 130 are arranged in a triangular pattern at the bottom of the machine body 110.

[0062] In some embodiments, please refer to Figure 1 and Figure 5 The intelligent lawnmower 100 also includes a distance acquisition module 140 connected to the control module. The distance acquisition module 140 can at least acquire the distance between the mower body 110 and the preset object. Thus, by accurately acquiring the distance between the mower body 110 and the preset object through the distance acquisition module 140, the control module can promptly control the protective device to achieve the purpose of stable and safe cutting under complex working conditions.

[0063] It should be noted that the distance acquisition module 140 can be a positioning module, which determines the distance between itself and a known preset object based on its own positioning; or it can be a detection module, which detects the distance between the preset object in front of the smart lawnmower 100 and itself in real time.

[0064] Alternatively, please refer to Figure 1 and Figure 5The preset objects include obstacles 200 in the working area, wherein obstacles 200 with pre-stored location information within the intelligent lawnmower 100 are defined as marked obstacles. The preset distance includes a first preset distance; the distance acquisition module 140 includes a positioning component 142, configured to locate the position coordinates of the body 110 to determine the distance between the body 110 and the marked obstacle. When the distance between the body 110 and the marked obstacle is less than or equal to the first preset distance, the drive mechanism 160 drives the protective structure 150 to move to a preset position.

[0065] When the intelligent lawnmower 100 is operating normally, the positioning component 142 locates the position coordinates of the body 110 within the working area. Since the position information of the marked obstacle is built into the intelligent lawnmower 100, the distance between the body 110 and the marked obstacle can be determined based on the position coordinates located by the positioning component 142. If the distance between the body 110 and the marked obstacle is less than or equal to a first preset distance, it indicates that the intelligent lawnmower 100 is relatively close to the marked obstacle. At this time, the drive mechanism 160 drives the protective structure 150 to actively protect the cutting element, enabling the intelligent lawnmower 100 to approach the marked obstacle for close-range operation, thereby meeting the requirements for edge cutting and safe cutting operations.

[0066] It should be noted that the marking of obstacles can vary depending on the type of work area. For example, marking obstacles can be, but is not limited to, walls, fences, trees in the yard, swimming pools, ponds, etc.

[0067] It should also be noted that the positioning component 142 is a device capable of locating the position coordinates of the fuselage 110. For example, the positioning component 142 can be an RTK (Real-Time Kinematic) module, GPS (Global Positioning System), etc. Please refer to [reference needed]. Figure 1 and Figure 5 When the positioning component 142 is an RTK module, it can receive only satellite signals or only base station signals broadcast by the base station, for example, the base station signal includes at least differential messages; or it can receive both satellite signals and base station signals simultaneously. During mobile navigation, to improve positioning accuracy, base stations can be deployed along a set path or in the working area. The base station receives satellite signals through its internal antenna and broadcasts differential messages externally. At this time, the positioning component 142 simultaneously receives both satellite signals and base station signals and feeds back positioning data to the control module to determine the position coordinates of the fuselage 110.

[0068] Meanwhile, when receiving satellite signals and base station signals, the positioning component 142 has at least a built-in satellite antenna and a communication unit. The positioning component 142 uses the satellite antenna to receive satellite signals and uses the communication unit to receive base station signals to obtain accurate positioning data. When the control module receives the positioning data from the positioning component 142, the control module processes it according to a preset algorithm to obtain location data.

[0069] In some embodiments, when the distance between the body 110 and the marked obstacle is less than or equal to a first preset distance, the drive mechanism 160 begins to drive the protective structure 150 to move, causing the protective structure 150 to move to a preset position before reaching a critical distance from the marked obstacle. Thus, when the intelligent lawnmower 100 determines that it is close to the marked obstacle, it begins to drive the protective structure 150 to move, ensuring that the protective structure 150 is in place before the body 110 reaches a critical distance from the marked obstacle, thereby providing more stable and safer protection.

[0070] Optionally, the first preset distance ranges from 1.5m to 2.5m. The critical distance ranges from 0.2m to 0.8m, meaning that when the distance between the machine body 110 and the marked obstacle is less than or equal to 1.5m to 2.5m, the protective structure 150 is controlled to move in advance (e.g., descend in advance) so that the protective structure 150 is in place 0.2m to 0.8m away from the marked obstacle, ensuring that the intelligent lawnmower 100 can achieve stable edge cutting operation.

[0071] Specifically, the first preset distance is 2m; the critical distance is 0.5m.

[0072] In some embodiments, please refer to Figure 1 and Figure 5 The preset objects include obstacles 200 in the working area, where obstacles 200 within the intelligent lawnmower 100 without pre-stored location information are defined as random obstacles. The preset distance includes a second preset distance. The distance acquisition module 140 includes a detection component 141, which is configured to detect random obstacles and determine the distance between the machine body 110 and the random obstacles. When the distance between the machine body 110 and the random obstacle is less than or equal to the second preset distance, the drive mechanism 160 drives the protective structure 150 to move to a preset position.

[0073] When the intelligent lawnmower 100 is operating normally, the detection component 141 detects at least one random obstacle and determines the distance between the body 110 and the random obstacle. If the distance between the body 110 and the random obstacle is less than or equal to a second preset distance, it indicates that the intelligent lawnmower 100 is relatively close to the random obstacle. At this time, the drive mechanism 160 drives the protective structure 150 to actively protect the cutting element, enabling the intelligent lawnmower 100 to approach the random obstacle for close-range operation or to bypass it, so that it can identify its edge cutting and meet the requirements of cutting to the edge and safe cutting operation.

[0074] In some implementations, when the intelligent lawnmower 100 approaches or detours around random obstacles, the speed of the intelligent lawnmower 100 is reduced (below the normal operating speed). For example, if the normal operating speed is 1 m / s to 3 m / s, the speed can be reduced to about 0.5 m / s when approaching obstacles. If safety is further considered, it can also be reduced to 0.3 m / s, 0.2 m / s, etc.

[0075] It should be noted that random obstacles are objects that are not frequently present or appear in the work area and have a high degree of uncertainty, such as stones, plastic bottles, animals, and people in the lawn. These obstacles 200 cannot be located using built-in location information. Therefore, this application sets up a detection component 141 to detect these obstacles 200 in real time to determine the distance between the random obstacles and the fuselage 110. Of course, the detection component 141 can also detect marked obstacles, which can coordinate with the positioning component 142 to achieve higher accuracy in obtaining the distance information between the fuselage 110 and the marked obstacles.

[0076] It should also be noted that the second preset distance can be determined based on the overall travel speed of the intelligent lawnmower 100 and the movement speed of the protective structure 150. For example, the second preset distance can be set to approximately 2 meters. Furthermore, the second preset distance can be set to be the same as or different from the first preset distance. When the second preset distance is different from the first preset distance, the first preset distance can be set to be greater than the second preset distance. This expands the protection range of the marked obstacles, allowing the protective structure 150 to react to the marked obstacles in advance.

[0077] Optionally, when the intelligent lawnmower 100 detects that the distance to a marked obstacle is greater than a first preset distance or the distance to a random obstacle is greater than a second preset distance, the protective structure 150 may be raised, for example, to a first position or the highest position.

[0078] Optionally, the detection component 141 may be, but is not limited to, a vision module, a ranging sensor 1412, a radar device, etc.

[0079] For details, please refer to Figure 1 andFigure 5 The detection component 141 includes a camera 1411 and a sensor 1412 mounted on the body 110. The camera 1411 can identify obstacles 200. The sensor 1412 can obtain the distance between the body 110 and the obstacle 200.

[0080] Optionally, the control module has a timing control function. When the distance between the machine body 110 and the random obstacle is less than or equal to a second preset distance, the control module controls the detection component 141 to monitor the random obstacle within a preset time. After the preset time, if the distance between the machine body 110 and the random obstacle is still less than or equal to the second preset distance, the drive mechanism 160 drives the protective structure 150 to move to a preset position. Since random obstacles have a large degree of uncertainty, for example, random obstacles can be fixed objects or objects that move at any time, this control module has a built-in timing control function to delay the judgment time of the protective action, so as to accurately control the effective action of the protective structure 150 and avoid driving the protective structure 150 to move when protection is not needed, which would affect the cutting efficiency and cutting effect.

[0081] For ease of understanding, an animal is used as a random obstacle in the illustration. When the intelligent lawnmower 100 is operating normally, the detection component 141 detects the animal and obtains the distance between it and the machine body 110. When the distance between the two is less than a second preset distance, the control module controls the detection component 141 to continuously monitor the animal for a preset time. If the animal is startled by the cutting action of the intelligent lawnmower 100 and jumps away or moves away on its own within the preset time, causing the distance between it and the machine body 110 to be greater than the second preset distance, after the preset time, the control module controls the drive mechanism 160 to stop operating, so that the intelligent lawnmower 100 can operate normally.

[0082] If the animal is not disturbed by the cutting action or remains at a distance less than or equal to the second preset distance from the machine body 110 after being disturbed, the control module controls the drive mechanism 160 to move after a preset time, thereby driving the protective structure 150 to a preset position to provide effective protection for the cutting element.

[0083] It should be noted that the control module has a timing control function, which can select whether to execute the control mechanism action or not after a preset time. For example, the control module integrates control circuits, conversion circuits, etc. Since the specific circuit structure of the control module is not the object of improvement in this embodiment, its specific structure can be directly referred to in existing literature or existing products.

[0084] In some embodiments, please refer to Figure 2 and Figure 6The preset object includes the boundary 400 of the work area. The preset distance includes a third preset distance. The distance acquisition module 140 includes a positioning component 142, which is configured to locate the position coordinates of the body 110 to determine the distance between the body 110 and the boundary 400. When the distance between the body 110 and the boundary 400 is less than or equal to the third preset distance, the drive mechanism 160 drives the protective structure 150 to move to the preset position.

[0085] Therefore, when the intelligent lawnmower 100 is operating normally, the positioning component 142 locates the position coordinates of the body 110 to obtain the distance between the body 110 and the boundary 400. If the distance between the body 110 and the boundary 400 is less than or equal to a third preset distance, the drive mechanism 160 drives the protective structure 150 to move to a preset position (e.g., descend to a preset position) to protect the cutting element, so that the protective structure 150 is released throughout the entire process of the intelligent lawnmower 100 moving along the boundary 400. Thus, in this embodiment, when cutting along the boundary 400, a third preset distance is set to determine the protection condition, thereby achieving safe operation when cutting along the boundary 400.

[0086] It should be noted that the value of the third preset distance can also be determined according to the surrounding environment of the work area. For example, if there are few obstacles 200 or the area is relatively open (such as adjacent road surface), the third preset distance can be defined as a small value, or even set to 0, that is, the protective structure 150 does not need to be released throughout the process; if there are many obstacles 200 outside the work area, the third preset distance can be appropriately increased to ensure the safety of the boundary 400 cutting.

[0087] It should also be noted that in some embodiments, there may be marked obstacles on the boundary 400, or there may be no marked obstacles (e.g., an empty boundary 400). For example, when the intelligent lawnmower 100 walks along the boundary 400 without marked obstacles and the distance between the body 110 and the boundary 400 is greater than a third preset distance, the protective structure 150 is kept in an unprotected state. If, after continuing to walk, it is determined that the distance between the body 110 and the marked obstacle is less than or equal to a first preset distance, the drive mechanism 160 is activated to drive the protective structure 150 to a preset position in advance, putting it in a protective state; if it is detected that the distance between the body 110 and a random obstacle is less than or equal to a second preset distance, the drive mechanism 160 is activated to drive the protective structure 150 to a preset position.

[0088] In other embodiments, when the smart lawnmower 100 travels along the boundary 400 with marked obstacles and the distance between the body 110 and the marked obstacles is less than a first preset distance, the protective structure 150 is in a protective state throughout the entire process.

[0089] In some embodiments, please refer to Figure 2 and Figure 6 The drive mechanism 160 includes a first driver 162 and a transmission member 164 connected to the first driver 162. The protective structure 150 is disposed on the transmission member 164. The first driver 162 drives the transmission member 164 to move relative to the machine body 110, thereby causing the protective structure 150 to move relative to the machine body 110. In this way, the protective structure 150 can move stably to a preset position to achieve effective cutting protection.

[0090] It should be noted that the first driver 162 can be a device with a telescopic shaft, such as a pneumatic cylinder, hydraulic cylinder, or electric cylinder, so that the transmission component 164 can reciprocate relative to the machine body 110. Of course, the first driver 162 can also be a motor. When the transmission component 164 is directly connected to the first driver 162, the transmission component 164 rotates relative to the machine body 110 under its drive, so that the protective structure 150 rotates to a preset position. When the transmission component 164 and the first driver 162 are connected through a transmission structure 163, the force transmission of the transmission structure 163 can be used to convert the rotation of the first driver 162 into a drive for the transmission component 164, thereby moving the protective structure 150 to a preset position, etc.

[0091] Alternatively, please refer to Figure 2 The drive mechanism 160 also includes a transmission structure 163, and the first driver 162 is a motor. The first driver 162 is connected to the transmission component 164 through the transmission structure 163, so that the protective structure 150 can move stably through the transmission structure 163.

[0092] It should be noted that the transmission component 164, under the action of the transmission structure 163, can achieve back-and-forth swinging and up-and-down movement. When the transmission component 164 swings back and forth, the transmission structure 163 can be designed as a rotating shaft. The first driver 162 is connected to the rotating shaft through components such as belts and gears. In this case, the first driver 162 can drive the rotating shaft to rotate around its own axis, causing the transmission component 164 to swing around the axis of the rotating shaft, thereby realizing the up-and-down swinging of the protective structure 150. When the transmission component 164 moves up and down, the transmission structure 163 can be designed as a combination of a height adjustment rod 1632 and a cam 1631, or a combination of a gear and a rack, etc. If the transmission structure 163 is a combination of a height adjustment rod 1632 and a cam 1631, the protrusion of the cam 1631 abuts against the bottom of the height adjustment rod 1632. At this time, as the first driver 162 rotates, the protrusion of the cam 1631 can raise or lower the position of the height adjustment rod 1632, thereby driving the transmission component 164 to move up and down. Of course, the transmission structure 163 can have other designs, which will not be listed one by one. As long as it can drive the protective structure 150 to move relative to the body 110, it is acceptable.

[0093] In some embodiments, please refer to Figure 2 The protective structure 150 includes a first protective member 151 and a second protective member 152 respectively disposed on two sides 131 of the cutting mechanism 130. There are at least two transmission members 164. The first protective member 151 and the second protective member 152 are respectively connected to the corresponding transmission members 164. That is, the protection in this embodiment adopts side protection, achieving effective and safe cutting while reducing the load on the intelligent lawnmower 100.

[0094] In another embodiment, please refer to Figure 6 The protective structure 150 is circumferentially surrounding the outside of the cutting mechanism 130, meaning that the protective structure 150 fully protects the outside of the cutting mechanism 130, thus improving the protective performance.

[0095] In some embodiments, please refer to Figure 10 and Figure 11 The protective structure 150 floats up and down relative to the transmission component 164. When the protective structure 150 encounters an obstacle 200, it is lifted by the obstacle 200 using its floating property, enabling the intelligent lawnmower 100 to achieve a high obstacle-crossing function and improve its obstacle-crossing ability.

[0096] It should be noted that the protective structure 150 can float relative to the transmission component 164 by providing a waist-shaped hole or other space for vertical movement on the transmission component 164; or the protective structure 150 can be connected to the transmission component 164 by means of a spring, elastic rubber, chain 174 or other structures.

[0097] In some embodiments, please refer to Figure 1 and Figure 5 The intelligent lawnmower 100 also includes a height adjustment mechanism 170. The height adjustment mechanism 170 drives the cutting mechanism 130 to perform cutting tasks at at least two predetermined cutting heights at different levels. This allows the cutting mechanism 130 to cut grass of different heights, thus expanding the operating range of the intelligent lawnmower 100. For example, for cutting tall grass, please refer to... Figure 3 and Figure 7 The cutting mechanism 130 can be raised by adjusting the height of the adjustment mechanism 170; for low grass cutting, please refer to [reference needed]. Figure 4 and Figure 8 The cutting mechanism 130 can be lowered by adjusting the height of the height adjustment mechanism 170 to achieve low grass cutting, etc.

[0098] Alternatively, please refer to Figure 1 and Figure 5The height adjustment mechanism 170 includes a second driver 171 and at least one height adjustment member 172 rotatably connected to the machine body 110. One end of the height adjustment member 172 is engaged with the output shaft of the second driver 171, and the other end is connected to the cutting mechanism 130. When the second driver 171 drives the height adjustment member 172 to swing, one end of the transmission member 164 can raise or lower the cutting mechanism 130, that is, by using the seesaw principle, the cutting mechanism 130 can move up and down relative to the machine body 110.

[0099] Optionally, the second actuator 171 may be, but is not limited to, a cylinder, a hydraulic cylinder, an electric cylinder, etc. Additionally, to improve the transmission efficiency of the adjusting member, the height adjusting member 172 may be designed as or approximately as an "L"-shaped structure. Optionally, the height adjusting member 172 may be a swing arm.

[0100] Alternatively, please refer to Figure 1 and Figure 5 There are at least two height adjustment components 172. The at least two height adjustment components 172 are arranged side by side and spaced apart on the body 110. A linkage rod 173 is rotatably connected between two adjacent height adjustment components 172 so that the second drive 171 can simultaneously drive the two height adjustment components 172 to swing.

[0101] In some embodiments, please refer to Figure 1 and Figure 5 The cutting mechanism 130 is connected to the height adjustment mechanism 170 and can float up and down relative to the height adjustment mechanism 170 in the height direction of the machine body 110. In this way, when the cutting mechanism 130 encounters an obstacle 200, it will be lifted by the obstacle 200, making it easier to pass over the obstacle 200, which helps improve the passability of the intelligent lawnmower 100. The "floating" can be achieved by connecting the cutting mechanism 130 to the height adjustment mechanism 170 through structures such as springs, elastic rubber, and chains 174.

[0102] Alternatively, please refer to Figure 1 and Figure 5 To prevent the cutting mechanism 130 from shifting left and right relative to the machine body 110 (i.e., shifting towards the two sides 131), a limiting structure 180 is set on the machine body 110 to prevent the cutting mechanism 130 from shaking too much and affecting safety and stability.

[0103] It should be noted that the limiting structure 180 can be designed as a limiting plate and limiting groove structure; it can also be designed as a connecting rod structure, etc.

[0104] For details, please refer to Figure 1 and Figure 5The limiting structure 180 includes a first connecting rod 181 and a second connecting rod 182. The first connecting rod 181 is connected to the machine body 110, and the second connecting rod 182 is connected to the cutting mechanism 130. The first connecting rod 181 and the second connecting rod 182 are rotatably connected, and the rotation axis of the second connecting rod 182 on the first connecting rod 181 is parallel to the line connecting the two sides 131, that is, the rotation plane of the second connecting rod 182 is parallel to the left and right sides of the machine body 110. This allows the cutting mechanism 130 to float up and down, while limiting the left and right swaying displacement of the cutting mechanism 130.

[0105] In some embodiments, please refer to Figure 12 The circumferential area of ​​the fuselage 110 includes a first area 300 and a second area 310 facing two sides 131 respectively. When a preset object (such as a marked obstacle or a random obstacle) is present in the first area 300 and / or the second area 310, and the distance between the fuselage 110 and the preset object is less than or equal to the aforementioned preset distance, the control drive mechanism 160 drives the protective structure 150 to move to a preset position to protect the two sides of the cutting mechanism 130.

[0106] Alternatively, please refer to Figure 12 The circumferential area of ​​the fuselage 110 also includes a third area 320 located at the front end of the fuselage 110 in the direction of travel 111. When a preset object is present in the third area 320, and the distance between the fuselage 110 and the preset object is less than or equal to a preset distance, the moving module 120 drives the fuselage 110 to turn and / or reverse to avoid the object. Of course, when preset objects are present in the first area 300, the second area 310, and the third area 320, the avoidance can be achieved by releasing the protective structure 150 while turning or reversing.

[0107] Additionally, if the intelligent lawnmower 100 detects a human body in any of the three zones—first zone 300, second zone 310, and third zone 320—it can initiate a turning or reversing action upon detection, while simultaneously releasing the protective structure 150. Once no human body is found in any of the zones, the protective structure 150 can be restored to its non-protective state.

[0108] In other embodiments, the protective device of the smart lawnmower 100 can always be in a protective state. For example, the protective device can be fixedly installed on the side of the cutting element in the form of mechanical protection, so that a protective barrier can always be established on the side of the cutting mechanism 130, and the outermost part of the protective structure is the outermost part of the smart lawnmower 100 during the edge mowing process of the smart lawnmower 100.

[0109] This protective structure effectively prevents stones, plastic bottles, or animals, hands, and feet that accidentally enter the bottom of the smart lawnmower 100 from entering the outside of the cutting mechanism 130, providing better protection. Furthermore, during edge cutting, the outermost part of the protective structure is also the outermost part of the smart lawnmower 100. This indicates that at least part of the protective structure is located on the outside of the machine body during edge cutting, which helps ensure the safety of people or animals while ensuring that the cutting reaches the edge, preventing the smart lawnmower 100 from stopping far from the boundary, people, or animals, leaving a large uncut area. On the other hand, this design increases the horizontal distance from the outer end of the cutting element to the outer side of the protective structure, thus eliminating the need for bottom protection, improving the smart lawnmower 100's maneuverability, and reducing the machine's manufacturing cost.

[0110] Optionally, the distance between the protective structure and the ground can be designed to be less than or equal to the diameter of a human arm, which is generally between 38mm and 80mm. In other scenarios, the distance between the protective structure and the ground can be designed to be between 25mm and 60mm to accommodate stones, plastic bottles, and human hands in the lawn.

[0111] In some embodiments, the protective structure is configured to move relative to the machine body when subjected to an external force greater than a predetermined value. Optionally, the external force has a component in the direction away from the surface of the working area. Optionally, the predetermined value can be determined based on the lifting force of the grass under normal working conditions. For example, if the lifting force of the grass under normal working conditions is approximately 5N, then the predetermined value can be set to 5N. Of course, depending on the density of the grass, the predetermined value can fluctuate within a range around 5N, for example, it can be 3N, 4N, 6N, or 7N. With the above settings, it is beneficial to lift the protective structure when encountering obstacles or dense grass, thereby improving the passability of the intelligent lawnmower 100.

[0112] In some embodiments, the height of the cutting element of the cutting mechanism 130 on the machine body is adjustable, and the protective structure can be set to be fixed relative to the cutting mechanism 130. For example, the protective structure can be raised and lowered together with the cutting mechanism 130, thereby realizing real-time protection of the cutting element by the protective structure.

[0113] In some implementations, the protective structure is circumferentially surrounding the outside of the machine body. By placing the entire protective structure on the outside of the machine body, it is beneficial to provide all-around protection for the cutting elements, thereby further ensuring safety. On the other hand, this does not limit the cutting direction of the smart lawnmower 100 along the edge; in other words, regardless of which direction the smart lawnmower 100 cuts along the edge, it can meet both the requirements of cutting to the edge and safety.

[0114] In other embodiments, the cutting diameter of the cutting element of the intelligent lawnmower 100 is greater than or equal to 500 mm to improve the cutting efficiency of the intelligent lawnmower 100. Simultaneously, it ensures that the protective structure of the intelligent lawnmower 100 is always in a protected state. For example, the protective structure can be fixed in place through mechanical protection to always establish a protective barrier, at least on the side of the cutting element. This not only improves cutting efficiency but also ensures that the cutting reaches the edge and meets safety requirements.

[0115] In some embodiments, when the cutting element is positioned close to the machine body, the protective structure can also be configured to create a protective barrier below the cutting element, thereby preventing hands or animals from contacting the cutting element from below. Simultaneously, the protective structure can also be configured to move relative to the machine body when subjected to an external force greater than a predetermined value, so as to be lifted when encountering obstacles or dense grass, thereby improving the maneuverability of the intelligent lawnmower 100. Optionally, the external force has a component force in the direction away from the surface of the working area. Optionally, the predetermined value can fluctuate within a range of approximately 5N, for example, it can be 3N, 4N, 6N, or 7N.

[0116] In some implementations, the bottom protective barrier can be established by the following method: the protective structure includes a first protective member and a second protective member movably connected to the first protective member, wherein the first protective member is located to the side of the cutting element, and the second protective member can be moved relative to the first protective member to a protective position to establish a protective barrier below the cutting element.

[0117] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0118] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

[0119] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0120] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0121] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0122] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0123] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

Claims

1. A smart lawnmower, comprising: body; A mobile module is disposed on the body and configured to drive the body to move along a set path or within a working area; A cutting mechanism, including a cutting element, the cutting element being disposed at the bottom of the machine body to perform a cutting task; The intelligent lawnmower is characterized by further comprising, A protective device has a protected state and a non-protected state; the protective device includes a drive mechanism and a protective structure that can be raised and lowered relative to the machine body; in the non-protected state, the drive mechanism drives the protective structure to rise to a first position to move away from the cutting element; in the protected state, the drive mechanism drives the protective structure to descend to a second position so that the protective structure protects the cutting element; and, A control module, connected at least to the drive mechanism and the moving module, is configured to acquire the distance between the machine body and a preset object, and execute the following control logic: When the distance is greater than the preset distance, the protective device is controlled to be in the non-protective state; When the distance is less than or equal to the preset distance, the drive mechanism is controlled to switch the protective device to the protective state, and the moving module is controlled to drive the body to continue moving in the direction of approaching the preset object, so as to approach the edge of the preset object for cutting under the protection of the protective structure.

2. The intelligent lawnmower according to claim 1, characterized in that, The cutting mechanism has two opposing sides, and the line connecting the two sides intersects the direction of travel of the machine body. The protective structure is connected to the drive mechanism and is at least partially located on at least one side of the cutting mechanism.

3. The intelligent lawnmower according to claim 1, characterized in that, The drive mechanism includes a lifting mechanism; When the distance between the machine body and the preset object is less than or equal to the preset distance, the lifting mechanism drives the protective structure to move to the second position to protect the cutting element; when the distance between the machine body and the preset object is greater than the preset distance, the lifting mechanism drives the protective structure to move to or remain at the first position.

4. The intelligent lawnmower according to claim 1, characterized in that, In the second position, the bottom of the protective structure is 38mm to 55mm above the ground, and the distance D between the side of the protective structure facing away from the machine body and the outer contour of the cutting element is greater than or equal to 90mm.

5. The intelligent lawnmower according to claim 1, characterized in that, The intelligent lawnmower also includes a distance acquisition module connected to the control module, which can at least acquire the distance between the machine body and a preset object.

6. The intelligent lawnmower according to claim 5, characterized in that, The preset objects include obstacles in the work area, wherein obstacles with pre-stored location information within the smart lawnmower are defined as marked obstacles, and the preset distance includes a first preset distance; The distance acquisition module includes a positioning component, which is configured to locate the position coordinates of the fuselage to determine the distance between the fuselage and the marked obstacle; When the distance between the fuselage and the marked obstacle is less than or equal to the first preset distance, the drive mechanism drives the protective structure to move to the second position.

7. The intelligent lawnmower according to claim 6, characterized in that, When the distance between the fuselage and the marked obstacle is less than or equal to the first preset distance, the drive mechanism begins to drive the protective structure to move, and the protective structure moves to the second position before reaching the critical distance from the marked obstacle.

8. The intelligent lawnmower according to claim 7, characterized in that, The first preset distance ranges from 1.5m to 2.5m; the critical distance ranges from 0.2m to 0.8m.

9. The intelligent lawnmower according to claim 5, characterized in that, The preset objects include obstacles in the work area, wherein obstacles within the smart lawnmower that do not have pre-stored location information are defined as random obstacles, and the preset distance includes a second preset distance; The distance acquisition module includes a detection component, which is configured to detect the random obstacle and determine the distance between the fuselage and the random obstacle. When the distance between the fuselage and a random obstacle is less than or equal to the second preset distance, the drive mechanism drives the protective structure to move to the second position.

10. The intelligent lawnmower according to claim 9, characterized in that, The control module has a timing control function. When the distance between the fuselage and the random obstacle is less than or equal to a second preset distance, the control module controls the detection component to monitor the random obstacle within a preset time. If, after a preset time, the distance between the fuselage and the random obstacle is still less than or equal to a second preset distance, the drive mechanism will drive the protective structure to move to the second position.

11. The intelligent lawnmower according to claim 5, characterized in that, The default objects include the boundaries of the work area; The distance acquisition module includes a positioning component, which is configured to locate the position coordinates of the fuselage to determine the distance between the fuselage and the boundary; the preset distance includes a third preset distance. When the distance between the fuselage and the boundary is less than or equal to a third preset distance, the drive mechanism drives the protective structure to move to the second position.

12. The intelligent lawnmower according to any one of claims 2-11, characterized in that, The driving mechanism includes a first driver and a transmission component connected to the first driver. The protective structure is disposed on the transmission component. The first driver drives the transmission component to move relative to the fuselage, thereby driving the protective structure to move relative to the fuselage.

13. The intelligent lawnmower according to claim 12, characterized in that, The protective structure includes a first protective member and a second protective member respectively disposed on two sides of the cutting mechanism, and there are at least two transmission members, with the first protective member and the second protective member respectively connected to the corresponding transmission member.

14. The intelligent lawnmower according to claim 12, characterized in that, The protective structure is circumferentially arranged around the outside of the cutting mechanism.

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