Smart lawnmower and method of controlling the same

Abstract

The application provides an intelligent mower and a control method thereof, and belongs to the technical field of intelligent mowers. The intelligent mower comprises a machine body, a first cutter head having a cutting edge, and the cutting edge is a metal piece. The first cutter head is located at a first position or a second position. The first position is that at least part of the first cutter head is located outside the orthographic projection of the machine body towards the ground. The second position is that the first cutter head is located inside the orthographic projection of the machine body towards the ground, and the minimum horizontal distance from the outer side edge of the cutting edge to the outer side edge of the machine body is greater than or equal to 0 and less than or equal to 50 mm. When the intelligent mower is in a mowing working state and does not block grass, the rotating speed of the first cutter head is between 1800 rpm and 3500 rpm. A detection device is used for detecting biological information, and the intelligent mower is used for performing a safety protection action according to the biological information. The intelligent mower can ensure a low grass retention rate while cutting to the edge, so that the working decibel is low and the service life of the cutter head is long.

Description

[0001] This application is a divisional application. The original application has the application number 202411155647.1 and the original application date is August 22, 2024. The entire contents of the original application are incorporated herein by reference. Technical Field

[0002] This invention relates to the field of intelligent lawnmower technology, and in particular to an intelligent lawnmower and its control method. Background Technology

[0003] With the development of automation technology and artificial intelligence, intelligent lawnmowers can automatically perform lawnmowing tasks, saving people a lot of time and providing great convenience to their lives.

[0004] Most smart lawnmowers on the market today include a cutting system, which consists of cutting blades, typically made of metal. To prevent injury to the user, the metal blades are surrounded by a protective cover. The outer edge of this cover is also at a certain horizontal distance from the perimeter of the lawnmower. This results in a relatively large horizontal distance between the tip of the metal blade and the outer contour of the lawnmower. In other words, during cutting operations, there will be areas that cannot be cut between the tip of the metal blade and the boundary of the working area, or between it and obstacles such as corners, fences, or steps.

[0005] In related technologies, these areas that cannot be cut usually require users to perform secondary processing using traditional methods. Of course, there are also some technical solutions that attempt to rely solely on intelligent robots to complete the edge cutting work, such as the technical solution in Chinese invention patent application with publication number CN110547088A. This solution mainly sets flexible trimming elements at the edge of the machine body, such as: mowing lines, flexible plastic blades, or flexible rubber blades. However, there may be uneven grass distribution at the boundary of the working area. During the cutting process, such flexible trimming elements are difficult to completely deal with this lawn situation, making it difficult to completely clear the grass at the boundary of the working area. Users still need to perform secondary processing using traditional methods. Therefore, although this solution cuts to the edge, the grass retention rate is too high.

[0006] For example, the Chinese invention patent with publication number CN112312761 B has an auxiliary cutting module on the machine body. The cutting module uses metal components or plastic blades without blade edges, and its working energy can only be within 5J or 2J. The corresponding blade rotation speed is extremely low. Therefore, its cutting effect is difficult to deal with the above-mentioned lawn conditions. Users still need to use traditional methods for secondary treatment. Therefore, although this solution cuts to the edge, the grass retention rate is too high. Summary of the Invention

[0007] This application provides an intelligent lawnmower and its control method. The effective cutting area of ​​the intelligent lawnmower can cover the boundary of the working area as much as possible. It can solve the problems of existing intelligent lawnmowers that cut to the edge but have a high grass retention rate, low grass retention rate but excessive decibels, and low grass retention rate but severe blade wear. It provides a lawnmower that can cut to the edge while ensuring a low grass retention rate, low decibels, and long blade life.

[0008] The first aspect of this application provides an intelligent lawnmower, comprising:

[0009] The body includes a first end and a second end disposed opposite to each other along the forward direction of the intelligent lawnmower;

[0010] Both the front and rear wheels are located on the side of the intelligent lawnmower facing the ground, and the front and rear wheels are spaced apart in the direction of travel of the intelligent lawnmower.

[0011] The first cutter head is connected to the side of the machine body facing the ground, and the outer side of the first cutter head is provided with a cutting blade, which is a metal part;

[0012] In the forward direction of the intelligent lawnmower, at least a portion of the first blade is located between the first cutting surface of the front wheel and the first end;

[0013] The first cut surface is perpendicular to the forward direction and passes through the first end point of the front wheel, whereby the first end point is defined as the point where the front wheel is furthest from the first end point.

[0014] The relative position of the first cutter head and the machine body remains fixed, and the first cutter head is fixed at either a first position or a second position.

[0015] The first position is defined as: at least a portion of the first cutter head is located outside the orthographic projection of the machine body toward the ground.

[0016] The second position is defined as follows: the first cutter head is located within the orthographic projection of the machine body towards the ground, and the minimum horizontal distance from the outer edge of the cutting blade to the outer edge of the machine body is greater than or equal to 0 and less than or equal to 50 mm;

[0017] The first blade is configured to rotate at a speed between 1800 rpm and 3500 rpm when the smart lawnmower is in the mowing state and is not stuck in the grass.

[0018] A detection device is installed on the machine body. The detection device is used to detect biological information. The intelligent lawnmower is used to perform safety protection actions based on the biological information.

[0019] The intelligent lawnmower provided in this application, by positioning the first blade disc below the machine body, allows the first blade disc to face the lawn being cut, facilitating the intelligent lawnmower's cutting operation. By providing metal cutting blades on the outer side of the first blade disc, its sharpness can be improved, thereby increasing its cutting efficiency. By placing at least a portion of the first blade disc at the front of the machine body, on the one hand, to accommodate most smart lawnmowers where the recognition module is located in the middle or front, the field of view difference between the first blade disc and the recognition module is smaller, resulting in better follower performance. For example, when cutting along the edge of the area to be cut, the first blade disc can cut the grass close to the edge, cutting more thoroughly and greatly reducing the grass residue rate in the area to be cut, thereby improving the overall cutting efficiency of the smart lawnmower and making the lawn look cleaner and more beautiful after mowing. On the other hand, since the cutting edge of the first blade disc is located in front of the front wheel, when the smart lawnmower moves forward, there is no problem of the front wheel bending some grass and causing inconsistent cutting lengths by the blade disc. Moreover, the airflow generated when the first blade disc rotates blows up the grass located at the front of the machine body, making the grass that is more collapsed at the front of the machine body more upright. This ensures that the grass is in a more upright state during cutting, guaranteeing a consistent stubble height, ensuring cutting efficiency and effect, making the lawn cleaner and more beautiful, and promoting healthy lawn growth. In addition, when the first cutter head is performing a cutting operation, the airflow can flow more directly from the front of the machine body over the cutter head, allowing the airflow to come into contact with the cutter head more quickly, carrying away the heat on the first cutter head and helping to improve the heat dissipation effect of the first cutter head.

[0020] When the first blade is in the first position, at least a portion of it lies outside the outer edge of the mower body. This increases the cutting width outside the body, thereby expanding the effective cutting range of the intelligent lawnmower. This reduces the blind spot at the boundary line, enabling edge cutting and solving the problems of high grass retention and inability to cut to the edge in related technologies. When the first blade is in the second position, it lies inside the body, with a distance between it and the outer edge of the body greater than or equal to 0 and less than or equal to 50 mm. This maximizes cutting safety while ensuring edge cutting. By reducing the distance between the first blade and the outer edge of the body, the blind spot at the boundary line is minimized, enabling edge cutting and solving the problems of high grass retention and inability to cut to the edge in related technologies.

[0021] By setting the rotation speed of the first blade between 1800 rpm and 3500 rpm and placing it in either the first or second position, it is possible to ensure that the grass retention rate of the lawn after mowing is within a reasonable range (5%-10%). At the same time, the operating decibel level during mowing is kept low, which will not cause hearing damage or adverse effects on humans and / or surrounding organisms, and will also ensure the service life of the first blade. Furthermore, it can also maintain a high level of power utilization for the intelligent lawnmower.

[0022] It should be noted that the grass retention rate refers to the proportion of uncut lawn area to the original or expected lawn area to be cut. To better represent this, this proportion can be expressed by the following formula: Grass retention rate = (Sum of uncut lawn area and lawn area with unsatisfactory cutting results / Original or expected lawn area to be cut) × 100%.

[0023] For example, "cutting results not meeting expectations" means that the actual cutting height of the lawn differs from the expected cutting height by 1 cm or more.

[0024] The operating decibel of a smart lawnmower refers to the noise level generated within a 1-meter radius around the mower during operation. It reflects the sound pressure level of the noise generated by the rotating blades when the mower is operating normally.

[0025] It should also be noted that if the grass retention rate in the area is greater than 10% after the smart lawnmower has finished cutting, the cutting work is considered unsatisfactory and the user still needs to perform a second mowing. However, when the grass retention rate is between 5% and 0%, the user's perception of lawn quality is not obvious, and the smart lawnmower does not need to invest more costs to keep the grass retention rate below 5%. Moreover, when the working decibels generated by the smart lawnmower exceed 80 decibels, it will cause irreversible and serious damage to human hearing and have a significant impact on surrounding organisms.

[0026] like Figure 1A As shown, when the first blade's rotation speed approaches 3500 rpm from 1400 rpm, the operating decibel level is between 45 and 80 decibels. However, when the first blade's rotation speed exceeds 3500 rpm, the operating decibel level exceeds 80 decibels, and the upward trend is significant. When the operating decibel level exceeds 80 decibels, it can cause irreversible and serious damage to human hearing and have a significant impact on surrounding organisms. Therefore, controlling the rotation speed of the first blade at 3500 rpm or below ensures that people and organisms around the intelligent lawnmower are not significantly affected, which is an ideal working condition.

[0027] It should be noted that, Figure 1BThe data in each group were obtained under the same grass conditions (same lawn density), using the same smart lawnmower, and keeping the smart lawnmower's speed the same.

[0028] To ensure that the grass retention rate is within a suitable range, such as Figure 1B As shown, the distance between the first blade and the machine body, as well as the rotation speed of the first blade, are related to the grass retention rate. It can be seen that the faster the rotation speed of the first blade, the lower the grass retention rate. Although the grass retention rate can be further reduced when the rotation speed of the first blade is controlled above 3500 rpm (e.g., 3600 rpm), the impact on the user is not significant. Smart lawnmowers do not need to control the grass retention rate to the extreme by setting the rotation speed of the first blade above 3500 rpm. Moreover, when the rotation speed of the first blade exceeds 3500 rpm, the operating decibel level of the smart lawnmower will exceed 80 decibels. Long-term exposure to this environment will cause irreversible and serious damage to human hearing and have a significant impact on surrounding organisms. At the same time, even if the rotation speed of the first blade is increased, the cutting effect of the lawn will not be significantly improved. Instead, it will lead to a decrease in the power utilization rate of the smart lawnmower.

[0029] Continue to refer to Figure 1B As can be seen, when the rotation speed of the first cutter head is below 1800 rpm (e.g., 1400 rpm, 1600 rpm), regardless of whether the first cutter head is in the first or second position, the grass retention rate is above 10%, and the user still needs to perform secondary trimming.

[0030] When the first cutter head rotates at 1800 rpm and the minimum horizontal distance from the outer edge of the first cutter head to the outer edge of the machine body is greater than 50 mm (e.g., 60 mm), the grass retention rate is still above 10%, and the user still needs to perform secondary trimming. However, when the first cutter head rotates at 1800 rpm and the minimum horizontal distance from the outer edge of the first cutter head to the outer edge of the machine body is equal to 50 mm, the grass retention rate is just around 10%, and the user does not need to perform secondary trimming. Figure 1B It can also be seen that when the first blade is at a speed of 1800 rpm or higher (e.g., 2000 rpm, 2200 rpm, 2400 rpm, 2600 rpm, 2800 rpm, 3000 rpm, 3200 rpm), and the first blade is in the first or second position, the grass retention rate can be below 10%, and the user does not need to perform secondary trimming. Moreover, the grass retention rate will gradually decrease as the position of the first blade is closer to or beyond the outer edge of the machine body.

[0031] Therefore, controlling the rotation speed of the first blade at 1800 rpm, and simultaneously placing it in the first or second position, not only ensures that the operating decibel level of the intelligent lawnmower is within a suitable range (80 decibels and below), but also ensures that the grass retention rate is within a reasonable range (below 10%), and also ensures that the power utilization rate of the intelligent lawnmower is at a high level.

[0032] In addition, the rotational speed of the first cutting disc also affects the lifespan of the cutting edge. Before the disc reaches 1800 rpm, it is essentially in a non-cutting state, and the cutting edge can maintain a relatively stable lifespan. When the disc reaches 1800 rpm, it enters the vegetation-cutting working state, and the lifespan of the cutting edge begins to decrease. When the disc exceeds 3500 rpm, the lifespan of the cutting edge decreases significantly. Too high a speed can easily create negative pressure, which can suck foreign particles (such as small stones) from outside the vegetation to the cutting edge, damaging the blade and thus affecting its lifespan. Therefore, maintaining a disc rotational speed between 1800 rpm and 3500 rpm is an ideal cutting condition, at which point the lifespan of the cutting edge remains within the expected range of wear.

[0033] By setting up a detection device, the intelligent lawnmower can be controlled to perform safety protection actions based on the biological information detected by the device, thus improving the safety performance of the intelligent lawnmower.

[0034] In one possible implementation, the two ends of the first end extend in the opposite direction to the forward direction.

[0035] In one possible implementation, the smart lawnmower also includes a first side edge and a second side edge;

[0036] In the forward direction of the intelligent lawnmower, the two ends of the first side edge and the second side edge are respectively connected to the second end and the first end, and the first side edge and the second side edge are arranged opposite each other on both sides of the transverse direction of the body, and the transverse direction of the body is perpendicular to the forward direction.

[0037] This design allows the smart lawnmower to have a quadrilateral structure, which improves its stability and aesthetics.

[0038] In one possible implementation, the number of the first cutter discs is at least two, and the at least two first cutter discs are arranged opposite each other at the first end in the lateral direction of the machine body.

[0039] This design serves several purposes. First, the two opposing first blades balance the center of gravity, eliminating the need for additional counterweights. Second, both first blades can cut, expanding their cutting range and allowing the smart lawnmower to reach the edges. Furthermore, since either first blade can be used, the algorithm doesn't need to be modified based on blade position, making it more versatile. Additionally, the rotation of the blades on both sides drives airflow beneath the machine, improving heat dissipation and dispersing grass clippings from the front wheels, preventing slippage.

[0040] In one possible implementation, the first cutter head is disposed on the side where the first end is connected to the first side edge, or the first cutter head is located on the side where the first end is connected to the second side edge.

[0041] This configuration allows the first cutter head to be positioned close to the first end and close to either the first or second side edge, so that the first cutter head is located at the outer edge of the machine body. This ensures that the first cutter head covers the outer edge of the mower during the cutting operation, thus guaranteeing that the cut reaches the edge.

[0042] In one possible implementation, at least one of the first cutter heads is located on the side where the first end is connected to the first side edge, and at least one of the first cutter heads is located on the side where the first end is connected to the second side edge.

[0043] This configuration allows the first blade to be positioned at the first and second side edges, respectively, enabling it to cover both sides of the machine's transverse direction. This expands the cutting range of the intelligent lawnmower, improves cutting efficiency, and ensures it can cut to the edges. In one possible implementation, there is one front wheel, positioned on the central axis of the machine's transverse direction in the forward direction of the intelligent lawnmower.

[0044] By using only one front wheel, the structure of the smart lawnmower can be simplified, reducing costs. Furthermore, a single front wheel occupies less space, allowing sufficient room for the first blade, thus ensuring a large enough rotation radius and expanding the cutting range of the smart lawnmower to reach the edges.

[0045] In one possible implementation, the number of front wheels is two, and the front wheels are symmetrically arranged in the transverse direction of the body in the forward direction of the smart lawnmower.

[0046] This design strengthens the support for the machine body, enhances its balance, and thus improves the operational stability and obstacle-crossing ability of the intelligent lawnmower.

[0047] In one possible implementation, the safety protection action includes at least controlling the first cutter head to decelerate and / or stop the first cutter head from rotating and / or shielding the first cutter head within a protective cover.

[0048] This design prevents the first blade from harming living organisms, thereby improving the safety performance of the smart lawnmower.

[0049] A second aspect of this application provides an intelligent lawnmower, comprising:

[0050] The body includes a first end and a second end disposed opposite to each other along the forward direction of the intelligent lawnmower;

[0051] Both the front and rear wheels are located on the side of the intelligent lawnmower facing the ground, and the front and rear wheels are spaced apart in the direction of travel of the intelligent lawnmower.

[0052] The first cutter head is connected to the side of the machine body facing the ground, and the outer side of the first cutter head is provided with a cutting blade, which is a metal part;

[0053] In the forward direction of the intelligent lawnmower, at least a portion of the first blade is located between the second cutting surface of the rear wheel and the second end.

[0054] The second cut surface is perpendicular to the forward direction and passes through the second end point of the rear wheel, whereby the second end point is defined as the point where the rear wheel is furthest from the second end point.

[0055] The relative position of the first cutter head and the machine body remains fixed, and the first cutter head is fixed at either a first position or a second position.

[0056] The first position is defined as: at least a portion of the first cutter head is located outside the orthographic projection of the machine body toward the ground.

[0057] The second position is defined as follows: the first cutter head is located within the orthographic projection of the machine body towards the ground, and the minimum horizontal distance from the outer edge of the cutting blade to the outer edge of the machine body is greater than or equal to 0 and less than or equal to 50 mm;

[0058] The first blade is configured to rotate at a speed between 1800 rpm and 3500 rpm when the smart lawnmower is in the mowing state and is not stuck in the grass.

[0059] A detection device is installed on the machine body. The detection device is used to detect biological information. The intelligent lawnmower is used to perform safety protection actions based on the biological information.

[0060] The intelligent lawnmower provided in this application, by positioning the first blade disc below the machine body, allows the first blade disc to face the lawn being cut, facilitating the intelligent lawnmower's cutting operation. By providing metal cutting blades on the outer side of the first blade disc, its sharpness can be improved, thereby increasing its cutting efficiency. By placing at least a portion of the first blade disc at the rear of the machine body, on the one hand, when an emergency stop or deceleration of the blade disc is required, such as obstacle avoidance, obstacle maneuvering, or obstacle crossing, the blade disc can be controlled to decelerate or stop in a timely manner. Because the blade disc is located at the rear of the machine, there is a longer reaction time to control the blade disc to decelerate or stop. This ensures that the blade disc has enough time to switch to the preset deceleration or stop state before the intelligent lawnmower performs these actions, avoiding collisions with obstacles or gravel due to untimely switching, which could damage the blade disc. In this way, there is no need to increase the precision and cost of the software and sensor layers to achieve timely blade disc state switching, and further cost investment in the software and sensor layers can be effectively saved. On the other hand, when the intelligent lawnmower performs reversing mowing, it avoids the problem of inconsistent cutting height caused by the rear wheels bending the lawn, which affects the mowing efficiency.

[0061] When the first cutter head is in the first position, at least part of the first cutter head is located outside the outer edge of the machine body. This can increase the cutting width outside the machine body and thus expand the cutting range of the intelligent lawnmower, making the blind spot of the intelligent lawnmower at the boundary line smaller, achieving cutting to the edge, and solving the problem of high grass retention rate and inability to cut to the edge in related technologies.

[0062] When the first blade is in the second position, it is located inside the machine body, and the distance between it and the outer edge of the machine body is greater than or equal to 0 and less than or equal to 50 mm. This ensures cutting safety to the greatest extent while achieving edge cutting. By reducing the distance between the first blade and the outer edge of the machine body, the cutting blind zone of the first blade of the intelligent lawnmower from the boundary line is small, enabling edge cutting and solving the problem of high grass retention rate and inability to cut to the edge in related technologies.

[0063] By setting the rotation speed of the first blade between 1800 rpm and 3500 rpm and placing it in either the first or second position, it is possible to ensure that the grass retention rate of the lawn after mowing is within a reasonable range (5%-10%). At the same time, the operating decibel level during mowing is kept low, which will not cause hearing damage or adverse effects on humans and / or surrounding organisms, and will also ensure the service life of the first blade. Furthermore, it can also maintain a high level of power utilization for the intelligent lawnmower.

[0064] It should be noted that the grass retention rate refers to the proportion of uncut lawn area to the original or expected lawn area to be cut. To better represent this, this proportion can be expressed by the following formula: Grass retention rate = (Sum of uncut lawn area and lawn area with unsatisfactory cutting results / Original or expected lawn area to be cut) × 100%.

[0065] For example, "cutting results not meeting expectations" means that the actual cutting height of the lawn differs from the expected cutting height by 1 cm or more.

[0066] The operating decibel of a smart lawnmower refers to the noise level generated within a 1-meter radius around the mower during operation. It reflects the sound pressure level of the noise generated by the rotating blades when the mower is operating normally.

[0067] It should also be noted that if the grass retention rate in the area is greater than 10% after the smart lawnmower has finished cutting, the cutting work is considered unsatisfactory and the user still needs to perform a second mowing. However, when the grass retention rate is between 5% and 0%, the user's perception of lawn quality is not obvious, and the smart lawnmower does not need to invest more costs to keep the grass retention rate below 5%. Moreover, when the working decibels generated by the smart lawnmower exceed 80 decibels, it will cause irreversible and serious damage to human hearing and have a significant impact on surrounding organisms.

[0068] like Figure 1A As shown, when the first blade's rotation speed approaches 3500 rpm from 1400 rpm, the operating decibel level is between 45 and 80 decibels. However, when the first blade's rotation speed exceeds 3500 rpm, the operating decibel level exceeds 80 decibels, and the upward trend is significant. When the operating decibel level exceeds 80 decibels, it can cause irreversible and serious damage to human hearing and have a significant impact on surrounding organisms. Therefore, controlling the rotation speed of the first blade at 3500 rpm or below ensures that people and organisms around the intelligent lawnmower are not significantly affected, which is an ideal working condition.

[0069] It should be noted that, Figure 1B The data in each group were obtained under the same grass conditions (same lawn density), using the same smart lawnmower, and keeping the smart lawnmower's speed the same.

[0070] To ensure that the grass retention rate is within a suitable range, such as Figure 1BAs shown, the distance between the first blade and the machine body, as well as the rotation speed of the first blade, are related to the grass retention rate. It can be seen that the faster the rotation speed of the first blade, the lower the grass retention rate. Although the grass retention rate can be further reduced when the rotation speed of the first blade is controlled above 3500 rpm (e.g., 3600 rpm), the impact on the user is not significant. Smart lawnmowers do not need to control the grass retention rate to the extreme by setting the rotation speed of the first blade above 3500 rpm. Moreover, when the rotation speed of the first blade exceeds 3500 rpm, the operating decibel level of the smart lawnmower will exceed 80 decibels. Long-term exposure to this environment will cause irreversible and serious damage to human hearing and have a significant impact on surrounding organisms. At the same time, even if the rotation speed of the first blade is increased, the cutting effect of the lawn will not be significantly improved. Instead, it will lead to a decrease in the power utilization rate of the smart lawnmower.

[0071] Continue to refer to Figure 1B As can be seen, when the rotation speed of the first cutter head is below 1800 rpm (e.g., 1400 rpm, 1600 rpm), regardless of whether the first cutter head is in the first or second position, the grass retention rate is above 10%, and the user still needs to perform secondary trimming.

[0072] When the first cutter head rotates at 1800 rpm and the minimum horizontal distance from the outer edge of the first cutter head to the outer edge of the machine body is greater than 50 mm (e.g., 60 mm), the grass retention rate is still above 10%, and the user still needs to perform secondary trimming. However, when the first cutter head rotates at 1800 rpm and the minimum horizontal distance from the outer edge of the first cutter head to the outer edge of the machine body is equal to 50 mm, the grass retention rate is just around 10%, and the user does not need to perform secondary trimming. Figure 1B It can also be seen that when the first blade is at a speed of 1800 rpm or higher (e.g., 2000 rpm, 2200 rpm, 2400 rpm, 2600 rpm, 2800 rpm, 3000 rpm, 3200 rpm), and the first blade is in the first or second position, the grass retention rate can be below 10%, and the user does not need to perform secondary trimming. Moreover, the grass retention rate will gradually decrease as the position of the first blade is closer to or beyond the outer edge of the machine body.

[0073] Therefore, controlling the rotation speed of the first blade at 1800 rpm, and simultaneously placing it in the first or second position, not only ensures that the operating decibel level of the intelligent lawnmower is within a suitable range (80 decibels and below), but also ensures that the grass retention rate is within a reasonable range (below 10%), and also ensures that the power utilization rate of the intelligent lawnmower is at a high level.

[0074] In addition, the rotational speed of the first cutting disc also affects the lifespan of the cutting edge. Before the disc reaches 1800 rpm, it is essentially in a non-cutting state, and the cutting edge can maintain a relatively stable lifespan. When the disc reaches 1800 rpm, it enters the vegetation-cutting working state, and the cutting edge's lifespan begins to decrease. When the disc exceeds 3500 rpm, the cutting edge's lifespan decreases significantly. Too high a speed can easily create negative pressure, which can suck foreign particles (such as small stones) from outside the vegetation to the cutting edge, damaging the blade and affecting its lifespan. Therefore, maintaining a disc rotational speed between 1800 rpm and 3500 rpm is an ideal cutting condition, keeping the cutting edge's lifespan within the expected range of wear.

[0075] By setting up a detection device, the intelligent lawnmower can be controlled to perform safety protection actions based on the biological information detected by the device, thus improving the safety performance of the intelligent lawnmower.

[0076] In one possible implementation, both ends of the second end extend along the forward direction.

[0077] In one possible implementation, a first side edge and a second side edge are also included;

[0078] In the forward direction of the intelligent lawnmower, both ends of the first side edge and the second side edge are respectively connected to the second end and the first end, and the first side edge and the second side edge are arranged opposite each other on both sides of the transverse direction of the body, and the transverse direction of the body is perpendicular to the forward direction.

[0079] This design allows the smart lawnmower to have a quadrilateral structure, which improves its stability and aesthetics.

[0080] In one possible implementation, the number of the first cutter heads is at least two, and in the lateral direction, the at least two first cutter heads are arranged opposite to each other at the second end.

[0081] This configuration expands the cutting range of the first blade, allowing the smart lawnmower to cut to the edge.

[0082] In one possible implementation, the first cutter head is disposed on the side where the second end is connected to the first side edge, or the first cutter head is located on the side where the second end is connected to the second side edge.

[0083] This configuration allows the first cutter head to be positioned close to the second end and close to either the first or second side edge, so that the first cutter head is located at the outer edge of the machine body. This ensures that the first cutter head covers the outer edge of the mower during the cutting operation, thus guaranteeing that the cut reaches the edge.

[0084] In one possible implementation, at least one of the first cutter heads is located on the side where the second end is connected to the first side edge, and at least one of the first cutter heads is located on the side where the second end is connected to the second side edge.

[0085] This configuration allows the first blade to be positioned at the first and second side edges, respectively, so that the first blade can cover both sides of the machine body in the lateral direction, thereby expanding the cutting range of the smart lawnmower, improving cutting efficiency, and enabling it to cut to the edge.

[0086] In one possible implementation, the number of front wheels is two, and the front wheels are symmetrically arranged in the lateral direction of the body in the forward direction of the smart lawnmower.

[0087] This design strengthens the support for the machine body, enhances its balance, and thus improves the operational stability and obstacle-crossing ability of the intelligent lawnmower.

[0088] In one possible implementation, the safety protection action includes at least controlling the first cutter head to decelerate and / or stop the first cutter head from rotating and / or shielding the first cutter head within a protective cover.

[0089] This design prevents the first blade from harming living organisms, thereby improving the safety performance of the smart lawnmower.

[0090] The third aspect of this application provides a control method for an intelligent lawnmower, which is applied to an intelligent lawnmower. The intelligent lawnmower is used to perform cutting operations on an area to be cut. The area to be cut includes at least two adjacent boundary lines. The two adjacent boundary lines intersect to form a corner area, or the extensions of the two adjacent boundary lines intersect to form a corner area. The two adjacent boundary lines forming the corner area are a first boundary line and a second boundary line, respectively.

[0091] The intelligent lawnmower includes a body and a first blade disc. The body includes a first end and a second end that are disposed opposite to each other along the forward direction of the intelligent lawnmower. The first blade disc is mounted on the side of the intelligent lawnmower facing the ground. The outer side of the first blade disc is provided with a cutting blade, which is a metal part and is used to perform cutting operations on the area to be cut.

[0092] The method includes:

[0093] When the intelligent lawnmower enters the corner area and its forward direction is parallel to the first boundary line of the corner area, the intelligent lawnmower is controlled to repeatedly execute the first action combination until its forward direction is parallel to the second boundary line of the corner area; wherein,

[0094] The first action combination is defined as first rotating by a preset angle, then moving forward a preset distance.

[0095] By controlling the intelligent lawnmower to repeatedly execute a cutting action of first rotating at a preset angle and then advancing a preset distance when cutting corner areas, until the intelligent lawnmower is parallel to the second boundary, on the one hand, because the corner area is subdivided into multiple cutting sub-areas, with the boundary line of each sub-area being the extension line of the preset advancing distance, the cumulative area of ​​multiple cutting sub-areas is larger than the cutting area of ​​directly rotating at a preset angle. By precisely controlling the rotation angle and preset distance, the corner area is fully cut at the edge from the algorithm level, greatly reducing the grass residue rate in the area to be cut, thereby improving the overall cutting efficiency and cutting accuracy of the intelligent lawnmower, making the lawn look cleaner and more beautiful after mowing. On the other hand, the structured cutting steps make the lawnmower's operation more stable, enabling it to cut in uneven or complex corner areas, especially in boundary areas with irregular shapes or special angles. The intelligent lawnmower can flexibly adjust the rotation angle and advancing distance according to the actual working environment to meet different mowing needs, reducing the risk of shaking caused by large turning angles while reducing the grass residue rate, and can cope with more complex corner challenges, improving the intelligent lawnmower's adaptability to working conditions.

[0096] In one possible implementation, the cutting operation is not stopped during the repeated execution of the first combination of actions.

[0097] This allows for continuous cutting, preventing breaks or missed cuts, while also maintaining a consistent grass height, resulting in a more aesthetically pleasing lawn overall.

[0098] In one possible implementation, the preset angle ranges from 10° to 30°.

[0099] By setting the preset angle to a range of 10°-30°, the problem of low cutting efficiency caused by an excessively small preset angle can be prevented, while the problem of incomplete cutting can be prevented by an excessively large preset angle.

[0100] In one possible implementation, the preset angle is 20°.

[0101] By setting the preset angle to 20°, it is easy to set, reduces the difficulty of operation, ensures cutting efficiency, and ensures that the edge can be cut.

[0102] In one possible implementation, the smart lawnmower includes a front wheel and a rear wheel, both of which are located on the side of the smart lawnmower facing the ground, and are spaced apart in the direction of travel of the smart lawnmower.

[0103] In the forward direction of the intelligent lawnmower, at least a portion of the first blade is located between the first cutting surface of the front wheel and the first end;

[0104] The first cut surface is perpendicular to the direction of travel and passes through the first end point of the front wheel, which is configured as the point where the front wheel is furthest from the first end point.

[0105] When a smart lawnmower cuts along corner areas, it cuts along the first boundary line. The cutting effect along the second boundary line is affected by the distance from the blade disc to the first end. By placing at least a portion of the first blade disc between the first cutting surface and the first end in the forward direction, the smart lawnmower, when cutting corner areas, has a smaller distance from the first end compared to when the blade disc is placed at the middle or rear of the machine. This results in a higher degree of overlap between the forward trajectory of the first blade disc and the first end of the smart lawnmower in the corner area, thus leaving less grass behind relative to the boundary line. This achieves cutting to the edge while also improving cutting efficiency. On the other hand, when simulating the equivalent mass of a smart lawnmower at the algorithm level, the center of gravity of the smart lawnmower is generally treated as a point mass. This approach needs to consider the overall weight of the lawnmower and may not take into account the length of the machine in the forward direction, potentially leading to accidental collisions due to inaccurate control. By placing the cutter head at the front, the front end of the lawnmower can be treated as a point mass. Since the cutter head is located at the first end, it simplifies the control logic while achieving higher control precision. Furthermore, by placing at least a portion of the first cutter head between the first cutting surface and the first end in the forward direction, the cutter head has already sufficiently cut the lawn before the front wheel hits it, avoiding inconsistent cutting heights caused by the front wheel bending the lawn, which would affect the overall aesthetics of the lawn.

[0106] In one possible implementation, the preset distance is less than the minimum horizontal distance from the smart lawnmower to the second boundary line.

[0107] This design prevents the smart lawnmower from colliding with boundary lines where there are physical obstacles.

[0108] In one possible implementation, the relative position of the first cutter head and the machine body remains fixed, and the first cutter head is fixed at a first position or a second position;

[0109] When the first cutter head is in the first position, at least a portion of the first cutter head is located outside the orthographic projection of the machine body toward the ground and is exposed on the outside of the machine body;

[0110] When the first cutter head is in the second position, the first cutter head is located within the orthographic projection of the machine body toward the ground, and the minimum horizontal distance from the outer edge of the cutting blade to the outer edge of the machine body is greater than or equal to 0 and less than or equal to 50 mm.

[0111] When the first cutter head is in the first position, a portion of its structure can be positioned on the outer side of the machine body. This expands the cutting range of the intelligent lawnmower, allowing it to cut to the edge and resolving the issue of incomplete edge cutting in related technologies. When the first cutter head is in the second position, it can be positioned on the inner side of the machine body, improving safety. Furthermore, the second position reduces the distance between the first cutter head and the outer edge of the machine body, ensuring the lawnmower can cut to the edge and again resolving the edge cutting issue in related technologies.

[0112] In one possible implementation, the first cutter head is movably connected to the machine body;

[0113] During the movement of the first cutter head relative to the machine body, it passes through at least a first position and a second position;

[0114] When the first cutter head is in the first position, at least a portion of the first cutter head is located outside the orthographic projection of the machine body toward the ground and is exposed on the outside of the machine body;

[0115] When the first cutter head is in the second position, the first cutter head is located within the orthographic projection of the machine body toward the ground, and the minimum horizontal distance from the outer edge of the cutting blade to the outer edge of the machine body is greater than or equal to 0 and less than or equal to 50 mm.

[0116] The method further includes:

[0117] Control the first cutter head to move to the first position and the second position.

[0118] By setting the first cutter disc to pass through at least a first position and a second position during its movement relative to the machine body, the first cutter disc is located on one side of the first end of the machine body and can move radially relative to the machine body. When in the first position, at least part of the first cutter disc is exposed outside the machine body, which ensures maximum edge cutting in edge-cutting mode. When in the second position, the first cutter disc is located inside the machine body and 0-50 mm away from the edge of the machine body, which ensures partial edge cutting while ensuring cutting safety in edge-cutting mode. Therefore, the intelligent lawnmower can automatically adjust the first cutter disc to the first or second position as needed during cutting operations, ensuring both edge cutting and cutting safety.

[0119] In one possible implementation, the first cutter head further includes a third position;

[0120] When the first cutter head is in the third position, the first cutter head is located within the orthographic projection of the machine body toward the ground, and the minimum distance from the outer edge of the cutting blade to the outer edge of the machine body is greater than 50 mm.

[0121] During the movement of the first cutter head relative to the machine body, it passes through at least a first position, a second position, and a third position;

[0122] The method further includes:

[0123] Control the first cutter head to move to the first position, the second position, and the third position.

[0124] By setting the first blade disc to pass through at least a first position, a second position, and a third position during its movement relative to the machine body, and when it is in the third position, the first blade disc is located inside the machine body and is more than 50 mm away from the edge of the machine body, when mowing the lawn, the first blade disc can be moved from the first or second position to the third position. This allows the position of the first blade disc to be adjusted in conjunction with the algorithm or the cutting situation, making the smart lawnmower universally applicable while also improving the safety of using the smart lawnmower.

[0125] In one possible implementation, the smart lawnmower includes a front wheel and a rear wheel, both of which are located on the side of the smart lawnmower facing the ground, and are spaced apart in the direction of travel of the smart lawnmower.

[0126] The intelligent lawnmower also includes a second blade disc, which is mounted on the side of the machine body facing the ground, and in the forward direction of the intelligent lawnmower, the second blade disc is located between the rear wheel and the front wheel;

[0127] The method further includes:

[0128] Control the second cutter head to perform or stop the cutting operation.

[0129] This allows for controlling the second cutter head to operate in certain locations and deactivating it in areas where it's not needed, thus enabling efficient resource allocation and reduced energy consumption. For example, when the smart lawnmower is cutting the middle area, the second cutter head can be controlled to perform the cutting operation; when the smart lawnmower is in the corner area, the second cutter head can be stopped, thereby reducing energy consumption.

[0130] In one possible implementation, when the first cutter head is in the third position, at least a portion of the first cutter head and the second cutter head have their orthographic projections toward the ground in the direction of travel of the smart lawnmower coincide.

[0131] Control the first cutter head and / or the second cutter head to perform or stop the cutting operation.

[0132] By setting the first blade in the third position to at least partially overlap with the second blade in the forward direction, it ensures that there are no missed areas between the first and second blades. This effectively prevents missed areas from complicating the path planning algorithm or causing an unsightly lawn. Furthermore, the increased cutting width of the blades improves the overall cutting efficiency of the intelligent lawnmower. Additionally, different blades (including the first and second blades) can be controlled to perform or stop cutting operations based on specific conditions, allowing for rational resource allocation and reduced energy consumption. For example, when the intelligent lawnmower is cutting the middle area, the second blade can be controlled to perform the cutting operation while the first blade stops. When the intelligent lawnmower is in the corner area, the first blade can be controlled to perform the cutting operation while the second blade stops, thus reducing energy consumption and improving cutting efficiency.

[0133] In one possible implementation, the area to be cut further includes an intermediate area, which is located on the side of the corner area away from the boundary line;

[0134] The distance from the outer edge of the intermediate region to the boundary line is greater than a first preset distance;

[0135] The method further includes:

[0136] When the intelligent lawnmower is located in the middle area, the first blade is controlled to move to the first position, the second position, or the third position.

[0137] When the smart lawnmower is in the middle of the lawn to be cut, the first blade can be moved to the first, second, or third position. Since there is no boundary in the middle area, the first blade can be adjusted to any position that can achieve a good cutting effect according to the real-time working environment. Of course, the first and second positions can expand the cutting range and improve cutting efficiency, while the third position can improve safety performance.

[0138] In one possible implementation, the area to be cut further includes an edge region, the edge region including at least one boundary line, the edge region including the corner region and adjacent to the middle region, and the width of the edge region is equal to the first preset distance;

[0139] The method further includes:

[0140] When the intelligent lawnmower is located in the edge area, the first blade is controlled to move to the first position or the second position.

[0141] By moving the first blade to a first position when the smart lawnmower is located in the edge area, the cutting of the lawn in the edge area can be maximized, especially in the area near the boundary line and located on the outer edge of the machine body, thus solving the problem of smart lawnmowers not being able to cut to the edge in related technologies. Alternatively, by moving the first blade to a second position when the smart lawnmower is located in the edge area, the cutting of the edge can be achieved while improving the safety of using the smart lawnmower.

[0142] In one possible implementation, the intelligent lawnmower includes a drive unit disposed between the body and the first cutter disc, the drive unit being used to drive the first cutter disc to move radially along the first cutter disc;

[0143] The method includes:

[0144] When the intelligent lawnmower is located in the corner area, the drive device is controlled to move the first blade to the first position or the second position.

[0145] When the location information indicates that the smart lawnmower is in a corner area, the first blade can be moved to a first position to cut the area outside the edge of the machine body, solving the problem of smart lawnmowers not being able to cut the edge in related technologies. Alternatively, when the location information indicates that the smart lawnmower is in a corner area, the first blade can be moved to a second position to cut the area under the machine body, ensuring that the edge is cut and improving safety performance.

[0146] In one possible implementation, the smart lawnmower includes a first acquisition unit located on the body of the machine, the first acquisition unit being used to acquire position information of the smart lawnmower in the area to be cut;

[0147] When the intelligent lawnmower enters the corner area and its forward direction is parallel to the first boundary line of the corner area, the intelligent lawnmower is controlled to repeatedly execute the first action combination until its forward direction is parallel to the second boundary line of the corner area. Prior to this, the procedure further includes:

[0148] The first acquisition unit is controlled to acquire the location information of the intelligent lawnmower within the area to be cut.

[0149] By setting up the first acquisition unit, the location information of the smart lawnmower in the area to be cut can be easily obtained, and the position of the smart lawnmower being cut can be obtained, which makes it easier to match the appropriate cutting mode and improve the efficiency of obtaining the location information of the smart lawnmower in the area to be cut.

[0150] In one possible implementation, controlling the first acquisition unit to acquire the location information of the intelligent lawnmower within the area to be cut includes:

[0151] The first acquisition unit is controlled to acquire the number and position of boundary lines, wherein the minimum horizontal distance from the boundary line to the intelligent lawnmower is less than a second preset distance;

[0152] The location information of the intelligent lawnmower within the area to be cut is determined based on the number of boundary lines.

[0153] The location of the smart lawnmower can be determined by obtaining the number of currently identified boundary lines. For example, if the first acquisition unit identifies 0 boundary lines, it is determined that the smart lawnmower is likely located in the middle area; if it identifies 1 boundary line, it is determined that the smart lawnmower is likely located in a non-corner area along the edge; if it identifies 2 boundary lines, it is determined that the smart lawnmower is likely located in a corner area. Of course, the above determination of the smart lawnmower's location can also be combined with other information for weighted judgment. The above method for obtaining the location information of the smart lawnmower is simple and easy to implement, and can reduce the cost of the smart lawnmower.

[0154] In one possible implementation, controlling the first acquisition unit to acquire the location information of the intelligent lawnmower within the area to be cut includes:

[0155] The first acquisition unit is controlled to acquire at least one image of the intelligent lawnmower within the area to be cut, and the location information within the area to be cut is determined based on the at least one image.

[0156] By combining real-time images acquired by the first acquisition unit with existing mapping for location determination, or by combining the number of boundary lines for comprehensive judgment, the location information of the intelligent lawnmower within the area to be cut can be determined. This method is convenient, fast, and highly accurate, improving the precision of obtaining the location information of the intelligent lawnmower within the area to be cut. Furthermore, image information is readily available, reducing the difficulty of obtaining the location information of the intelligent lawnmower within the area to be cut.

[0157] In one possible implementation, the intelligent lawnmower includes a second acquisition unit, which is used to acquire information on the minimum horizontal distance from the first blade to the boundary line;

[0158] The method further includes:

[0159] The second acquisition unit is controlled to acquire the minimum horizontal distance information from the first cutter head to the boundary line;

[0160] Based on the minimum horizontal distance information, the first cutter head is controlled to move to the first position, the second position, or the third position.

[0161] By setting up a second acquisition unit, the minimum horizontal distance information from the first cutter head to the boundary line can be easily obtained. This allows for a comprehensive judgment of whether the intelligent lawnmower is in the middle area, the edge area and not a corner area, or the corner area. This enables the control of the first cutter head to be in different positions, which is beneficial for improving cutting efficiency by combining path planning algorithms and enhancing the intelligence of the intelligent lawnmower.

[0162] In one possible implementation, the step of controlling the first cutter head to move to the first position, the second position, or the third position based on the minimum horizontal distance information further includes:

[0163] When the first cutter head is in the first position, the first cutter head is controlled to extend beyond the outer edge of the machine body projecting towards the ground by a third preset distance according to the minimum horizontal distance information, wherein the minimum horizontal distance from the first cutter head to the boundary line is greater than the third preset distance.

[0164] This configuration allows the first cutter head to reduce the likelihood of collisions while expanding the cutting range, thus achieving edge cutting, even when physical boundary lines exist.

[0165] In one possible implementation, the intelligent lawnmower further includes: a detection device disposed on the body, the detection device being used to detect biological information, and the intelligent lawnmower being used to perform safety protection actions based on the biological information;

[0166] The method further includes:

[0167] The detection device is controlled to acquire biological information of the area to be cut.

[0168] The intelligent lawnmower is controlled to perform safe cutting actions based on the bio-information, wherein the safe cutting actions include at least controlling the first cutter head to decelerate and / or stop rotating and / or covering the first cutter head inside a protective cover.

[0169] This setup allows the smart lawnmower to perform safety protection actions when biological information is detected, thus improving its safety performance and preventing accidental injury to organisms entering the cutting area.

[0170] In one possible implementation, the corner region is a corner with a physical boundary; wherein,

[0171] The physical boundary includes at least one of a fence, a wall, or a detected uncrossable height difference. Attached Figure Description

[0172] 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 the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0173] Figure 1 A schematic diagram of the frame structure of an intelligent lawnmower provided in an embodiment of this application;

[0174] Figure 1A A schematic diagram illustrating the quantitative relationship between the operating decibels and the blade rotation speed of an intelligent lawnmower provided in this application embodiment;

[0175] Figure 1B A data comparison table of grass retention rate, blade rotation speed, and distance between the outer edge of the blade and the machine body of an intelligent lawnmower provided for embodiments of this application;

[0176] Figure 2 This is a schematic diagram of the structure of an intelligent lawnmower provided in an embodiment of this application;

[0177] Figure 3This is a schematic diagram of the structure of an intelligent lawnmower provided in an embodiment of this application;

[0178] Figure 4 This is a schematic diagram of another intelligent lawnmower provided in an embodiment of this application;

[0179] Figure 5 This is a schematic diagram of another intelligent lawnmower provided in an embodiment of this application;

[0180] Figure 6 This is a schematic diagram illustrating another application scenario of a smart lawnmower provided in an embodiment of this application;

[0181] Figure 7 This is a schematic diagram of the structure of the first blade of an intelligent lawnmower provided in an embodiment of this application;

[0182] Figure 8 A cross-sectional structural diagram of the first blade of an intelligent lawnmower provided in an embodiment of this application;

[0183] Figure 9 This is a schematic diagram of another cross-sectional structure of the first blade of an intelligent lawnmower provided in an embodiment of this application;

[0184] Figure 10 This is a schematic diagram of the structure of an intelligent lawnmower provided in an embodiment of this application;

[0185] Figure 11 This is a schematic diagram of the structure of an intelligent lawnmower with the first blade in a second position, provided in an embodiment of this application.

[0186] Figure 12 A schematic diagram of the structure of another intelligent lawnmower with the first blade disc in a first position, provided in an embodiment of this application;

[0187] Figure 13 A schematic diagram of the frame structure of another intelligent lawnmower provided in an embodiment of this application;

[0188] Figure 14 This is a schematic diagram of the structure of a smart lawnmower with the first blade in a first position, provided in an embodiment of this application.

[0189] Figure 15 This is a schematic diagram of the structure of an intelligent lawnmower provided in an embodiment of this application;

[0190] Figure 16 A schematic diagram of the frame structure of an intelligent lawnmower provided in an embodiment of this application;

[0191] Figure 17 This is a schematic diagram of the structure of an intelligent lawnmower provided in an embodiment of this application;

[0192] Figure 17A This is a schematic diagram of the structure of an intelligent lawnmower provided in an embodiment of this application;

[0193] Figure 18 A schematic diagram of the frame structure of an intelligent lawnmower provided in an embodiment of this application;

[0194] Figure 19 This is a schematic diagram of the structure of an intelligent lawnmower provided in an embodiment of this application;

[0195] Figure 19A This is a schematic diagram of the structure of an intelligent lawnmower provided in an embodiment of this application;

[0196] Figure 20 A schematic diagram of the frame structure of an intelligent lawnmower provided in an embodiment of this application;

[0197] Figure 21 This is a schematic diagram of the structure of an intelligent lawnmower provided in an embodiment of this application;

[0198] Figure 22 A flowchart illustrating a control method for an intelligent lawnmower provided in this application embodiment;

[0199] Figure 22A A flowchart illustrating a control method for an intelligent lawnmower provided in this application embodiment;

[0200] Figure 23 A flowchart illustrating a control method for an intelligent lawnmower provided in this application embodiment;

[0201] Figure 24 A flowchart illustrating a control method for an intelligent lawnmower provided in this application embodiment;

[0202] Figure 25 A flowchart illustrating a control method for an intelligent lawnmower provided in an embodiment of this application.

[0203] Explanation of reference numerals in the attached figures:

[0204] 100 - Intelligent lawnmower; 110 - Body; 111 - First side edge;

[0205] 112 - Second side edge; 113 - First end; 114 - Second end;

[0206] 120 - First cutter head; 122 - Second cutter head;

[0207] 123 - Rotary disc; 124 - Rebound device; 125 - Protective cover;

[0208] 1251 - Main support; 1252 - Telescopic arm; 1253 - Support unit;

[0209] 1254 - Telescopic part; 130 - Motor; 140 - Detection device;

[0210] 150 - Drive unit; 161 - Front wheel; 162 - Rear wheel;

[0211] 170 - Balance structure; 180 - Protective components; 190 - Control device;

[0212] 191 - First acquisition unit; 192 - Second acquisition unit;

[0213] 200 - Area to be cut; 210 - Edge area; 220 - Middle area;

[0214] 230 - Corner area; 300 - Boundary line. Detailed Implementation

[0215] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0216] The intelligent lawnmower provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0217] Figure 1 This is a schematic diagram of the frame structure of an intelligent lawnmower 100 provided in an embodiment of this application.

[0218] This application provides an intelligent lawnmower 100, such as... Figure 1 As shown, the intelligent lawnmower 100 may include a body 110, a first cutter head 120, and a detection device 140. The body 110 is the main component of the intelligent lawnmower 100, used to mount the first cutter head 120 and the detection device 140, among other components. The intelligent lawnmower 100 may also include a motor 130, which is connected to the first cutter head 120 and drives the first cutter head 120 to rotate, thereby enabling the first cutter head 120 to perform cutting operations.

[0219] For example, the body 110 may include a supporting chassis and a housing (not shown in the figure), wherein the main supporting chassis can be used to mount the motor 130, and the motor 130 is connected to the first cutter head 120. It should be noted that the body 110 in this embodiment refers to the body in a macroscopic sense, referring to the overall frame of the intelligent lawnmower 100 formed by the entire intelligent lawnmower excluding the front wheel 161, rear wheel 162, and structures such as the motor and the first cutter head 120 used for cutting operations, and is not limited to a single component. "Inner side of the body" refers to the orthographic projection in the vertical direction, located inside the orthographic projection of the body 110 in the vertical direction; "outer side of the body" refers to the orthographic projection in the vertical direction, located outside the orthographic projection of the body 110 in the vertical direction. "Below the body" refers to the side of the body facing the ground.

[0220] Combined with reference Figure 2 For ease of description, the forward direction of the intelligent lawnmower 100 is taken as the x-direction, the horizontal direction is taken as the y-direction, and the vertical direction refers to the direction from the body 110 to the ground or the plane where the area to be cut 200 is located.

[0221] For example, the first cutter head 120 has a cutting blade (not shown in the figure), which is a metal part. The first cutter head 120 performs cutting operations on the grass in the area to be cut by the cutting blade. The first cutter head 120 is set in a first position or a second position relative to the machine body 110.

[0222] The first position is defined as: at least a portion of the first cutter head 120 is located outside the orthographic projection of the machine body 110 toward the ground.

[0223] For example, when the first cutter head is in the first position, the horizontal distance h2 from the outer edge of the first cutter head 120 located outside the machine body 110 to the outer edge of the machine body 110 can be greater than or equal to 0 and less than or equal to 60 mm.

[0224] This configuration expands the cutting range of the intelligent lawnmower 100, solving the problem of the intelligent lawnmower 100 not being able to cut the edges in related technologies. For example, the horizontal distance h2 from the outer edge of the first cutter disc 120 located outside the body 110 to the outer edge of the body 110 can be 60 mm, 55 mm, 50 mm, 45 mm, 40 mm, 35 mm, 30 mm, 25 mm, 20 mm, 15 mm, 10 mm, 5 mm, 0 mm, etc. In this embodiment, the horizontal distance h2 from the outer edge of the first cutter disc 120 located outside the body 110 to the outer edge of the body 110 is not further limited.

[0225] Of course, in other embodiments, the horizontal distance h2 from the outer edge of the first cutter head 120 located outside the machine body 110 to the outer edge of the machine body 110 can be greater than 0, or even the first cutter head 120 can be entirely located outside the machine body 110.

[0226] The second position is defined as follows: the first cutter head 120 is located within the orthographic projection of the machine body 110 toward the ground, and the minimum horizontal distance from the outer edge of the cutting blade to the outer edge of the machine body 110 (see...). Figure 4 In this embodiment, h1) is greater than or equal to 0 and less than or equal to 50 mm. For example, the minimum horizontal distance h1 from the outer edge of the first cutter head 120 to the outer edge of the machine body 110 can be 50 mm, 45 mm, 40 mm, 35 mm, 30 mm, 25 mm, 20 mm, 15 mm, 10 mm, 5 mm, 0 mm, etc. In this embodiment, the minimum horizontal distance from the outer edge of the first cutter head 120 to the outer edge of the machine body 110 is not further limited.

[0227] The first blade 120 is configured such that when the intelligent lawnmower 100 is in the first or second position, and the intelligent lawnmower is in the lawnmower mowing state and not jammed, the rotation speed of the first blade is between 1800 rpm and 3500 rpm.

[0228] The detection device 140 is installed on the body 110. The detection device 140 is used to detect biological information. The intelligent lawnmower 100 is used to perform safety protection actions based on the biological information.

[0229] The intelligent lawnmower 100 provided in this application, by positioning the first blade 120 below the body 110, allows the first blade 120 to face the lawn to be cut (the area to be cut), facilitating the intelligent lawnmower 100 to perform cutting operations. By providing metal cutting blades on the outer side of the first blade 120, its sharpness is improved, which is beneficial to increasing the cutting efficiency of the first blade 120. By positioning the first blade 120 in a first or second position, when the intelligent lawnmower 100 is cutting along the edge of the area to be cut, the first blade 120 can cut the grass close to the boundary line, cutting more thoroughly and significantly reducing the amount of grass left in the area to be cut. This improves the overall cutting efficiency of the intelligent lawnmower 100, resulting in a cleaner and more aesthetically pleasing lawn after mowing.

[0230] In addition, when the first cutter head 120 is in the first position, at least a portion of the first cutter head 120 is located outside the outer edge of the body 110. This can increase the cutting width outside the body 110 and thus expand the cutting range of the intelligent lawnmower 100, making the cutting blind zone of the intelligent lawnmower 100 at the boundary line smaller, achieving cutting to the edge, and solving the problem of high grass retention rate and inability to cut to the edge in related technologies.

[0231] When the first cutter head 120 is in the second position, it is located inside the body 110 and the distance between it and the outer edge of the body 110 is greater than or equal to 0 and less than or equal to 50 mm. This ensures cutting safety to the greatest extent while achieving edge cutting. By reducing the distance between the first cutter head 120 and the outer edge of the body 110, the cutting blind zone of the first cutter head 120 of the intelligent lawnmower 100 from the boundary line is small, which can achieve edge cutting and solve the problem of high grass retention rate and inability to cut to the edge in related technologies.

[0232] In one possible implementation, the relative position of the first cutter head 120 and the machine body 110 remains fixed, and the first cutter head 120 is fixed in either a first position or a second position. When the first cutter head 120 is in the first position, at least a portion of the first cutter head 120 is outside the orthographic projection of the machine body 110 toward the ground and is exposed on the outer side of the machine body 110. When the first cutter head 120 is in the second position, the first cutter head 120 is within the orthographic projection of the machine body 110 toward the ground, and the minimum horizontal distance from the outer edge of the cutting blade to the outer edge of the machine body 110 is greater than or equal to 0 and less than or equal to 50 mm. The reason why the rotational speed of the first cutter head is between 1800 rpm and 3500 rpm can be found in the description of the invention. Figure 1A and Figure 1B The explanation will not be repeated here.

[0233] It should be noted that the first and second positions are related to... Figures 19-21 In the illustrated embodiment, the first position and the second position are the same; therefore, the descriptions of the first position and the second position can be found below. Figures 19-21 The descriptions in the embodiments shown are not repeated in this application.

[0234] For example, such as Figure 2 As shown, the body 110 includes a first end 113 and a second end 114 disposed opposite to each other along the forward direction of the intelligent lawnmower 100. The intelligent lawnmower 100 may further include a front wheel 161 and a rear wheel 162 spaced apart along the forward direction of the intelligent lawnmower 100. Both the front wheel 161 and the rear wheel 162 are disposed on the ground-facing side of the body 110, and in the x-direction, the front wheel 161 and the rear wheel 162 are spaced apart, with the front wheel 161 located between the rear wheel 162 and the first end 113, and the rear wheel 162 located between the front wheel 161 and the second end 114. That is, the front wheel 161 is mounted at the front end of the body 110, and the rear wheel 162 is mounted at the rear end of the body 110.

[0235] In the x-direction, the first cutter head 120 is located between the first cut surface a of the front wheel 161 and the second cut surface b of the rear wheel 162. The first cut surface a is perpendicular to the x-direction and passes through the first end point of the front wheel, which is defined as the point on the front wheel 161 that is farthest from the first end point 113.

[0236] The second cutting surface b is perpendicular to the x-direction and passes through the second end point of the rear wheel 162, which is defined as the point on the rear wheel 162 furthest from the second end point 114. The first cutter head 120 can be disposed between the front wheel 161 and the rear wheel 162.

[0237] It should be noted that the intelligent lawnmower can be a rear-wheel drive intelligent lawnmower. In this case, the rear wheel 162 has driving force and is used to drive the intelligent lawnmower 100 forward or backward, while the front wheel 161 can be used to adjust the direction. For example, the front wheel 161 can be a swivel wheel, which can facilitate the adjustment of the direction of the intelligent lawnmower 100.

[0238] It should be noted that the number of rear wheels 162 is generally two. Of course, in some embodiments, only one rear wheel may be provided. In this embodiment, the number of rear wheels is not further limited. Similarly, the number of front wheels 161 may also be two. Of course, in some embodiments, only one front wheel 161 may be provided. In this embodiment, the number of front wheels 161 is not further limited.

[0239] In one possible implementation, the body 110 may include a first side edge 111 and a second side edge 112 disposed opposite each other in a lateral direction (y direction), the lateral direction being perpendicular to the forward direction of the smart lawnmower 100, wherein when the first cutter disc 120 is in a first position, the first cutter disc 120 is at least partially exposed outside the body through the first side edge 111, or the first cutter disc 120 is at least partially exposed outside the body through the second side edge 112.

[0240] For example, the first cutter head 120 is installed on the side of the machine body 110 facing the ground, wherein the relative position of the first cutter head 120 and the machine body 110 is fixed and the first cutter head 120 is located in a first position.

[0241] The intelligent lawnmower 100 is usually used to cut lawns, so the first blade 120 is placed under the body 110 to facilitate lawn cutting.

[0242] In some embodiments, the first cutter head 120 may be disposed close to the first side edge 111 of the housing 110, and at least a portion of the structure of the first cutter head 120 may be exposed outside the housing 110 from the first side edge 111 (e.g., Figure 2(as shown in the figure), or, the first cutter head 120 may be disposed close to the second side edge 112 of the machine body 110, and at least a portion of the structure of the first cutter head 120 may be exposed outside the machine body 110 from the second side edge 112 (not shown in the figure).

[0243] In this embodiment, by fixing the first blade 120 in a first position, the first blade 120 of the intelligent lawnmower 100 can cut to the outside of the body 110, so that the intelligent lawnmower 100 can cut to the edge, thus solving the problem that the intelligent lawnmower 100 cannot cut to the edge in the related art.

[0244] Of course, in some embodiments, such as Figure 3 As shown, the first cutter head 120 can be positioned near the central axis of the machine body 110, and both sides of the first cutter head 120 can be exposed outside the machine body 110 from the first side edge 111 and the second side edge 112, respectively, in the lateral direction. In this embodiment, there is no further limitation on which side of the machine body 110 the first cutter head 120 is exposed outside the machine body 110.

[0245] In one possible implementation, when the first cutter head 120 is in the first position, the smart lawnmower 100 may include a protective member 180, wherein the protective member 180 is located between the first cutter head 120 and the body 110, and the first cutter head 120 is positioned in the first position via the protective member 180. Exemplarily, the protective member 180 is located above the first cutter head 120 to cover the area above the first cutter head 120.

[0246] For example, when the first cutter head 120 is in the first position, the outer edge of the portion of the first cutter head 120 located outside the machine body 110 is flush with the outer edge of the protective member 180 in the vertical direction, or the horizontal distance between the outer edge of the portion of the first cutter head 120 located outside the machine body 110 and the outer edge of the protective member 180 is greater than 0 mm and less than 50 mm.

[0247] One end of the protective member 180 is connected to the machine body 110, and the other end extends outward along the lateral direction of the machine body 110. In the vertical direction, the outer edge of the portion of the first cutter head 120 located outside the machine body 110 is flush with the outer edge of the protective member 180, so that the first cutter head 120 is exposed outside the machine body 110 through the protective member 180.

[0248] It should be noted that in this embodiment, the protective member 180 can be a plate-shaped structure located on top of the first cutter head 120 and can be used to shield the first cutter head 120. Of course, in other embodiments, the protective member 180 can also be other structures. In this embodiment, the specific structure of the protective member 180 is not further limited.

[0249] In one possible implementation, the first cutter head 120 is fixed relative to the body 110, and the first cutter head 120 is located in a second position. The minimum horizontal distance h1 from the outer edge of the cutting edge of the first cutter head 120 to the outer edge of the body 110 is greater than or equal to 0 and less than or equal to 50 mm.

[0250] In some embodiments, such as Figure 4 As shown, the first cutter head 120 can be positioned at the central axis of the machine body 110 in the lateral direction. The minimum horizontal distance h1 from the outer edge of the side of the first cutter head 120 facing the first side edge 111 to the outer edge of the machine body 110 is greater than or equal to 0 and less than or equal to 50 mm. The minimum horizontal distance h1 from the outer edge of the side of the first cutter head 120 facing the second side edge 112 to the outer edge of the machine body 110 is also greater than or equal to 0 and less than or equal to 50 mm.

[0251] In some other embodiments, the first cutter head 120 may be eccentrically positioned, that is, the first cutter head 120 may be positioned close to the first side edge 111 or the second side edge 112 of the machine body 110. For example... Figure 5 As shown, the first cutter head 120 is positioned near the first side edge 111 of the machine body 110. The minimum horizontal distance h1 from the outer edge of the side of the first cutter head 120 facing the first side edge 111 to the outer edge of the machine body 110 is greater than or equal to 0 and less than or equal to 50 mm. It should be noted that the outer edge of the first cutter head 120 is the outer edge of the cutting blade.

[0252] Of course, in other embodiments, the first cutter head 120 may also be disposed close to the second side edge 112 of the machine body 110, and the minimum horizontal distance h1 from the outer edge of the side of the first cutter head 120 facing the second side edge 112 to the outer edge of the machine body 110 is greater than or equal to 0 and less than or equal to 50 mm. In the embodiments of this application, the placement of the first cutter head 120 is not further limited.

[0253] In this embodiment, by setting the minimum horizontal distance h1 from the outer edge of the first cutter disc 120 to the outer edge of the body 110 to be greater than or equal to 0 and less than or equal to 50 mm, the horizontal distance between the first cutter disc 120 and the outer edge of the body 110 can be reduced, allowing the intelligent lawnmower 100 to cut to the edge. Compared to related technologies where the horizontal distance between the first cutter disc and the outer edge of the body is relatively large (generally exceeding 50 mm), this solution can solve the problem of the intelligent lawnmower 100 not being able to cut to the edge in related technologies. Furthermore, by placing the first cutter disc 120 in a second position, it can be located inside the body 110, thereby improving the safety performance of the intelligent lawnmower 100.

[0254] In one possible implementation, the first position is defined as follows: at least a portion of the first cutter head 120 is located outside the orthographic projection of the machine body 110 toward the ground, and in the transverse direction (y direction) of the machine body, the minimum horizontal distance h2 between the farthest point of the first cutter head 120 away from the machine body 110 and the machine body 110 is greater than 1 / 10 of the diameter of the first cutter head 120, and the minimum horizontal distance h2 between the farthest point of the first cutter head 120 away from the machine body 110 and the machine body 110 is less than 2 / 3 of the diameter of the first cutter head 120.

[0255] In one possible implementation, when the first cutter head 120 is in the first position, in the y direction, the minimum horizontal distance h2 between the farthest point of the first cutter head 120 away from the body 110 and the body 110 is greater than 1 / 10 of the diameter of the first cutter head, and the minimum horizontal distance h2 between the farthest point of the first cutter head 120 away from the body 110 and the body 110 is less than 1 / 3 of the diameter of the first cutter head.

[0256] In one possible implementation, when the first cutter head 120 is in the first position, in the y direction, the minimum horizontal distance h2 between the farthest point of the first cutter head 120 away from the body 110 and the body 110 is greater than 1 / 8 of the diameter of the first cutter head, and the minimum horizontal distance h2 between the farthest point of the first cutter head 120 away from the body 110 and the body 110 is less than 1 / 4 of the diameter of the first cutter head.

[0257] For example, the minimum horizontal distance h2 between the farthest point of the first cutter head 120 away from the machine body 110 and the machine body 110 can be 1 / 10, 1 / 9, 1 / 8, 1 / 7, 1 / 6, 1 / 5, 1 / 4, 1 / 3, 1 / 2, etc. of the diameter of the first cutter head 120. In the embodiments of this application, the minimum horizontal distance h2 between the farthest point of the first cutter head 120 away from the machine body 110 and the machine body 110 is not further limited to a fraction of the diameter of the first cutter head 120.

[0258] For ease of description, in the embodiments of this application, such as Figure 6 As shown, the lawn area to be processed is designated as the cutting area 200. The cutting area 200 includes at least two adjacent boundary lines 300 (e.g., walls, fences, steps, etc.). The area enclosed by multiple boundary lines 300 is the cutting area 200. The cutting area 200 may include an edge region 210 and a middle region 220. The middle region 220 refers to the area farther from the boundary than a first preset width. The edge region 210 refers to the area between the middle region 220 and the boundary lines 300, that is, the position of the cutting area 200 near the outer perimeter of the boundary lines 300. The edge region includes a corner region 230 and is adjacent to the middle region 220. The width of the edge region is equal to the first preset distance.

[0259] In some embodiments, a corner region is formed by the intersection of two adjacent boundary lines 300 in the edge region 210 or by the intersection of the extensions of two adjacent boundary lines 300. In the corner region 230, the problem of not being able to cut the edge is also likely to occur.

[0260] In some embodiments, the first blade disc 120 is configured to rotate at a speed between 1800 and 2500 rpm when the intelligent lawnmower 100 is mowing and not jammed. In other embodiments, the first blade disc 120 is configured to rotate at a speed between 2000 and 2500 rpm when the intelligent lawnmower 100 is mowing and not jammed. For example, the rotational speed of the first blade disc 120 can be 1800 rpm, 1600 rpm, 1700 rpm, 1800 rpm, 1900 rpm, 2000 rpm, 2100 rpm, 2200 rpm, 2300 rpm, 2400 rpm, 2500 rpm, etc. In this embodiment, the rotational speed of the first blade disc 120 is not further limited.

[0261] By setting the rotation speed of the first cutter head between 1800 rpm and 2500 rpm, or between 2000 rpm and 2500 rpm, energy consumption can be saved, noise reduced, safety improved, and the service life of the first cutter head extended while ensuring cutting efficiency.

[0262] It should be noted that the motor speed 130 in this embodiment refers to the speed of the intelligent lawnmower 100 when it is working stably, and does not represent the speed when it is started or stopped.

[0263] In one possible implementation, such as Figure 7 As shown, the first cutter head 120 includes multiple blades 121 and a rotating disk 123, and the blades 121 are metal parts. The multiple blades 121 are arranged at intervals along the circumference of the rotating disk 123, and the outer side of the blades 121 is provided with a cutting edge. The outer edge of the cutting edge is the outer edge of the first cutter head 120, and also the outer edge of the blades 121.

[0264] By setting the blade 121, the first blade disc 120 can be equipped with a cutting function, enabling the intelligent lawnmower 100 to perform cutting operations. The blade 121 has good rigidity and is relatively sharp, which can improve cutting efficiency.

[0265] For example, there can be multiple blades 121, which are spaced apart around the first cutter head 120. This can improve cutting efficiency. By setting multiple blades 121, the cutting efficiency of the first cutter head 120 can be improved, and if one blade 121 fails, the other blades 121 can still operate normally, thereby extending the service life of the first cutter head 120.

[0266] In one possible implementation, the first cutter head 120 may include a spring-loaded device 124, which is disposed between the blade 121 and the rotating disk 123 of the first cutter head 120. When the first cutter head 120 performs a cutting operation, if the resistance experienced by the blade 121 exceeds a preset threshold, the blade 121 automatically moves a preset horizontal distance towards the central axis of the first cutter head 120 via the spring-loaded device 124. When the resistance disappears, the blade 121 automatically springs back to its original position via the spring-loaded device 124 and continues working.

[0267] In some embodiments, a pressure sensor may be provided on the first cutter head 120, wherein the pressure sensor is used to detect the force on the blade 121. When the pressure on the blade 121 exceeds a preset threshold, the springback device 124 causes the blade 121 to move a preset horizontal distance toward the central axis of the first cutter head 120. This can alleviate instantaneous pressure and prevent the blade 121 from being damaged.

[0268] In some embodiments, the spring-loaded device 124 can be a spring structure disposed between the blade 121 and the first cutter head 120. Two spring structures can be respectively disposed on both sides of the blade 121 along the circumference of the first cutter head 120, with one end of the spring structure connected to the first cutter head 120 and the other end connected to the blade 121. Thus, when the pressure on the blade 121 exceeds a preset threshold, one side of the spring structure will be stretched, and the other side will be compressed, causing the blade 121 to deflect by a certain amount, equivalent to the blade 121 moving a preset horizontal distance closer to the central axis of the first cutter head 120. It should be noted that the preset horizontal distance is related to the elasticity of the spring structure; in this embodiment, the preset horizontal distance is not further limited.

[0269] Of course, in other embodiments, the spring-rebound device 124 can also be other structures, such as a spring, gear, connecting rod, cylinder, etc. In this application, the structure of the spring-rebound device 124 is not further limited.

[0270] For example, the smart lawnmower 100 may also include a control device that can be connected to a detection device. The control device is used to control the smart lawnmower 100 to perform safety protection actions based on biological information.

[0271] In this embodiment, the safety protection actions include one or more combinations of the following: the intelligent lawnmower 100 slows down, the intelligent lawnmower 100 stops moving, the first blade 120 slows down its rotation, the first blade 120 stops rotating, the intelligent lawnmower 100 performs obstacle avoidance, and the intelligent lawnmower 100 performs obstacle bypass. This configuration can improve the safety performance of the intelligent lawnmower 100. When the intelligent lawnmower 100 performs obstacle avoidance, the first blade 120 can be concealed within the protective cover 125.

[0272] It should be noted that the intelligent lawnmower 100 performs safety protection actions primarily to prevent damage to organisms caused by the cutting operation of the first blade 120. Methods such as slowing down the first blade 120, stopping the first blade 120, stopping the first blade 120 and concealing it within the protective cover 125, and maintaining normal operation with the first blade 120 concealed within the protective cover 125 all prevent or minimize harm to organisms from the first blade 120. Therefore, controlling the intelligent lawnmower 100 to perform safety protection actions based on organism information can improve the safety of the intelligent lawnmower 100.

[0273] Of course, in other embodiments, other forms of safety protection actions may also be included. For example, the intelligent lawnmower 100 may be controlled to perform obstacle avoidance or slow down. It may also automatically move away from the organism based on the horizontal distance between the organism and the mower body 110, and the first blade disc 120 may stop rotating and retract the blades 121. In the embodiments of this application, the form of the safety protection actions is not further limited.

[0274] It should be noted that "biological information" refers to information about living organisms. The basis for controlling the intelligent lawnmower 100 to perform safety protection actions can be whether there are living organisms within the area to be cut 200, whether the horizontal distance between the living organism and the intelligent lawnmower 100 is less than a preset horizontal distance, or whether the horizontal distance between the living organism and the intelligent lawnmower 100 is gradually decreasing, etc. In this embodiment, the basis for controlling the intelligent lawnmower 100 to perform safety protection actions is not further limited.

[0275] For example, the detection device 140 may include one or more of an infrared sensor, a line laser sensor, a camera, a distance sensor, a laser rangefinder, an edge sensor, and a flight sensor.

[0276] For example, the detection device 140 can be disposed on the first cutter head 120, or on the machine body 110, or at the edge of the machine body 110. In this embodiment, the placement of the detection device 140 will not be further described.

[0277] In one possible implementation, the detection device 140 may include an infrared sensor and a distance sensor. The infrared sensor is used to detect whether there are living organisms in the area to be cut 200, and the distance sensor is used to detect the horizontal distance between the smart lawnmower 100 and the living organisms. The biological information refers to the horizontal distance between the living organisms and the smart lawnmower 100. In this way, the smart lawnmower 100 can be controlled to perform safety protection actions based on the biological information.

[0278] In one possible implementation, the detection device 140 may include a camera and a laser rangefinder. The camera is used to capture images of the area to be cut 200 and analyze whether there are living organisms in the images. The laser rangefinder is used to measure the horizontal distance between the smart lawnmower 100 and the living organism. Here, the biological information refers to the horizontal distance between the living organism and the smart lawnmower 100. In this way, the detection device 140 can control the smart lawnmower 100 to perform safety protection actions based on the biological information.

[0279] Of course, in other embodiments, the detection device 140 may be other devices. In this application embodiment, the specific structure of the detection device 140 is not further limited.

[0280] In one possible implementation, the intelligent lawnmower 100 may further include a protective cover 125, which is provided on the outer side of the first blade disc 120. The protective cover 125 may include an open state and a retracted state. Figure 8 As shown, when the protective cover 125 is in the open state, the protective cover 125 covers the outside of the first cutter head 120. For example... Figure 9 As shown, when the protective cover 125 is in the retracted state, the protective cover 125 is not covered outside the first cutter head 120. Specifically, the protective cover 125 can be stored on the side of the machine body 110 facing the ground or on the side of the first cutter head 120 away from the ground.

[0281] For example, a control device can be connected to the protective cover 125, and the control device is used to control the protective cover 125 to switch between a retracted state and an open state based on biometric information. The safety protection action includes at least controlling the protective cover 125 to switch to the open state; that is, when performing a safety protection action, the control device can control the protective cover 125 to adjust to the open state.

[0282] This design improves the safety of the intelligent lawnmower 100. When a creature is within a safe horizontal distance of the intelligent lawnmower 100, the protective cover 125 can cover the first blade 120, preventing the intelligent lawnmower 100 from accidentally injuring creatures that have entered the mowing area and thus enhancing its safety. Simultaneously, it quickly blocks heat from the first blade from being transferred to the outside, preventing burns to surrounding creatures.

[0283] See Figure 8 and Figure 9 As shown, the protective cover 125 may include a main support 1251 and a telescopic arm 1252 located outside the main support 1251. The main support 1251 may be a telescopic structure. Specifically, the main support 1251 may include a support portion 1253 and a telescopic portion 1254. The telescopic portion 1254 is movably connected to the support portion 1253, allowing the telescopic portion 1254 to extend and retract relative to the support portion 1253 along the radial direction of the first cutter head 120. This ensures that the protective cover 125 is located inside the first cutter head 120 in the retracted state and partially outside the first cutter head 120 in the extended state. The telescopic arm 1252 is located at one end of the main support 1251 facing the outer edge of the first cutter head 120 and is connected to the main support 1251. The telescopic arm 1252 is a telescopic structure, capable of extending and retracting vertically relative to the main support 1251.

[0284] When the protective cover 125 is in the open state, such as Figure 8 As shown, the main support 1251 extends radially outward along the first cutter head 120 to the outer side of the first cutter head 120, and the telescopic arm 1252 extends vertically towards the ground until it covers the first cutter head 120. When the protective cover 125 is in the retracted state, as... Figure 9 As shown, the telescopic arm 1252 retracts to the end of the main support 1251 facing the outer edge of the first cutter head 120, and the main support 1251 retracts into the first cutter head 120.

[0285] For example, the control device can be connected to the main support 1251 and telescopic arm 1252 of the protective cover 125 so that the control device can control the protective cover 125 to switch between a retracted state and an open state.

[0286] It should be noted that the structure of the protective cover 125 includes, but is not limited to, the structure in the above embodiments. In other embodiments, the protective cover 125 may also have other structures. In this application embodiment, the structure of the protective cover 125 is not further limited.

[0287] In one possible implementation, the detection device 140 can be connected to a control device, which in turn can be connected to a motor 130. The detection device 140 can transmit detected biological information to the control device, which then controls the motor 130 to decelerate and / or stop rotating based on the biological information. For example, when the detection device 140 detects a living organism in the area to be cut 200, the control device can control the motor 130 to decelerate and / or stop rotating; when the detection device 140 detects no living organism in the area to be cut 200, the control device can control the motor 130 to operate at a cutting speed, and so on.

[0288] This configuration allows the motor 130 to slow down or stop rotating after detecting biological information, thereby preventing the first blade 120 from cutting organisms that have entered the cutting area 200 and improving the safety performance of the smart lawnmower 100.

[0289] In one possible implementation, such as Figure 10 As shown, the intelligent lawnmower 100 in this application may further include a second blade disc 122, which is mounted on the side of the body 110 facing the ground. Both the first blade disc 120 and the second blade disc 122 are located between the front wheel 161 and the rear wheel 162 of the intelligent lawnmower 100, and the second blade disc 122 is spaced apart from the first blade disc 120. The orthographic projections of the second blade disc 122 and the first blade disc 120 in the x-direction at least partially overlap, or the second blade disc 122 and the first blade disc 120 are arranged side-by-side in the y-direction.

[0290] When the first cutter head 120 and the second cutter head 122 overlap at least partially in the forward direction, it helps to prevent missed cuts. Moreover, when the first cutter head 120 and the second cutter head 122 are staggered in the forward direction, the heat generated by the first cutter head 120 and the second cutter head 122 will not be concentrated, which helps to disperse the heat of the first cutter head 120 and the second cutter head 122, thereby improving the heat dissipation efficiency of the first cutter head 120 and the second cutter head 122.

[0291] For example, the outer side of the second cutter head 122 is provided with a cutting blade, which is a metal part, and the second cutter head 122 is also used to perform cutting operations.

[0292] It should be noted that the structure and principle of the second cutter head 122 can be the same as those of the first cutter head 120. Therefore, the specific structure of the second cutter head 122 can be referred to the structure of the first cutter head 120. In this embodiment, the structure and principle of the second cutter head 122 will not be further described.

[0293] It should be noted that both the first cutter head 120 and the second cutter head 122 are driven by motors, and the number of motors is the same as the number of cutter heads. That is, one first cutter head 120 corresponds to one motor, and one second cutter head 122 corresponds to one motor, so that both the first cutter head 120 and the second cutter head 122 can perform rotary cutting actions. The motors corresponding to the first cutter head 120 and the second cutter head 122 can be of the same model, and the rotational speeds of the first cutter head 120 and the second cutter head 122 can be the same or different. In this embodiment, the motors corresponding to the first cutter head 120 and the second cutter head 122, and the rotational speeds of the first cutter head 120 and the second cutter head 122 during operation, are not further described.

[0294] In some embodiments, the first cutter head 120 may be detachably connected to the body 110. Alternatively, the smart lawnmower 100 includes a motor 130 connected to the first cutter head 120, the motor 130 being used to drive the first cutter head 120 to rotate, and the motor 130 being detachably connected to the body 110.

[0295] This configuration allows for selection of whether or not to install the first blade 120 when cutting different areas, thus improving the application flexibility of the intelligent lawnmower 100. For example, when cutting the edge area 210, the first blade 120 can be installed near the outer side of the body 110, ensuring that the intelligent lawnmower 100 cuts to the edge. When cutting areas not involving the edge area 210, the first blade 120 near the outer side of the body 110 can be removed, and only the second blade 122 can be used for cutting. Since the second blade 122 is located inside the body, this improves safety.

[0296] In some embodiments, such as Figure 10 As shown, the intelligent lawnmower 100 includes a first cutter head 120 and a second cutter head 122. In the lateral direction of the machine body, the second cutter head 122 can be positioned at the central axis of the machine body 110, that is, at the center of the lateral direction of the machine body 110. This allows the second cutter head 122 to cut the central area below the machine body 110. The first cutter head 120 is located in a first position and is positioned close to the first side edge 111 of the machine body 110, that is, eccentrically positioned.

[0297] Of course, in other embodiments, such as Figure 11 As shown, the first cutter head 120 can also be located in the second position.

[0298] For example, the second cutter head 122 may be larger than the first cutter head 120. The second cutter head 122 may be positioned at the center of the machine body 110, and the orthographic projection of the second cutter head 122 onto the ground is always within the orthographic projection of the machine body 110 onto the ground. In some embodiments, the minimum horizontal distance from the outer edge of the second cutter head 122 to the outer edge of the machine body 110 may be greater than 50 mm. The first cutter head 120 is located in a first position, and the maximum horizontal distance h2 from the outer edge of the first cutter head 120 located outside the machine body 110 to the outer edge of the machine body 110 is less than or equal to 60 mm.

[0299] It should be noted that the second cutter head 122 is larger in size and can be used to perform the main cutting operations. For example, when cutting the middle area 220 of the area to be cut 200, or when the area to be cut 200 does not have an edge area 210, since the edge area 210 is not involved, there is no problem of not being able to cut the edge. Therefore, only the second cutter head 122 can be used to perform the cutting operation. Since the second cutter head 122 is located inside the body 110, this can improve the safety performance of the intelligent lawnmower 100.

[0300] When cutting the edge area 210 of the area to be cut 200, the first cutter disc 120 can be installed on the body 110. Since the first cutter disc 120 is eccentrically set and some of its structure is located on the outside of the body 110 or close to the outside of the body 110, the first cutter disc 120 can intelligently cut the area outside the body 110, thereby solving the problem that the intelligent lawnmower 100 cannot cut the edge.

[0301] It should be noted that the edge area 210 is typically located near the boundary of the area to be cut 200, such as areas that cannot be cut near the boundaries of corners, fences, steps, etc. Because the smart lawnmower 100 needs to maintain a certain distance from corners, fences, and steps during operation to prevent it from being scratched, if the first blade 120 is located within the body 110, some areas will not be cut, resulting in the problem of incomplete edge cutting.

[0302] In one possible implementation, see [link to previous section] Figure 10 As shown, the intelligent lawnmower 100 may also include a balancing structure 170, which is mounted on the body 110 and is used to balance the mass of the first blade 120 and the motor 130. This configuration keeps the body 110 balanced and prevents the intelligent lawnmower 100 from tipping over during mowing.

[0303] For example, when there is one first cutter head 120, in the y-direction, the balancing structure 170 is disposed opposite to the first cutter head 120 to balance the mass of the first cutter head 120. When there are two first cutter heads 120, in the y-direction, the two first cutter heads 120 are disposed side by side, and one of the first cutter heads 120 acts as the balancing structure 170 to balance the mass of the other first cutter head 120.

[0304] It should be noted that when the first cutter head 120 and the second cutter head 122 are both in an off-center position—for example, when there is only one first cutter head 120 and one second cutter head 122, and the first cutter head 120 is in an off-center position while the second cutter head 122 is located on the central axis of the machine body 110—the combined center of gravity of the two cutter heads 120 and 122 is off-center, causing the center of gravity of the machine body 110 to shift. Therefore, during cutting operations, the uneven force on both sides of the machine body 110 can easily cause it to tip over. Thus, the balancing structure 170 is designed to prevent the intelligent lawnmower 100 from tipping over during mowing.

[0305] For example, the balancing structure 170 can be an iron block or a battery.

[0306] By setting the balancing structure 170 as an iron block, the volume of the balancing structure 170 can be reduced due to the higher density of the iron block compared to the higher density of the balancing structure 170. This reduces the installation space required for the iron block, making it easier to arrange and reducing assembly difficulty.

[0307] By setting the balancing structure 170 as a battery, the effect of balancing the body 110 can be achieved by reasonably arranging the battery position without adding other devices. This simplifies the structure of the smart lawnmower 100, achieves the balancing effect, reduces costs, and enables the smart lawnmower 100 to be developed in a lighter manner.

[0308] It should be noted that the balancing structure 170 may include, but is not limited to, an iron block or a battery, and may also be a lead block, a copper block, etc. The specific structure of the balancing structure 170 is not further limited in the embodiments of this application.

[0309] In this embodiment, the center of gravity of the fuselage 110 is close to the geometric center of the fuselage 110. Therefore, the weight and setting position of the balancing structure 170 can be set according to specific circumstances. In this embodiment, the weight and setting position of the balancing structure 170 are not further limited.

[0310] In one possible implementation, see [link to previous section] Figure 10 As shown, when the outer edge of the first cutter head 120 extends beyond the body 110, that is, when the first cutter head 120 is in the first position, the maximum horizontal distance h2 from the outer edge of the first cutter head 120 located outside the body 110 to the outer edge of the body 110 is greater than or equal to 0 and less than or equal to 60 mm.

[0311] This configuration expands the cutting range of the intelligent lawnmower 100, solving the problem of the intelligent lawnmower 100 not being able to cut the edges in related technologies. For example, the maximum horizontal distance h2 from the outer edge of the first cutter disc 120 located outside the body 110 to the outer edge of the body 110 can be 60 mm, 55 mm, 50 mm, 45 mm, 40 mm, 35 mm, 30 mm, 25 mm, 20 mm, 15 mm, 10 mm, 5 mm, 0 mm, etc. In this embodiment, the maximum horizontal distance from the outer edge of the first cutter disc 120 located outside the body 110 to the outer edge of the body 110 is not further limited.

[0312] In one possible implementation, when the outer edge of the first cutter head 120 extends beyond the body 110, that is, when the first cutter head 120 is in the first position, the maximum horizontal distance h2 from the outer edge of the first cutter head 120 located outside the body 110 to the outer edge of the body 110 can be greater than or equal to 0 and less than or equal to 40 mm.

[0313] This configuration expands the cutting range of the intelligent lawnmower 100, solving the problem of the intelligent lawnmower 100 not being able to cut the edge in related technologies.

[0314] In this embodiment of the application, a first cutter head 120 and a second cutter head 122 may be provided. The first cutter head 120 is located on one side of the second cutter head 122 and they do not interfere with each other.

[0315] In some embodiments, two first cutter heads 120 and one second cutter head 122 may be provided, with the two first cutter heads 120 located on opposite sides of the second cutter head 122 (see [link]). Figure 12 They do not interfere with each other.

[0316] In one possible implementation, there are two first cutter discs 120, which are arranged side by side in the lateral direction of the body 110, and the lateral direction of the body 110 is perpendicular to the forward direction of the intelligent lawnmower 100.

[0317] Of course, other configurations are possible in other embodiments. In this embodiment, the number of the first cutter head 120 and the second cutter head 122 is not further limited.

[0318] In one possible implementation, the moving speed of the intelligent lawnmower 100 is between 1 m / s and 3 m / s. For example, the moving speed of the intelligent lawnmower 100 can be 1 m / s, 1.5 m / s, 2.0 m / s, 2.5 m / s, 3 m / s, etc. In this embodiment, the moving speed of the intelligent lawnmower 100 is not further limited. Specifically, it can be set according to the conditions of the area to be cut 200. For example, if the grass in the area to be cut 200 is relatively lush, the moving speed of the intelligent lawnmower 100 will be lower; if the grass in the area to be cut 200 is relatively sparse, the moving speed of the intelligent lawnmower 100 will be higher.

[0319] It should be noted that the moving speed of the Smart Lawn Mower 100 refers to the speed at which the Smart Lawn Mower moves on the ground.

[0320] This setting allows the Smart Lawn Mower 100 to move at a reasonable speed, ensuring neat cuts while improving mowing efficiency.

[0321] In one possible implementation, the minimum vertical distance from the first cutter head 120 and the second cutter head 122 to the ground is between 2 and 8 cm. For example, the minimum vertical distance from the first cutter head 120 and the second cutter head 122 to the ground is the same, specifically 2 cm, 3 cm, 4 cm, 5 cm, 6 cm, 7 cm, 8 cm, etc. In this embodiment, the minimum vertical distance from the first cutter head 120 and the second cutter head 122 to the ground is not further limited.

[0322] This configuration improves the obstacle-crossing ability of the smart lawnmower 100, meaning it can traverse smaller bumps or depressions, thus enhancing the adaptability of the smart lawnmower 100.

[0323] In one possible implementation, the mass of the first cutter head 120 is between 150 and 250 g. For example, the mass of the first cutter head 120 can be 150 g, 160 g, 170 g, 180 g, 190 g, 200 g, 210 g, 220 g, 230 g, 240 g, 250 g, etc. In this embodiment, the mass of the first cutter head 120 is not further limited.

[0324] This design allows the first blade disc 120 to be relatively light, which is beneficial to the lightweight development of the intelligent lawnmower 100.

[0325] It should be noted that the above embodiments describe a technical solution where the first cutter head 120 is fixedly connected to the machine body, and the first cutter head 120 is located in a first position or a second position. Of course, in other embodiments, the first cutter head 120 can also be movably connected to the machine body, so that the first cutter head 120 can move relative to the machine body 110, allowing it to be located inside the machine body 110 in some cases and outside the machine body 110 in others. The embodiments where the first cutter head 120 is movably connected to the machine body 110 will be described below with reference to the accompanying drawings.

[0326] like Figure 13 As shown, the intelligent lawnmower 100 may include a body 110, a first blade disc 120, a drive unit 150, a motor 130, and a detection device 140. The body 110 is the main component of the intelligent lawnmower 100, used to mount the first blade disc 120, the motor 130, and the detection device 140, among other components. The first blade disc 120 is located on the side of the body 110 facing the ground. The outer side of the first blade disc 120 has cutting blades, which are made of metal. The first blade disc 120 performs cutting operations on the grass within the area to be cut using these cutting blades.

[0327] In the embodiments of this application, see also Figure 14 As shown, the body 110 includes a first end 113 and a second end 114 disposed opposite to each other along the forward direction of the intelligent lawnmower 100. The intelligent lawnmower 100 may further include a front wheel 161 and a rear wheel 162 spaced apart along the forward direction of the intelligent lawnmower 100. Both the front wheel 161 and the rear wheel 162 are disposed on the ground-facing side of the body 110, and in the x-direction, the front wheel 161 and the rear wheel 162 are spaced apart, with the front wheel 161 located between the rear wheel 162 and the first end 113, and the rear wheel 162 located between the front wheel 161 and the second end 114. That is, the front wheel 161 is mounted at the front end of the body 110, and the rear wheel 162 is mounted at the rear end of the body 110.

[0328] In the x-direction, the first cutter head 120 is located between a first cutting surface a of the front wheel 161 and a second cutting surface b of the rear wheel 162. The first cutting surface a is perpendicular to the x-direction and passes through a first end point of the front wheel, which is defined as the point on the front wheel 161 furthest from the first end point 113. The second cutting surface b is perpendicular to the x-direction and passes through a second end point of the rear wheel 162, which is defined as the point on the rear wheel 162 furthest from the second end point 114. The first cutter head 120 can be disposed between the front wheel 161 and the rear wheel 162.

[0329] During the movement of the first cutter head 120 relative to the machine body 110, it passes through at least the first position and the second position.

[0330] The first position is defined as: at least a portion of the first cutter head 120 is located outside the orthographic projection of the machine body 110 toward the ground.

[0331] For example, when the first cutter head is in the first position, the horizontal distance h2 from the outer edge of the first cutter head 120 located outside the machine body 110 to the outer edge of the machine body 110 can be greater than or equal to 0 and less than or equal to 60 mm.

[0332] This configuration expands the cutting range of the intelligent lawnmower 100, solving the problem of the intelligent lawnmower 100 not being able to cut the edges in related technologies. For example, the horizontal distance h2 from the outer edge of the first cutter disc 120 located outside the body 110 to the outer edge of the body 110 can be 60 mm, 55 mm, 50 mm, 45 mm, 40 mm, 35 mm, 30 mm, 25 mm, 20 mm, 15 mm, 10 mm, 5 mm, 0 mm, etc. In this embodiment, the horizontal distance h2 from the outer edge of the first cutter disc 120 located outside the body 110 to the outer edge of the body 110 is not further limited.

[0333] The second position is defined as follows: the first cutter head 120 is located within the orthographic projection of the machine body 110 toward the ground, and the minimum horizontal distance from the outer edge of the cutting blade to the outer edge of the machine body 110 (see...). Figure 4 In this embodiment, h1) is greater than or equal to 0 and less than or equal to 50 mm. For example, the minimum horizontal distance h1 from the outer edge of the first cutter head 120 to the outer edge of the machine body 110 can be 50 mm, 45 mm, 40 mm, 35 mm, 30 mm, 25 mm, 20 mm, 15 mm, 10 mm, 5 mm, 0 mm, etc. In this embodiment, the minimum horizontal distance from the outer edge of the first cutter head 120 to the outer edge of the machine body 110 is not further limited.

[0334] It should be noted that, in the embodiments of this application, the first position and the second position are... Figures 1-12 The first and second positions in the illustrated embodiment are the same; for details, please refer to [reference needed]. Figures 1-12 The embodiments shown describe the first position and the second position.

[0335] The first blade 120 is configured such that when the smart lawnmower 100 is in the mowing state and does not jam, the rotation speed of the first blade 120 is V1, and the rotation speed of the first blade 120 is less than or equal to V1 during the movement of the first blade 120 relative to the body 110, where V1 is between 1800 rpm and 3500 rpm.

[0336] The detection device 140 is installed on the body 110. The detection device 140 is used to detect biological information. The intelligent lawnmower 100 is used to perform safety protection actions based on the biological information.

[0337] In one possible implementation, the first cutter head 120 also passes through a third position during its movement relative to the machine body 110.

[0338] The third position is defined as follows: the first cutter head 120 is located within the orthographic projection of the machine body 110 toward the ground, and the minimum distance from the outer edge of the cutting blade to the outer edge of the machine body 110 is greater than 50 mm.

[0339] During the movement of the first cutter head 120 relative to the machine body 110, it passes through at least the first position, the second position, and the third position.

[0340] For example, the drive device 150 is disposed between the machine body 110 and the first cutter head 120, and the drive device 150 is used to drive the first cutter head 120 to switch between a first position and a second position.

[0341] In other embodiments, the drive device 150 can also be used to drive the first cutter head 120 to switch between a first position, a second position, and a third position.

[0342] By setting the drive device 150, the first cutter head 120 can switch between the first position, the second position and the third position, making the intelligent lawnmower 100 suitable for different application scenarios and ensuring that the cut reaches the edge.

[0343] In this embodiment, the intelligent lawnmower 100 may also have a detection device 140 installed on the body 110. The detection device 140 is used to detect biological information, and the intelligent lawnmower 100 is used to perform safety protection actions based on the biological information.

[0344] For example, the safety protection actions include at least one or more combinations of the following: the intelligent lawnmower 100 slows down, the intelligent lawnmower 100 stops, the first cutter head 120 slows down and rotates, the first cutter head 120 stops rotating, the intelligent lawnmower 100 performs obstacle avoidance, the intelligent lawnmower 100 performs obstacle bypass, etc.

[0345] When the intelligent lawnmower 100 performs obstacle avoidance, it can control the first cutter head 120 to be in the second or third position, and / or the first cutter head 120 to decelerate and / or the first cutter head to stop rotating and / or the first cutter head 120 to be covered by the protective cover 125.

[0346] By allowing the first blade disc 120 to move relative to the body 110, enabling it to switch between a first position, a second position, or a third position, the intelligent lawnmower 100 can be adapted to different application scenarios. For example, when it is necessary to cut the edge area 210, the first blade disc 120 can be adjusted to the first or second position to cut the edge or outer area of ​​the intelligent lawnmower body 110, solving the problem in related technologies where the intelligent lawnmower 100 cannot cut the edge. When it is not necessary to cut the edge area 210, for example, when cutting the middle area 220, the first blade disc 120 can be adjusted to the third position, placing it below the body 110, thus improving the safety performance of the intelligent lawnmower 100.

[0347] In one possible implementation, the intelligent lawnmower 100 may include a protective member 180, wherein the protective member 180 is located between the first cutter head 120 and the body 110, and in the vertical direction, the outer edge of the first cutter head 120 is flush with the outer edge of the protective member 180. The protective member 180 is fixedly connected to the first cutter head so that the protective member can extend and retract together with the first cutter head 120.

[0348] By providing a protective element 180, the first cutter head 120 can be protected to a certain extent, and the grass cut by the first cutter head 120 can be prevented from splashing onto the machine body. In addition, in some cases, the protective element 180 can also provide an installation position for the first cutter head 120, so that the first cutter head 120 is exposed on the outside of the machine body 110.

[0349] In one possible implementation, the intelligent lawnmower 100 may include a second cutter head 122 and at least one first cutter head 120, wherein the second cutter head 122 may be fixedly connected to the body 110, and the first cutter head 120 may be movably connected to the body 110. When there is only one first cutter head 120 and it is in the first position, the first cutter head 120 may extend from the first side edge 111 or the second side edge 112 to the outside of the body 110. When there are multiple first cutter heads 120 and they are all in the first position, the multiple first cutter heads 120 extend from the first side edge 111 and / or the second side edge 112 to the outside of the body 110, respectively.

[0350] By setting up a second cutter head 122 and a first cutter head 120, cutting efficiency can be improved. By movably connecting the first cutter head 120 to the body 110, it can extend beyond the body 110 when cutting the edge area 210, ensuring the intelligent lawnmower 100 can cut the edge. When cutting areas not involving the edge area 210, the first cutter head 120 can be retracted, thus improving safety.

[0351] When there is only one first blade 120, it can cut to the edge, and also simplify the structure of the intelligent lawnmower 100 and reduce costs.

[0352] When there are multiple first blade discs 120, multiple first blade discs 120 can be arranged on both sides of the second blade disc 122, and multiple first blade discs 120 can be extended from the first side edge 111 and / or the second side edge 112 to the outside of the body 110, so that the intelligent lawnmower 100 can be used for different application scenarios and improve the applicability of the intelligent lawnmower 100.

[0353] like Figure 14 As shown, there is one first cutter head 120 and one second cutter head 122. In the transverse direction of the machine body, the second cutter head 122 can be positioned at the central axis of the machine body 110, and its orthographic projection on the ground is within the orthographic projection of the machine body 110 on the ground. That is, it is positioned at the center of the transverse direction of the machine body 110, allowing the second cutter head 122 to cut the central area below the machine body 110. The first cutter head 120 is located in a first position, and is positioned close to the first side edge 111 of the machine body 110, i.e., off-center. In other words, the first cutter head 120 can be positioned to one side of the second cutter head 122, and is movably connected to the machine body 110, extending beyond the first side edge 111 of the machine body 110.

[0354] Of course, in some other embodiments, the first cutter head 120 may also extend from the second side edge 112 of the machine body 110 to outside the machine body 110.

[0355] It should be noted that the first cutter head 120 can extend beyond the edge of the machine body 110 from either the side closer to the edge or from the side farther horizontally from the edge of the machine body 110, as long as it does not interfere with other structures during extension and retraction. In this embodiment, the direction of extension of the first cutter head 120 is not further limited.

[0356] When cutting the edge area 210 of the area to be cut 200, the first cutter disc 120 can be moved to the first position. At this time, the first cutter disc 120 extends beyond the body 110 so that the first cutter disc 120 can intelligently cut the area outside the body 110, thereby solving the problem that the intelligent lawnmower 100 cannot cut the edge.

[0357] It should be noted that the method of adjusting the movement of the first cutter head 120 can be controlled by a remote control or by setting other devices to achieve automatic control. In this embodiment of the application, the method of adjusting the movement of the first cutter head 120 is not further limited.

[0358] In other embodiments, such as Figure 12 As shown, the intelligent lawnmower 100 may include two first blade discs 120 and one second blade disc 122. The second blade disc 122 is located at the center of the body 110, and the two first blade discs 120 are respectively located on both sides of the second blade disc 122. When the first blade discs 120 are in a first position, one of the first blade discs 120 extends from the first side edge 111 of the body 110 beyond the body 110, and the other first blade disc 120 extends from the second side edge 112 of the body 110 beyond the body 110, thereby increasing the cutting area.

[0359] Of course, in other embodiments, the number of first cutter heads 120 can be set to other values. For example... Figure 15 As shown, only one first cutter head 120 is provided, wherein the first cutter head 120 is movably connected to the machine body 110. In the first position, the first cutter head 120 extends from the first side edge 111 to the outside of the machine body 110. In some other embodiments, in the first position, the first cutter head 120 may also extend from the second side edge 112 of the machine body 110 to the outside of the machine body 110.

[0360] By setting a first cutter head 120, the structure of the intelligent lawnmower 100 can be simplified. By movably connecting the first cutter head 120 to the body 110, the first cutter head 120 can extend out of the body 110, thereby ensuring that it can cut to the edge. Alternatively, the first cutter head 120 can be retracted into the body 110 to improve safety performance, making the intelligent lawnmower 100 suitable for different environments.

[0361] For example, such as Figure 16 As shown, the intelligent lawnmower 100 may further include a control device 190, which can be connected to the detection device 140. The control device 190 is used to control the intelligent lawnmower 100 to perform safety protection actions based on biological information. The control device 190 can also be connected to the drive device 150. When the detection device 140 detects biological information, the control device 190 can control the drive device 150 to move the first cutter head 120 to a first position. When the detection device 140 does not detect biological information, the control device 190 can control the drive device 150 to move the first cutter head 120 to a second position.

[0362] It should be noted that, in this embodiment of the application, the connection method between the control device 190 and the detection device 140, and between the control device 190 and the drive device 150, will not be further described.

[0363] In one possible implementation, the smart lawnmower 100 may further include a first acquisition unit (not shown in the figure), which is used to detect the position information of the smart lawnmower 100 in the area to be cut 200. The first acquisition unit may be connected to a control device, which is used to control the drive device to move the first cutter head 120 to a first position or a second position according to the position information.

[0364] For example, when the location information indicates that the smart lawnmower 100 is located in the corner area 230, the first blade 120 can be moved to a first position to cut the edge or outer edge of the smart lawnmower body 110, thus solving the problem in related technologies where the smart lawnmower 100 cannot cut the edge. When the location information indicates that the location is in the middle area 220, the first blade 120 can be moved to a second position, placing the first blade 120 below the body 110, thereby improving the safety performance of the smart lawnmower 100.

[0365] For example, the first acquisition unit may include one or more of radar, time of flight (TOF) sensor, depth camera, binocular camera, camera, horizontal distance sensor, laser rangefinder, and edge sensor, so as to acquire the position information of the smart lawnmower in the area to be cut, so that the smart lawnmower can control the position of the first blade according to the position information.

[0366] In one possible implementation, the drive unit 150 can be one or more combinations of a worm gear drive unit, a linkage drive unit, and a gear drive unit. Among these, worm gear structures, linkage drive units 150, linkage mechanisms, or gear assemblies are commonly used as drive units 150, and are relatively simple to assemble. Therefore, setting the drive unit 150 as a worm gear structure, linkage drive unit 150, linkage mechanism, or gear assembly can simplify the drive unit 150 and reduce the cost of the intelligent lawnmower 100.

[0367] It should be noted that, in this embodiment of the application, the specific structure of the drive device 150 is not further limited, as long as it can control the first cutter head 120 to switch between the first position and the second position.

[0368] It should be noted that the intelligent lawnmower 100 performs safety protection actions, typically to prevent the first blade 120 from causing damage to living organisms. For example, the first blade 120 may be in the second position, in the second position and stopped, in the second position and stopped and concealed within the protective cover 125, the first blade 120 may be stopped, the first blade 120 may be stopped and concealed within the protective cover 125, or the first blade 120 may be operating normally and concealed within the protective cover 125. All these methods ensure that the first blade 120 will not harm living organisms, thus improving the safety of the intelligent lawnmower 100.

[0369] Of course, in other embodiments, other forms of safety protection actions may also be included. For example, the device may automatically move away from the organism based on the horizontal distance between the organism and the machine body 110, and the first cutter head 120 may stop rotating and retract the blades 121. In the embodiments of this application, the form of the safety protection action is not further limited.

[0370] It should be noted that "biological information" refers to information about living organisms. The basis for controlling the intelligent lawnmower 100 to perform safety protection actions can be whether there are living organisms within the area to be cut 200, whether the distance between the living organism and the intelligent lawnmower 100 is less than a preset distance, or whether the distance between the living organism and the intelligent lawnmower 100 is gradually decreasing, etc. In this embodiment, the basis for controlling the intelligent lawnmower 100 to perform safety protection actions is not further limited.

[0371] For example, the detection device 140 may include one or more of an infrared sensor, a line laser sensor, a camera, a distance sensor, a laser rangefinder, an edge sensor, and a flight sensor.

[0372] This setup enables the detection device 140 to detect biological information. In addition, infrared sensors, line laser sensors, cameras, distance sensors, laser rangefinders, edge sensors, and flight sensors are relatively common and readily available, which can reduce the cost of the smart lawnmower 100.

[0373] For example, the detection device 140 can be disposed on the first cutter head 120, or on the machine body 110, or at the edge of the machine body 110. In this embodiment, the placement of the detection device 140 will not be further described.

[0374] In one possible implementation, the detection device 140 may include an infrared sensor and a distance sensor. The infrared sensor is used to detect whether there are living organisms in the area to be cut 200, and the distance sensor is used to detect the horizontal distance between the smart lawnmower 100 and the living organisms. The biological information refers to the horizontal distance between the living organisms and the smart lawnmower 100. In this way, the smart lawnmower 100 can be controlled to perform safety protection actions based on the biological information.

[0375] In one possible implementation, the detection device 140 may include a camera and a laser rangefinder. The camera is used to capture images of the area to be cut 200 and analyze whether there are living organisms in the images. The laser rangefinder is used to measure the horizontal distance between the smart lawnmower 100 and the living organism. Here, the biological information refers to the horizontal distance between the living organism and the smart lawnmower 100. In this way, the detection device 140 can control the smart lawnmower 100 to perform safety protection actions based on the biological information.

[0376] Of course, in other embodiments, the detection device 140 may be other devices. In this application embodiment, the specific structure of the detection device 140 is not further limited.

[0377] It should be noted that, in the embodiments of this application, the shape, structure, principle, and placement of the protective cover 125 are all different from those of the previous version. Figures 1-12 The protective cover 125 in the illustrated embodiment is the same; therefore, in this embodiment, the shape, structure, principle, and placement of the protective cover 125 can be referred to... Figures 1-12 The descriptions in the embodiments shown are not further elaborated in the embodiments of this application.

[0378] In one possible implementation, the motor 130 is equipped with a heat dissipation device (not shown in the figure) for dissipating heat from the motor 130. Exemplarily, the heat dissipation device can be a fan, a water-cooling device, an air-cooling device, etc., and the specific structure of the heat dissipation device is not further limited in this embodiment. By providing a heat dissipation device, the motor 130 can be cooled, ensuring its normal operation.

[0379] It should be noted that in some implementations, a heat dissipation device may not be provided on the outside of the motor. In the embodiments of this application, the specific shape and location of the heat dissipation device are not further limited.

[0380] In one possible implementation, the motor 130 may also have a waterproof structure on its exterior.

[0381] It should be noted that, in the embodiments of this application, the shape, structure, principle, and placement of other features, except that the first cutter head 120 can move relative to the machine body, can be the same as those of the machine body. Figures 1-12The same as those in the illustrated embodiment, for example, the shape, structure, principle, and placement of the front wheel 161, rear wheel 162, first cutter head 120, second cutter head 122, and balance structure 170 are all the same. Figures 1-12 The front wheel 161, rear wheel 162, first cutter head 120, second cutter head 122, and balance structure 170 are identical in the illustrated embodiment. Therefore, in the embodiments of this application, the shape, structure, principle, and arrangement position of the front wheel 161, rear wheel 162, first cutter head 120, second cutter head 122, and balance structure 170 can be referred to Figures 1-12 The descriptions of the front wheel 161, rear wheel 162, first cutter head 120, second cutter head 122, and balance structure 170 in the illustrated embodiments are not further explained in this application embodiment.

[0382] In addition, the moving speed of the intelligent lawnmower 100, the minimum vertical distance between the first blade disc 120 and the second blade disc 122 and the ground, and the mass of the first blade disc 120 are all respectively related to... Figures 1-12 In the illustrated embodiment, the intelligent lawnmower 100 has the same moving speed, the minimum vertical distance from the ground to the first blade disc 120 and the second blade disc 122, and the same mass of the first blade disc 120. For details, please refer to [reference needed]. Figures 1-12 The descriptions in the embodiments shown are not further elaborated in the embodiments of this application.

[0383] The above embodiments describe an embodiment in which the first cutter head 120 is disposed on the side of the machine body 110. Of course, in some embodiments, the first cutter head 120 may be disposed in other positions, such as the front or rear end of the machine body 110.

[0384] like Figure 17 As shown in the figure, the intelligent lawnmower 100 provided in this application embodiment includes a body 110, a rear wheel 162, a front wheel 161, and a first blade disc 120. The body 110 includes a first end 113 and a second end 114 disposed opposite to each other along the forward direction (x-direction) of the intelligent lawnmower 100. For example, the first end 113 of the intelligent lawnmower 100 is the front end of the body 110, and the second end 114 is the rear end of the body 110. It should be noted that the front end and rear end refer to the macroscopic front end and rear end, representing what is generally considered the front and rear of the intelligent lawnmower 100.

[0385] In this embodiment, both the front wheel 161 and the rear wheel 162 are disposed on the side of the fuselage 110 facing the ground. In the x direction, the front wheel 161 and the rear wheel 162 are spaced apart, and the front wheel 161 is located between the rear wheel 162 and the first end 113. That is, the rear wheel 162 is disposed near the rear end of the fuselage 110, and the front wheel 161 is disposed near the front end of the fuselage 110.

[0386] like Figure 17 As shown, the first cutter head 120 is mounted on the side of the body 110 facing the ground and is used to perform cutting operations on the area to be cut 200. In the forward direction of the smart lawnmower, at least a portion of the first cutter head 120 is located between the first cutting surface a and the first end point 113 of the front wheel 161. The first cutting surface a is perpendicular to the x-direction and passes through the first end point of the front wheel, which is defined as the point on the front wheel 161 furthest from the first end point 113.

[0387] In some embodiments, the relative position of the first cutter head 120 with the machine body 110 can be fixed, and the first cutter head 120 can be fixed in a first position or a second position.

[0388] The first position is defined as: at least a portion of the first cutter head 120 is located outside the orthographic projection of the machine body 110 toward the ground.

[0389] For example, when the first cutter head is in the first position, the horizontal distance h3 from the outer edge of the first cutter head 120 located outside the machine body 110 to the outer edge of the machine body 110 can be greater than or equal to 0 and less than or equal to 60 mm.

[0390] This configuration expands the cutting range of the intelligent lawnmower 100, solving the problem of the intelligent lawnmower 100 not being able to cut the edges in related technologies. For example, the horizontal distance h3 from the outer edge of the first cutter disc 120 located outside the body 110 to the outer edge of the body 110 can be 60 mm, 55 mm, 50 mm, 45 mm, 40 mm, 35 mm, 30 mm, 25 mm, 20 mm, 15 mm, 10 mm, 5 mm, 0 mm, etc. In this embodiment, the horizontal distance h3 from the outer edge of the first cutter disc 120 located outside the body 110 to the outer edge of the body 110 is not further limited.

[0391] The second position is defined as follows: the first cutter head 120 is located within the orthographic projection of the machine body 110 toward the ground, and the minimum horizontal distance from the outer edge of the cutting blade to the outer edge of the machine body 110 (see...). Figure 4 h1) is greater than or equal to 0 and less than or equal to 50 mm.

[0392] For example, the minimum horizontal distance h1 from the outer edge of the first cutter head 120 to the outer edge of the machine body 110 can be 50 mm, 45 mm, 40 mm, 35 mm, 30 mm, 25 mm, 20 mm, 15 mm, 10 mm, 5 mm, 0 mm, etc. In this embodiment, the minimum horizontal distance from the outer edge of the first cutter head 120 to the outer edge of the machine body 110 is not further limited.

[0393] It should be noted that, in the embodiments of this application, the first position and the second position are... Figures 1-12 The first and second positions in the illustrated embodiment are the same; for details, please refer to [reference needed]. Figures 1-12 The embodiments shown describe the first position and the second position.

[0394] The first blade 120 is configured to rotate at a speed between 1800 rpm and 3500 rpm when the intelligent lawnmower 100 is in mowing mode and not jammed. The intelligent lawnmower 100 may also include a detection device 140, located on the body 110. The detection device 140 is used to detect biological information, and the intelligent lawnmower 100 uses this biological information to perform safety protection actions.

[0395] like Figure 17A As shown in the figure, the intelligent lawnmower 100 provided in this application embodiment includes a body 110, a rear wheel 162, a front wheel 161, a first blade disc 120, and a second blade disc 122. The second blade disc 122 is mounted on the side of the body 110 facing the ground. In the forward direction of the intelligent lawnmower 100, the position of the second blade disc 122 relative to the body 110 remains unchanged, and the second blade disc 122 is disposed between the front wheel 161 and the rear wheel 162. The first blade disc 120 is located on one side of the front wheel 161.

[0396] This configuration expands the cutting range of the intelligent lawnmower 100, prevents missed cuts, and improves cutting efficiency. By positioning the second blade 122 between the body 110 and the rear wheel 162, interference between the first and second blades 120 is prevented, as is interference between the first and second blades and the body 110 and rear wheel 162, thus avoiding scratches. Furthermore, the first and second blades 120 can rotate in coordination, generating a strong airflow. This stronger airflow acting on the body 110 allows for better removal of grass clippings, preventing slippage and ensuring the stability of the intelligent lawnmower 100. Simultaneously, the high-speed rotating airflow effectively dissipates heat generated during blade operation, resulting in better heat dissipation.

[0397] In some embodiments, two first cutter heads 120 and one second cutter head 122 may be provided, with the two first cutter heads 120 located on both sides of the second cutter head 122 (not shown in the figure) and not interfering with each other.

[0398] By placing the two first blade discs 120 on both sides of the second blade disc 122, it is beneficial to balance the weight. Moreover, the intelligent lawnmower 100 can perform edge cutting on both sides in the lateral direction without needing to modify the algorithm due to changes in the position of the first blade discs 120. It can cut along the edge regardless of which blade disc is used, making it highly versatile. At the same time, since the first blade discs 120 on both sides can be close to or beyond the edge of the body 110, both sides can coincide with the rear wheel 162 in the forward direction. There can be a hollow between the first blade discs 120 on both sides, which can better perform obstacle crossing and airflow. The simultaneous rotation of the two first blade discs 120 can also drive the airflow between them, which has a good heat dissipation effect.

[0399] In one possible implementation, there are two first cutter discs 120, which are arranged side by side in the lateral direction of the body 110, and the lateral direction of the body 110 is perpendicular to the forward direction of the intelligent lawnmower 100.

[0400] This configuration serves several purposes. First, the two side-by-side first blades 120 help balance the center of gravity, eliminating the need for additional counterweights. Second, both first blades 120 can cut, expanding their cutting range and allowing the smart lawnmower 100 to cut to the edge. Furthermore, since either first blade 120 can be used, the algorithm doesn't need to be modified based on the blade's position, making it more versatile. Additionally, the rotation of the blades on both sides drives airflow under the machine body 110, improving heat dissipation and dispersing grass clippings from the front wheels 161, preventing slippage due to sticky grass.

[0401] In the embodiments of this application, such as Figure 17 As shown, the body 110 also includes a first side edge 111 and a second side edge 112. In the forward direction of the intelligent lawnmower, both ends of the first side edge 111 and the second side edge 112 are respectively connected to the second end 114 and the first end 113, and the first side edge 111 and the second side edge 112 are arranged opposite each other on both sides of the body 110 in the lateral direction, and the lateral direction of the body 110 is perpendicular to the forward direction.

[0402] The two ends of the first end 113 of the body 110 extend in the opposite direction to the forward direction of the intelligent lawnmower. The two ends of the second end 114 extend in the forward direction of the intelligent lawnmower. Parts of the structure of the first end 113 and the second end 114 can extend in the lateral direction (y direction).

[0403] By setting the first end 113 and the second end 114 as components whose partial structure extends in the lateral direction, the smart lawnmower can have a certain lateral position in the y-direction. Thus, when the first cutter disc 120 is installed at one end of the first end 113, the first cutter disc 120 can be located on one side of the front end of the smart lawnmower, and the first cutter disc 120 can cut to the position on one side of the front end of the smart lawnmower, which can expand the cutting area and ensure that the edge can be cut.

[0404] In some embodiments, there is one first cutter head 120, wherein the first cutter head 120 is disposed on the side where the first end 113 connects to the first side edge 111, or the first cutter head 120 may be located on the side where the first end 113 connects to the second side edge 112. This allows the first cutter head 120 to be located at the outer edge of the body 110, so that during the cutting operation, the first cutter head 120 can cover the outer edge of the lawnmower, thereby ensuring that the cut reaches the edge.

[0405] In some embodiments, the number of first cutter discs 120 is at least two, wherein at least one first cutter disc 120 is disposed on the side where the first end 113 connects to the first side edge 111, and at least one first cutter disc 120 is disposed on the side where the first end 113 connects to the second side edge 112. This allows the first cutter discs 120 to be located at the outer edge of the body 110, so that during the cutting operation, the first cutter discs 120 can cover the outer edge of the lawnmower, thereby ensuring that the cut reaches the edge.

[0406] It should be noted that the extension of the first end 113 along the lateral direction refers to the macroscopic extension along the lateral direction, rather than the strict extension along a straight line. For example, in some embodiments, the first end 113 can be an arc-shaped structure, the arc shape is set along the lateral direction, and the two ends of the arc-shaped structure gradually bend towards the second end 114 of the fuselage 110 in the lateral direction.

[0407] Additionally, it should be noted that "relative setting" refers to a macroscopic relative setting, which can be either directly opposite or diagonally opposite, etc.

[0408] Figure 17A The embodiment shown includes a first cutter head 120 and a second cutter head 122. The first cutter head 120 is located at the front of the machine body, and the second cutter head 122 is located between the front wheel 161 and the rear wheel 162.

[0409] In one possible implementation, see [link to previous section] Figure 17A As shown, the rotation radius of the second cutter head 122 can be greater than or equal to the rotation radius of the first cutter head 120.

[0410] This allows the second cutter head 122 to perform the main cutting operation, while the first cutter head 120 can be lighter, reducing the assembly difficulty of the first cutter head 120. When the first cutter head 120 is movably connected to the body 110, the smaller first cutter head 120 is easier to assemble and control, simplifying the structure of the drive device 150 that enables the movable connection between the first cutter head 120 and the body 110, thereby reducing costs. Furthermore, the smaller first cutter head 120 not only saves space inside the body 110 but also minimizes wind resistance, reducing the overall power consumption of the intelligent lawnmower 100 during the cutting process and achieving low-energy, high-efficiency cutting.

[0411] Of course, in some embodiments, the first blade disc 120 can also be detachably connected to the body 110, allowing selection of whether to install the first blade disc 120 when cutting different areas, thus improving the application flexibility of the intelligent lawnmower 100. For example, when cutting the edge area 210, the first blade disc 120 can be installed near the outer side of the body 110, allowing the intelligent lawnmower 100 to cut to the edge. When cutting areas not involving the edge area 210, the first blade disc 120 near the outer side of the body 110 can be detached, and only the second blade disc 122 can be used for cutting. Since the second blade disc 122 is located inside the body 110, this improves safety performance.

[0412] Of course, in some embodiments, the number of first cutter heads 120 can be at least two, and in the lateral direction of the machine body, at least two first cutter heads 120 are arranged opposite each other at the first end 113.

[0413] This configuration serves two purposes: firstly, the two opposing first blade discs 120 balance the center of gravity, eliminating the need for additional counterweights; secondly, both first blade discs 120 can cut, expanding their cutting range and allowing the smart lawnmower 100 to cut to the edge. Furthermore, since either first blade disc 120 can be used, the algorithm doesn't need to be modified based on the blade disc's position, making it more versatile. Additionally, the rotation of the blade discs on both sides drives airflow under the machine, improving heat dissipation and dispersing grass clippings from the front wheels, preventing slippage due to sticky grass.

[0414] When the first cutter head 120 and the second cutter head 122 overlap at least partially in the forward direction, it helps to prevent missed cuts. Moreover, when the first cutter head 120 and the second cutter head 122 are staggered in the forward direction, the heat generated by the first cutter head 120 and the second cutter head 122 will not be concentrated, which helps to disperse the heat of the first cutter head 120 and the second cutter head 122, thereby improving the heat dissipation efficiency of the first cutter head 120 and the second cutter head 122.

[0415] In addition, in some embodiments, the second cutter head 122 may not be provided, and only the first cutter head 120 may be provided. In the embodiments of this application, the number of the first cutter head 120, whether the second cutter head 122 is provided, and the number of the second cutter head 122 when the second cutter head 122 is provided are not further limited.

[0416] It should be noted that, in this embodiment, when the relative positions of the first cutter head 120 and the machine body 110 remain unchanged, the connection method between the first cutter head 120 and the machine body 110 is the same as described above. Figures 1-12 The embodiments shown are the same; for example, the first cutter head 120 can be detachably connected to the machine body. The connection method between the first cutter head 120 and the machine body 110 in the embodiments of this application can also refer to the above description. Figures 1-12 The description of the embodiments in this application will not be repeated here.

[0417] By placing the second cutter head 122 between the rear wheel 162 and the front wheel 161, and placing the first cutter head 120 between the first cutting surface a and the first end 113 of the front wheel 161, the first cutter head 120 and the second cutter head 122 can avoid the front wheel 161 and the rear wheel 162 of the intelligent lawnmower 100, thus preventing the first cutter head 120 and the second cutter head 122 from interfering with the front wheel 161 and the rear wheel 162 of the intelligent lawnmower 100 and scratching the front wheel 161 or the rear wheel 162.

[0418] like Figure 17 As shown, there is only one front wheel 161, located on the central axis of the machine body in the lateral direction and in the forward direction of the intelligent lawnmower. By setting the number of front wheels 161 to one, the structure of the lawnmower is simplified, and costs are reduced. Furthermore, a single front wheel 161 occupies less space, so setting one front wheel 161 provides sufficient space for the first blade disc 120, ensuring a sufficiently large rotation radius for the first blade disc 120, thereby expanding the cutting range of the lawnmower and ensuring that the lawnmower can cut the blade edges.

[0419] Of course, in some other embodiments, the number of front wheels 161 may also be two, and the front wheels are symmetrically arranged in the lateral direction of the machine body in the forward direction of the intelligent lawnmower. Having two front wheels can improve the obstacle-crossing ability of the intelligent lawnmower. In the embodiments of this application, the number of front wheels 161 is not further limited.

[0420] It should be noted that there are generally two rear wheels 162, which are arranged opposite each other on both sides of the fuselage 110 in the lateral direction. The outer edges of the rear wheels 162 can be outside the outer edge of the fuselage 110, flush with the outer edge of the fuselage 110, or inside the outer edge of the fuselage 110. In this embodiment, the number, size, and arrangement of the rear wheels 162 are not further limited.

[0421] It should be noted that, in this embodiment of the application, the intelligent lawnmower 100 may further include a motor 130 (see...). Figure 18 As shown in the figure, the motor 130 is connected to the first cutter head 120. The motor 130 is used to drive the first cutter head 120 to rotate so that the first cutter head 120 can perform cutting operations. The speed of the motor 130 is between 1800 rpm and 3500 rpm.

[0422] It should be noted that the rotational speeds and technical effects of the first and second cutter heads in this application are similar to those of... Figures 1-12 The first and second cutter discs rotate at the same speed. In this embodiment, the rotation speeds and technical effects of the first and second cutter discs can be found by referring to... Figures 1-12 The description of the rotational speeds of the first and second cutter heads in the illustrated embodiments will not be repeated in this application embodiment.

[0423] See also Figure 17A As shown, both the first cutter head 120 and the second cutter head 122 may include a blade 121 and a rotating disk 123. Multiple blades 121 are spaced apart circumferentially along the rotating disk 123. Each blade 121 has a cutting edge on its outer side, and the outer edge of the cutting edge is both the outer edge of the first cutter head 120 and the outer edge of the blade 121.

[0424] It should be noted that the shape, structure, and principle of the first cutter head 120 and the second cutter head 122 in the embodiments of this application are similar to those of the second cutter head 122. Figures 1-12 The first cutter head 120 and the second cutter head 122 in the illustrated embodiment are identical. Therefore, in the embodiments of this application, the shape, structure, and principle of the first cutter head 120 and the second cutter head 122 can be referred to... Figures 1-12 The description of the first cutter head 120 and the second cutter head 122 in the embodiments shown is not further explained in this application embodiment.

[0425] The above embodiments describe embodiments in which the first cutter head 120 is located at the first end 113 of the machine body 110, and the position of the first cutter head 120 relative to the position of the machine body 110 can remain unchanged, and the first cutter head can be located at a first position and a second position.

[0426] In some other embodiments where the first cutter head 120 is located at the first end 113 of the machine body 110, the first cutter head 120 may be movably connected to the machine body 110, and the first cutter head 120 may pass through at least a first position and a second position during its movement relative to the machine body 110.

[0427] It should be noted that the technical solutions for the movable connection between the first cutter head 120 and the machine body 110 and the technical solutions for the fixed relative position between the first cutter head 120 and the machine body 110 are the same except for the connection method between the first cutter head 120 and the machine body 110. The other positional relationships and the structures of the machine body, front wheel, rear wheel, etc. are the same as those in the technical solution for the fixed relative position between the first cutter head 120 and the machine body 110. Therefore, in the scheme for the movable connection between the first cutter head 120 and the machine body 110, the structures and principles other than the connection method between the first cutter head 120 and the machine body 110 will not be described in detail.

[0428] By movably connecting the first blade disc 120 to the body 110, when the intelligent lawnmower 100 detects a crossable obstacle in the path ahead, such as a hard obstacle like a pebble that could potentially damage the blade disc, it can swing the first blade disc 120 from the second position to the first position to cross the obstacle, thus reducing the chance of blade disc damage. Similarly, when the intelligent lawnmower 100 detects a hard obstacle to the side that might damage the first blade disc 120 which is currently mowing in the first position, it can swing the first blade disc 120 from the first position to the second position to cross it, further reducing the chance of damage. These methods effectively extend the service life of the first blade disc and improve the overall safety of the intelligent lawnmower 100.

[0429] In this embodiment of the application, the first position is defined as follows: at least a portion of the first cutter head 120 is located outside the orthographic projection of the machine body 110 toward the ground, and in the lateral direction (y direction) of the machine body, the minimum horizontal distance h2 between the farthest point of the first cutter head 120 away from the machine body 110 and the machine body 110 is greater than 1 / 10 of the diameter of the first cutter head 120, and the minimum horizontal distance h2 between the farthest point of the first cutter head 120 away from the machine body 110 and the machine body 110 is less than 2 / 3 of the diameter of the first cutter head 120.

[0430] In some embodiments, the first blade 120 is configured such that when the smart lawnmower 100 is in the mowing state and is not stuck, the rotational speed of the first blade 120 is V1, and the rotational speed of the first blade 120 is less than or equal to V1 during the movement of the first blade 120 relative to the body 110, where V1 is between 1800 rpm and 3500 rpm.

[0431] When the first blade 120 is in the first position and the distance beyond the body 110 is less than 1 / 10 of the diameter of the first blade 120, the grass retention rate is relatively high. By setting the distance beyond the body 110 of the first blade 120 to be greater than 1 / 10 of the diameter of the first blade 120 but less than 2 / 3 of the diameter of the first blade 120, the first blade 120 can operate at a more suitable temperature when the intelligent lawnmower 100 is cutting. However, when it exceeds 2 / 3, the area of ​​the blade exposed to sunlight is larger, and the blade will also generate heat during high-speed operation, which will increase the probability of the blade cracking. At the same time, since the blade is far away from the body 110, the vibration generated is also larger, which will affect the working efficiency of the intelligent lawnmower 100.

[0432] In one possible implementation, the first blade 120 is configured such that when the intelligent lawnmower 100 is in mowing mode and not jammed, the rotational speed of the first blade 120 is V1. When the first blade 120 moves relative to the body 110, its rotational speed is less than V1. This less-than-V1 rotational speed during movement reduces wobbling and improves stability; it also reduces resistance and saves energy; furthermore, the movement is used to adjust the cutting position of the first blade 120. For example, when adjusting the first blade 120 from the first position to the second position, there are often people or animals nearby, posing a safety hazard. At this time, an alarm needs to be sounded to drive away people or animals. The faster the rotation speed of the first blade 120, the louder the noise emitted by the intelligent lawnmower 100. Excessive noise will block the alarm sound and prevent people or animals from being driven away normally, affecting the normal operation of the lawnmower. When the rotation speed of the first blade 120 during the movement is less than the normal lawnmower rotation speed V1, the noise emitted by the first blade 120 is small and will not block the alarm sound, ensuring the smooth removal of living obstacles.

[0433] The first blade disc 120 is configured such that when the intelligent lawnmower 100 is in the mowing state and not jammed, the rotational speed of the first blade disc 120 is V1. When the first blade disc 120 moves relative to the body 110, the rotational speed of the first blade disc 120 is equal to V1. When the first blade disc 120 is moving, the rotational speed of the blade disc is consistent with the rotational speed V1 when the blade disc is mowing. On the one hand, this can reduce the acceleration and deceleration of the first blade disc 120, increase the speed of the first blade disc 120 position adjustment, and thus improve the working efficiency of the lawnmower. On the other hand, reducing the acceleration and deceleration of the first blade disc 120 can reduce the load on the motor of the first blade disc 120 and increase the service life of the motor.

[0434] In one possible implementation, when the first cutter head 120 is movably connected to the body 110, the first cutter head 120 also includes a third position (not shown in the figure). When the first cutter head 120 is in the third position, it is located within the orthographic projection of the body 110 toward the ground, and the minimum distance from the outer edge of the cutting blade to the outer edge of the body 110 is greater than 50 mm. For example, the minimum distance from the outer edge of the cutting blade to the outer edge of the body 110 can be 51 mm, 52 mm, 53 mm, 54 mm, etc.

[0435] In one possible implementation, the first cutter head 120 moves through at least a first position, a second position, and a third position during its movement relative to the machine body 110.

[0436] By positioning the first blade disc 120 in a third position, it can be located inside the body 110 and far from its edge. When cutting at the second position is not required, the first blade disc 120 can be moved to the third position, thus improving the safety performance of the intelligent lawnmower. When cutting at the second position is required, the first blade disc 120 can be moved to either the first or second position, expanding its cutting range. This allows the intelligent lawnmower to cut beyond the body 110, ensuring edge cutting and improving cutting efficiency. This allows the position of the first blade disc 120 to be determined based on the cutting situation, enhancing the adaptability of the intelligent lawnmower.

[0437] In one possible implementation, the first cutter head 120 moves through at least a first position and a second position relative to the body 110. This arrangement expands the cutting area of ​​the first cutter head 120, ensuring that the cut reaches the edge and improving the cutting efficiency of the lawnmower.

[0438] Specifically, when cutting in the first or second position, the rotational speed of the first cutter head 120 is greater than or equal to the rotational speed of the first cutter head 120 during its movement relative to the machine body. This reduces the wobbling of the first cutter head 120 by decreasing the rotational speed during its movement relative to the machine body, thus improving safety and stability. Conversely, setting a higher rotational speed in the first or second position can improve cutting efficiency.

[0439] In one possible implementation, the smart lawnmower 100 further includes, when the first cutter head 120 is in the third position, at least a portion of the first cutter head 120 and the second cutter head 122 have their orthographic projections toward the ground in the forward direction of the smart lawnmower 100 coincide.

[0440] This configuration ensures that when the first cutter head 120 is in the third position, there is no missed cutting area between the first cutter head 120 and the second cutter head 122, preventing missed cutting and improving cutting efficiency. On the other hand, the first cutter head 120 and the second cutter head 122 partially overlap in the forward direction, and the space outside the overlap has a certain obstacle-crossing utilization rate, allowing them to traverse more complex terrains.

[0441] In one possible implementation, such as Figure 18 As shown, the intelligent lawnmower 100 may include a drive unit 150 and a control unit 190. The drive unit 150 is disposed between the body 110 and the first cutter head 120. The drive unit 150 is used to drive the first cutter head 120 to move radially along the first cutter head 120. The control unit 190 is connected to the drive unit 150 and is used to control the drive unit 150 to move the first cutter head 120 to a first position, a second position, or a third position.

[0442] By setting up a drive device 150 and a control device 190, and connecting the drive device 150 to the first cutter head 120 and the control device 190 to the drive device 150, the position switching efficiency of the first cutter head 120 can be improved by controlling the first cutter head 120 to switch between the first position, the second position, or the third position.

[0443] For example, the drive device 150 is one or more combinations of a worm gear structure, a linkage drive device, a linkage mechanism, or a gear assembly. Among these, the worm gear structure, linkage drive device, linkage mechanism, or gear assembly are common drive devices and are relatively simple to assemble. Therefore, setting the drive device 150 as a worm gear structure, linkage drive device, linkage mechanism, or gear assembly can simplify the drive device 150 and reduce the cost of the intelligent lawnmower 100.

[0444] In some embodiments, the intelligent lawnmower 100 may further include a first acquisition unit 191, which is used to acquire the position information of the intelligent lawnmower 100 in the area to be cut 200. The first acquisition unit 191 is electrically connected to the control device 190, which is used to control the drive device 150 to move the first cutter head 120 to a first position, a second position, or a third position according to the position information of the intelligent lawnmower 100 in the area to be cut 200.

[0445] It should be noted that the location information of the intelligent lawnmower 100 in the area to be cut 200 refers to the intelligent lawnmower 100 being located in the edge area 210, the middle area 220, or the corner area 230.

[0446] By controlling the state of the first cutter head 120 based on the position information of the intelligent lawnmower 100 in the area to be cut 200, the first cutter head 120 can be positioned appropriately when the intelligent lawnmower 100 performs cutting operations on different areas, thereby improving cutting efficiency while ensuring that the edge can be cut.

[0447] For example, when the location information indicates that the smart lawnmower 100 is located in the edge region 210, the first blade 120 can be adjusted to a first position or a second position to cut the edge of the body 110 or the area outside the edge of the body 110, thus solving the problem in related technologies where the smart lawnmower 100 cannot cut the edge. When the location information indicates that the location is in the middle region 220, the first blade 120 can be moved to a third position, placing the first blade 120 below the body 110, thereby improving the safety performance of the smart lawnmower 100. When the location information indicates that the location is in the corner region, the first blade 120 can be moved to a first position to cut the edge of the body 110 and the area outside the edge of the body 110, thus solving the problem in related technologies where the smart lawnmower 100 cannot cut the edge.

[0448] Of course, in other embodiments, the first cutter head 120 can be moved to other states according to the position information. The specific settings can be made according to the specific circumstances. In this embodiment, no further limitations are made.

[0449] For example, the first acquisition unit 191 may include one or more of radar, time of flight (TOF) sensor, depth camera, binocular camera, camera, distance sensor, laser rangefinder, edge sensor, and flight sensor, so as to acquire the position information of the smart lawnmower 100 in the area to be cut 200, so that the smart lawnmower 100 can control the position of the first cutter head 120 according to the position information.

[0450] In one possible implementation, the intelligent lawnmower 100 may further include a second acquisition unit 192, wherein the second acquisition unit 192 is used to acquire minimum horizontal distance information from the first cutter head 120 to the boundary line 300 of the area to be cut 200. The second acquisition unit 192 is connected to a control device 190, which is used to drive the drive device 150 to move the first cutter head 120 to a first position, a second position, or a third position based on the minimum horizontal distance information.

[0451] For example, when the first cutter head 120 is in the first position, the control device 190 is further configured to control the drive device 150 to extend the first cutter head 120 beyond the first end 113 by a first preset length based on the minimum horizontal distance information. The minimum horizontal distance from the first cutter head 120 to the boundary line 300 of the area to be cut 200 is greater than the first preset length. That is, the control device 190 can control the horizontal distance of the first cutter head 120 extension based on the minimum horizontal distance, which can prevent the first cutter head 120 from colliding with the boundary line 300, etc., and prevent the first cutter head 120 from being damaged. In other words, the first cutter head 120 can expand the cutting range without collision, thereby achieving cutting to the edge.

[0452] For example, the first preset length is between 10-20cm. For instance, the first preset length can be 10cm, 11cm, 12cm, 13cm, 14cm, 15cm, 16cm, 17cm, 18cm, 19cm, 20cm, etc. Of course, in other embodiments, the first preset length can also be other values. In this embodiment, the first preset length is not further limited. By setting the first preset length to 10-20cm, the cutting range of the first cutter head can be expanded, ensuring that the cutting reaches the edge. Additionally, it can prevent the first cutter head from extending too far and becoming difficult to retract.

[0453] In one possible implementation, when the first cutter head 120 is in the first position, in the y direction, the minimum horizontal distance h3 between the farthest point of the first cutter head 120 away from the body 110 and the body 110 is greater than 1 / 10 of the diameter of the first cutter head, and the minimum horizontal distance h3 between the farthest point of the first cutter head 120 away from the body 110 and the body 110 is less than 1 / 3 of the diameter of the first cutter head.

[0454] In one possible implementation, when the first cutter head 120 is in the first position, in the y direction, the minimum horizontal distance h3 between the farthest point of the first cutter head 120 away from the body 110 and the body 110 is greater than 1 / 8 of the diameter of the first cutter head, and the minimum horizontal distance h3 between the farthest point of the first cutter head 120 away from the body 110 and the body 110 is less than 1 / 4 of the diameter of the first cutter head.

[0455] For example, the minimum horizontal distance h3 between the farthest point of the first cutter head 120 away from the machine body 110 and the machine body 110 can be 1 / 10, 1 / 9, 1 / 8, 1 / 7, 1 / 6, 1 / 5, 1 / 4, 1 / 3, 1 / 2, etc. of the diameter of the first cutter head 120. In the embodiments of this application, the minimum horizontal distance h3 between the farthest point of the first cutter head 120 away from the machine body 110 and the machine body 110 is not further limited to a fraction of the diameter of the first cutter head 120.

[0456] For example, the second acquisition unit 192 can be a distance sensor, an edge sensor, an edge radar, or other device that can measure distance. In this application, the structure of the second acquisition unit 192 is not further limited.

[0457] In one possible implementation, the smart lawnmower 100 may further include a detection device 140 disposed on the body 110. The detection device 140 is used to detect biological information, and the smart lawnmower 100 is used to perform safety protection actions based on the biological information.

[0458] In this embodiment, the safety protection actions include one or more combinations of the following: the intelligent lawnmower 100 slows down, the intelligent lawnmower 100 stops moving, the first blade 120 slows down its rotation, the first blade 120 stops rotating, the intelligent lawnmower 100 performs obstacle avoidance, and the intelligent lawnmower 100 performs obstacle bypass. This configuration can improve the safety performance of the intelligent lawnmower 100. When the intelligent lawnmower 100 performs obstacle avoidance, the first blade 120 can be concealed within the protective cover 125.

[0459] Of course, in other embodiments, the safety protection action may also include controlling the first cutter head 120 to move to the third position, controlling the first cutter head 120 to decelerate, etc. In this application embodiment, the safety protection action can be set in various ways, and no further limitation is made on the safety protection action in this application embodiment.

[0460] By setting up the detection device 140, the lawnmower can be controlled to enter a safety protection action based on the biological information detected by the detection device 140. During the safety protection action, the first blade disc is decelerated and / or stopped and / or the first blade disc is covered inside the protective cover 125, which can improve the safety performance of the intelligent lawnmower.

[0461] It should be noted that, in this embodiment of the application, when the first cutter head 120 is fixedly connected to the machine body 110, the safety protection action is the same as... Figures 1-12 The safety protection actions in the embodiments shown are the same. For a description of the safety protection actions in this embodiment, please refer to [reference needed]. Figures 1-12 The description of the safety protection actions in the illustrated embodiment is not further explained in this embodiment. When the first cutter head 120 is movably connected to the machine body 110, the safety protection actions are... Figures 13-16 The safety protection actions in the embodiments shown are the same. For a description of the safety protection actions in this embodiment, please refer to [reference needed]. Figures 13-16 The descriptions of safety protection actions shown in the embodiments are not further explained in this embodiment.

[0462] For example, the smart lawnmower 100 may also include a balancing structure 170, which is disposed on the body 110 and is used to balance the mass of the first blade 120 and the motor 130. This arrangement can keep the body 110 balanced and prevent the smart lawnmower 100 from tipping over or causing other problems during mowing.

[0463] In one possible implementation, the motor 130 is equipped with a heat dissipation device for cooling the motor 130. For example, the heat dissipation device can be a fan, a water-cooling device, an air-cooling device, etc., and the specific structure of the heat dissipation device is not further limited in this embodiment. By providing a heat dissipation device, the motor 130 can be cooled, ensuring its normal operation.

[0464] It should be noted that in some implementations, a heat dissipation device may not be provided on the outside of the motor 130. In the embodiments of this application, the specific shape and location of the heat dissipation device are not further limited.

[0465] In one possible implementation, the motor 130 may also have a waterproof structure on its exterior.

[0466] By installing a waterproof structure on the outside of the motor 130, water or moisture can be prevented from entering the motor 130, ensuring the normal operation of the motor 130.

[0467] It should be noted that the waterproof structure can be set between the output shaft of motor 130 and the motor body of motor 130. This allows the output shaft of motor 130 to be exposed while motor 130 itself is not exposed, thereby effectively preventing water or moisture from entering motor 130 and ensuring the normal operation of motor 130.

[0468] It should be noted that, in the embodiments of this application, the shape, structure, principle, and placement of the rear wheel 162, detection device 140, protective cover 125, and balance structure 170 are all similar to those of the rear wheel 162, detection device 140, protective cover 125, and balance structure 170. Figures 1-12 The rear wheel 162, detection device 140, protective cover 125, and balancing structure 170 are the same in the illustrated embodiment. Therefore, in the embodiments of this application, the shape, structure, principle, and placement of the rear wheel 162, detection device 140, protective cover 125, and balancing structure 170 can be referred to... Figures 1-12 The descriptions of the rear wheel 162, detection device 140, protective cover 125, and balance structure 170 in the illustrated embodiments are not further elaborated in this application embodiment.

[0469] In addition, the moving speed of the intelligent lawnmower 100, the minimum horizontal distance between the first blade disc 120 and the second blade disc 122 and the ground, and the mass of the first blade disc 120 are all related to... Figures 1-12In the illustrated embodiment, the intelligent lawnmower 100 has the same moving speed, the minimum horizontal distance between the first blade disc 120 and the second blade disc 122 and the ground, and the same mass of the first blade disc 120. For details, please refer to [reference needed]. Figures 1-12 The descriptions in the embodiments shown are not further elaborated in the embodiments of this application.

[0470] Figure 17 The embodiment shown describes an embodiment in which the first cutter head 120 is disposed at the first end 113 of the machine body 110. Of course, in some embodiments, the first cutter head 120 may be disposed at other locations, for example, the first cutter head 120 may be disposed at the second end 114 of the machine body 110.

[0471] like Figure 19 As shown, the intelligent lawnmower 100 provided in this embodiment includes a body 110, a rear wheel 162, a front wheel 161, and a first blade disc 120. The body 110 includes a first end 113 and a second end 114 disposed opposite each other along the forward direction (x-direction) of the intelligent lawnmower 100. For example, the first end 113 of the intelligent lawnmower 100 is the front end of the body 110, and the second end 114 is the rear end of the body 110. It should be noted that "front end" and "rear end" refer to the macroscopic front and rear ends, representing what is generally considered the front and rear of the intelligent lawnmower 100.

[0472] In this embodiment, both the front wheel 161 and the rear wheel 162 are disposed on the side of the fuselage 110 facing the ground. In the x direction, the front wheel 161 and the rear wheel 162 are spaced apart, and the front wheel 161 is located between the rear wheel 162 and the first end 113. That is, the rear wheel 162 is disposed near the rear end of the fuselage 110, and the front wheel 161 is disposed near the front end of the fuselage 110.

[0473] like Figure 19 As shown, the first cutter head 120 is mounted below the body 110 and is used to perform cutting operations on the area to be cut 200. In the forward direction of the smart lawnmower, at least a portion of the first cutter head 120 is located between the second cutting surface b and the second end 114 of the rear wheel 162. The second cutting surface is perpendicular to the forward direction of the smart lawnmower and passes through the second end point of the rear wheel 162, which is defined as the point on the rear wheel 162 furthest from the second end point 114.

[0474] In some embodiments, the relative position of the first cutter head 120 with the machine body 110 can be fixed, and the first cutter head 120 can be fixed in a first position or a second position.

[0475] The first position is defined as follows: at least a portion of the first cutter head 120 is located outside the orthographic projection of the machine body 110 toward the ground. For example, when the first cutter head is in the first position, the horizontal distance h4 from the outer edge of the first cutter head 120 located outside the machine body 110 to the outer edge of the machine body 110 can be greater than or equal to 0 and less than or equal to 60 mm.

[0476] This configuration expands the cutting range of the intelligent lawnmower 100, solving the problem of the intelligent lawnmower 100 not being able to cut the edges in related technologies. For example, the horizontal distance h4 from the outer edge of the first cutter disc 120 located outside the body 110 to the outer edge of the body 110 can be 60 mm, 55 mm, 50 mm, 45 mm, 40 mm, 35 mm, 30 mm, 25 mm, 20 mm, 15 mm, 10 mm, 5 mm, 0 mm, etc. In this embodiment, the horizontal distance h3 from the outer edge of the first cutter disc 120 located outside the body 110 to the outer edge of the body 110 is not further limited.

[0477] The second position is defined as follows: the first cutter head 120 is located within the orthographic projection of the machine body 110 toward the ground, and the minimum horizontal distance from the outer edge of the cutting blade to the outer edge of the machine body 110 (see...). Figure 4 h1) is greater than or equal to 0 and less than or equal to 50 mm.

[0478] For example, the minimum horizontal distance h1 from the outer edge of the first cutter head 120 to the outer edge of the machine body 110 can be 50 mm, 45 mm, 40 mm, 35 mm, 30 mm, 25 mm, 20 mm, 15 mm, 10 mm, 5 mm, 0 mm, etc. In this embodiment, the minimum horizontal distance from the outer edge of the first cutter head 120 to the outer edge of the machine body 110 is not further limited.

[0479] It should be noted that, in the embodiments of this application, the first position and the second position are... Figures 1-12 The first and second positions in the illustrated embodiment are the same; for details, please refer to [reference needed]. Figures 1-12 The embodiments shown describe the first position and the second position.

[0480] The first blade 120 is configured to rotate at a speed between 1800 rpm and 3500 rpm when the intelligent lawnmower 100 is in mowing mode and not jammed. The intelligent lawnmower 100 may also include a detection device 140, located on the body 110. The detection device 140 is used to detect biological information, and the intelligent lawnmower 100 uses this biological information to perform safety protection actions.

[0481] The intelligent lawnmower 100 provided in this application, by positioning the first blade disc 120 below the body 110, allows the first blade disc 120 to face the lawn being cut, facilitating the intelligent lawnmower 100 to perform cutting operations. By providing metal cutting blades on the outer side of the first blade disc 120, the sharpness of the first blade disc 120 can be improved, which is beneficial to improving the cutting efficiency of the first blade disc 120.

[0482] By positioning at least a portion of the first blade disc 120 at the rear of the body 110, on the one hand, when an emergency stop or deceleration of the blade disc is required, such as obstacle avoidance, obstacle bypassing, or obstacle crossing, the blade disc can be controlled to decelerate or stop in a timely manner. Because the blade disc is located at the rear of the body 110, there is a longer reaction time when controlling the blade disc to decelerate or stop. This ensures that the blade disc has sufficient time to switch to the preset deceleration or stop state before the intelligent lawnmower 100 performs these actions, avoiding collisions with obstacles or gravel due to untimely switching, which could damage the blade disc. In this way, it is not necessary to increase the precision and cost at the software and sensor levels to achieve timely blade disc state switching, and it can also effectively save further cost investment at the software and sensor levels. On the other hand, when the intelligent lawnmower 100 performs reversing mowing, it avoids the problem of inconsistent cutting height caused by the rear wheels bending the lawn, which affects the mowing efficiency.

[0483] When the first cutter head 120 is in the first position, at least a portion of the first cutter head 120 is located outside the outer edge of the body 110. This increases the cutting width outside the body 110, thereby expanding the cutting range of the intelligent lawnmower 100. This makes the blind spot of the intelligent lawnmower 100 at the boundary line smaller, enabling it to cut to the edge and solving the problem of high grass retention rate and inability to cut to the edge in related technologies.

[0484] When the first cutter head 120 is in the second position, it is located inside the body 110 and the distance between it and the outer edge of the body 110 is greater than or equal to 0 and less than or equal to 50 mm. This ensures cutting safety to the greatest extent while achieving edge cutting. By reducing the distance between the first cutter head 120 and the outer edge of the body 110, the cutting blind zone of the first cutter head 120 of the intelligent lawnmower 100 from the boundary line is small, which can achieve edge cutting and solve the problem of high grass retention rate and inability to cut to the edge in related technologies.

[0485] like Figure 19AAs shown in the embodiment of this application, the intelligent lawnmower 100 may further include a second cutter head 122. In the forward direction of the intelligent lawnmower 100, the position of the second cutter head 122 relative to the machine body remains unchanged, and the second cutter head 122 is disposed between the front wheel 161 and the rear wheel 162, while the first cutter head 120 is located on one side of the rear wheel 162. The first cutter head 120 and the second cutter head 122 are spaced apart. Both the first cutter head 120 and the second cutter head 122 are mounted below the machine body 110 and are used to perform cutting operations on the area to be cut 200.

[0486] This configuration expands the cutting range of the intelligent lawnmower 100, prevents missed cuts, and improves cutting efficiency. By positioning the second blade 122 between the body 110 and the rear wheel 162, interference between the first and second blades 120 is prevented, as is interference between the first and second blades and the body 110 and rear wheel 162, thus avoiding scratches. Furthermore, the first and second blades 120 can rotate in coordination, generating a strong airflow. This stronger airflow acting on the body 110 allows for better removal of grass clippings, preventing slippage and ensuring the stability of the intelligent lawnmower 100. Simultaneously, the high-speed rotating airflow effectively dissipates heat generated during blade operation, resulting in better heat dissipation.

[0487] It should be noted that the rear wheel 162 can be a driven roller used to drive the intelligent lawnmower 100 forward or backward. The front wheel 161 can be used to adjust the direction. For example, the front wheel 161 can be a swivel wheel.

[0488] In the embodiments of this application, such as Figure 19 As shown, the body 110 also includes a first side edge 111 and a second side edge 112. Both the first side edge 111 and the second side edge 112 extend along the forward direction (x direction) of the intelligent lawnmower 100. In the forward direction of the intelligent lawnmower, both ends of the first side edge 111 and the second side edge 112 are connected to the second end 114 and the first end 113, respectively. The first side edge 111 and the second side edge 112 are arranged opposite each other on both sides of the body 110 in the lateral direction, and the lateral direction of the body 110 is perpendicular to the forward direction.

[0489] The two ends of the first end 113 of the body 110 extend in the opposite direction to the forward direction of the intelligent lawnmower. The two ends of the second end 114 extend in the forward direction of the intelligent lawnmower. Parts of the structure of the first end 113 and the second end 114 can extend in the lateral direction (y direction).

[0490] By setting the first end 113 and the second end 114 as components whose partial structure extends in the lateral direction, the smart lawnmower can have a certain lateral position in the y-direction. Thus, when the first cutter disc 120 is installed at one end of the second end 114, the first cutter disc 120 can be located on one side of the rear end of the smart lawnmower, and the first cutter disc 120 can cut to the position on one side of the rear end of the smart lawnmower, which can expand the cutting area and ensure that the edge can be cut.

[0491] In some embodiments, there is one first cutter head 120, wherein the first cutter head 120 is disposed on the side where the second end 114 connects to the first side edge 111, or the first cutter head 120 may be located on the side where the second end 114 connects to the second side edge 112. This allows the first cutter head 120 to be located at the outer edge of the body 110, so that during the cutting operation, the first cutter head 120 can cover the outer edge of the lawnmower, thereby ensuring that the cut reaches the edge.

[0492] In some embodiments, the number of first cutter discs 120 is at least two, wherein at least one first cutter disc 120 is disposed on the side where the second end 114 is connected to the first side edge 111, and at least one first cutter disc 120 is disposed on the side where the second end 114 is connected to the second side edge 112 (see [link]). Figure 21 (As shown). This allows the first cutter head 120 to be located at the outer edge of the body 110, so that when performing cutting operations, the first cutter head 120 can cover the outer edge of the lawnmower, thereby ensuring that the cut reaches the edge.

[0493] It should be noted that the extension of the second end 114 along the lateral direction refers to a macroscopic extension along the lateral direction, rather than an extension strictly in a straight line. For example, in some embodiments, the second end 114 can be an arc-shaped structure, the arc being set along the lateral direction as a whole, and the two ends of the arc-shaped structure gradually curving towards the first end 113 of the fuselage 110 in the lateral direction.

[0494] Additionally, it should be noted that "relative setting" refers to a macroscopic relative setting, which can be either directly opposite or diagonally opposite, etc.

[0495] Figure 19A The illustrated embodiment includes a first cutter head 120 and a second cutter head 122. In one possible implementation, see [link to previous section]. Figure 19A As shown, the rotation radius of the second cutter head 122 is greater than or equal to the rotation radius of the first cutter head 120.

[0496] This allows the second cutter head 122 to perform the main cutting operation, while the first cutter head 120 can be lighter, reducing the assembly difficulty during assembly. When the first cutter head 120 is movably connected to the body 110, the smaller first cutter head 120 is easier to assemble and control, simplifying the structure of the drive device 150 that enables the movable connection between the first cutter head 120 and the body 110, thereby reducing costs. Furthermore, the smaller first cutter head 120 not only saves space inside the body 110 but also minimizes wind resistance, reducing the overall power consumption of the intelligent lawnmower 100 during cutting and achieving low-energy, high-efficiency cutting.

[0497] Of course, in some embodiments, the first blade disc 120 can also be detachably connected to the body 110, allowing selection of whether to install the first blade disc 120 when cutting different areas, thus improving the application flexibility of the intelligent lawnmower 100. For example, when cutting the corner area 230, the first blade disc 120 can be installed near the outer side of the body 110, allowing the intelligent lawnmower 100 to cut to the edge. When cutting areas that do not involve the corner area 230, the first blade disc 120 near the outer side of the body 110 can be removed, and only the second blade disc 122 can be used for cutting. Since the second blade disc 122 is located inside the body 110, this improves safety performance.

[0498] Of course, in some embodiments, the number of first cutter heads 120 can be at least two, and in the lateral direction of the machine body, at least two first cutter heads 120 are arranged opposite to each other at the second end 114.

[0499] This configuration serves two purposes: firstly, the two opposing first blade discs 120 balance the center of gravity, eliminating the need for additional counterweights; secondly, both first blade discs 120 can cut, expanding their cutting range and allowing the smart lawnmower 100 to cut to the edge. Furthermore, since either first blade disc 120 can be used, the algorithm doesn't need to be modified based on the blade disc's position, making it more versatile. Additionally, the rotation of the blade discs on both sides drives airflow under the machine, improving heat dissipation and dispersing grass clippings from the front wheels, preventing slippage due to sticky grass.

[0500] When the first cutter head 120 and the second cutter head 122 overlap at least partially in the forward direction, it helps to prevent missed cuts. Moreover, when the first cutter head 120 and the second cutter head 122 are staggered in the forward direction, the heat generated by the first cutter head 120 and the second cutter head 122 will not be concentrated, which helps to disperse the heat of the first cutter head 120 and the second cutter head 122, thereby improving the heat dissipation efficiency of the first cutter head 120 and the second cutter head 122.

[0501] In addition, in some embodiments, the second cutter head 122 may not be provided, and only the first cutter head 120 may be provided. In the embodiments of this application, the number of the first cutter head 120, whether the second cutter head 122 is provided, and the number of the second cutter head 122 when the second cutter head 122 is provided are not further limited.

[0502] It should be noted that, in this embodiment, when the relative positions of the first cutter head 120 and the machine body 110 remain unchanged, the connection method between the first cutter head 120 and the machine body 110 is the same as described above. Figures 1-12 The embodiments shown are the same; for example, the first cutter head 120 can be detachably connected to the machine body. The connection method between the first cutter head 120 and the machine body 110 in the embodiments of this application can also refer to the above description. Figures 1-12 The description of the embodiments in this application will not be repeated here.

[0503] like Figure 19A As shown, the number of front wheels 161 can be one, and in the first direction, the front wheel 161 is located at the center of the body 110. By setting the number of front wheels 161 to one, the structure of the lawnmower can be simplified and the cost reduced.

[0504] Of course, in other embodiments, such as Figure 21 As shown, the number of front wheels 161 can also be two. In the lateral direction, the two front wheels 161 are spaced apart and symmetrically distributed with respect to the central axis of the body 110. By setting the number of front wheels 161 to two, the stability of the lawnmower can be improved, and its obstacle-crossing ability can be enhanced.

[0505] It should be noted that there are generally two rear wheels 162, which are symmetrically arranged on both sides of the fuselage 110 in the lateral direction. The outer edges of the rear wheels 162 can be located outside the outer edge of the fuselage 110, flush with the outer edge of the fuselage 110, or inside the outer edge of the fuselage 110. In this embodiment, the number, size, and arrangement of the rear wheels 162 are not further limited.

[0506] For example, the first cutter head 120 may be located at the connection between the second end 114 and the first side edge 111, or the first cutter head 120 may be located at the connection between the second end 114 and the second side edge 112. This allows the first cutter head 120 to be located at the outer edge of the body 110, so that when performing cutting operations, the first cutter head 120 can cover the outer edge of the lawnmower, thereby ensuring that the cut reaches the edge.

[0507] It should be noted that the extension of the second end 114 along the lateral direction refers to a macroscopic extension along the lateral direction, rather than an extension strictly in a straight line. For example, in some embodiments, the second end 114 can be an arc-shaped structure, the arc being set along the lateral direction as a whole, and the two ends of the arc-shaped structure gradually curving towards the first end 113 of the fuselage 110 in the lateral direction.

[0508] It should be noted that, in this embodiment of the application, the intelligent lawnmower 100 may further include a motor 130 (see...). Figure 20 As shown in the figure, the motor is connected to the first cutter head 120, and the motor 130 is used to drive the first cutter head 120 to rotate so that the first cutter head 120 can perform cutting operations. The speed of the motor 130 is between 1800 rpm and 3500 rpm.

[0509] It should be noted that the rotational speeds and technical effects of the first and second cutter heads in this application are similar to those of... Figures 1-12 The first and second cutter discs rotate at the same speed. In this embodiment, the rotation speeds and technical effects of the first and second cutter discs can be found by referring to... Figures 1-12 The description of the rotational speeds of the first and second cutter heads in the illustrated embodiments will not be repeated in this application embodiment.

[0510] See also Figure 19A As shown, both the first cutter head 120 and the second cutter head 122 may include a blade 121 and a rotating disk 123. Multiple blades 121 are spaced apart circumferentially along the rotating disk 123. Each blade 121 has a cutting edge on its outer side, and the outer edge of the cutting edge is both the outer edge of the first cutter head 120 and the outer edge of the blade 121.

[0511] It should be noted that the shape, structure, and principle of the first cutter head 120 and the second cutter head 122 in the embodiments of this application are similar to those of the second cutter head 122. Figures 1-12 The first cutter head 120 and the second cutter head 122 in the illustrated embodiment are identical. Therefore, in the embodiments of this application, the shape, structure, and principle of the first cutter head 120 and the second cutter head 122 can be referred to... Figures 1-12 The description of the first cutter head 120 and the second cutter head 122 in the embodiments shown is not further explained in this application embodiment.

[0512] The above embodiments describe embodiments where the first cutter head 120 is located at the second end 114 of the machine body 110, and the position of the first cutter head 120 relative to the machine body 110 can remain unchanged. The first cutter head can be located at a first position and a second position. In other embodiments where the first cutter head 120 is located at the second end 114 of the machine body 110, the first cutter head 120 can also be movably connected to the machine body 110, and the first cutter head 120 passes through at least a first position and a second position during its movement relative to the machine body 110.

[0513] It should be noted that the technical solutions for the movable connection between the first cutter head 120 and the machine body 110 and the technical solutions for the fixed relative position between the first cutter head 120 and the machine body 110 are the same except for the connection method between the first cutter head 120 and the machine body 110. The other positional relationships and the structures of the machine body, front wheel, rear wheel, etc. are the same as those in the technical solution for the fixed relative position between the first cutter head 120 and the machine body 110. Therefore, in the scheme for the movable connection between the first cutter head 120 and the machine body 110, the structures and principles other than the connection method between the first cutter head 120 and the machine body 110 will not be described in detail.

[0514] By movably connecting the first blade disc 120 to the body 110, when the intelligent lawnmower 100 detects a crossable obstacle in the path ahead, such as a hard obstacle like a pebble that could potentially damage the blade disc, it can swing the first blade disc 120 from the second position to the first position to cross the obstacle, thus reducing the chance of blade disc damage. Similarly, when the intelligent lawnmower 100 detects a hard obstacle to the side that might damage the first blade disc 120 which is currently mowing in the first position, it can swing the first blade disc 120 from the first position to the second position to cross it, further reducing the chance of damage. These methods effectively extend the service life of the first blade disc and improve the overall safety of the intelligent lawnmower 100.

[0515] In this embodiment of the application, the first position is defined as follows: at least a portion of the first cutter head 120 is located outside the orthographic projection of the machine body 110 toward the ground, and in the lateral direction (y direction) of the machine body, the minimum horizontal distance h2 between the farthest point of the first cutter head 120 away from the machine body 110 and the machine body 110 is greater than 1 / 10 of the diameter of the first cutter head 120, and the minimum horizontal distance h2 between the farthest point of the first cutter head 120 away from the machine body 110 and the machine body 110 is less than 2 / 3 of the diameter of the first cutter head 120.

[0516] When the first blade 120 is in the first position and the distance beyond the body 110 is less than 1 / 10 of the diameter of the first blade 120, the grass retention rate is relatively high. By setting the distance beyond the body 110 of the first blade 120 to be greater than 1 / 10 of the diameter of the first blade 120 but less than 2 / 3 of the diameter of the first blade 120, the first blade 120 can operate at a more suitable temperature when the intelligent lawnmower 100 is cutting. However, when it exceeds 2 / 3, the area of ​​the blade exposed to sunlight is larger, and the blade will also generate heat during high-speed operation, which will increase the probability of the blade cracking. At the same time, since the blade is far away from the body 110, the vibration generated is also larger, which will affect the working efficiency of the intelligent lawnmower 100.

[0517] In one possible implementation, the first blade 120 is configured such that when the smart lawnmower 100 is in the mowing state and not jammed, the rotational speed of the first blade 120 is V1, and the rotational speed of the first blade 120 is less than or equal to V1 during the movement of the first blade 120 relative to the body 110, where V1 is between 1800 rpm and 3500 rpm.

[0518] The first blade 120 is configured such that when the intelligent lawnmower 100 is in mowing mode and not jammed, the rotational speed of the first blade 120 is V1. When the first blade 120 moves relative to the body 110, its rotational speed is less than V1. This less-than-V1 rotational speed during movement reduces wobbling and improves stability. It also reduces resistance, saving energy. Furthermore, the movement is used to adjust the cutting position of the first blade 120, for example, by adjusting the cutting position of the first blade. When the first blade 120 is adjusted from the first position to the second position, there are often people or animals nearby, posing a safety hazard. At this time, an alarm sound needs to be emitted to drive away people or animals. The faster the rotation speed of the first blade 120, the louder the noise emitted by the intelligent lawnmower 100. Excessive noise will block the alarm sound and fail to drive away people or animals normally, affecting the normal operation of lawnmowing. When the rotation speed of the first blade 120 during the movement is lower than the normal lawnmowing speed V1, the noise emitted by the first blade 120 is small and will not block the alarm sound, ensuring the smooth removal of living obstacles.

[0519] The first blade disc 120 is configured such that when the intelligent lawnmower 100 is in the mowing state and not jammed, the rotational speed of the first blade disc 120 is V1. When the first blade disc 120 moves relative to the body 110, the rotational speed of the first blade disc 120 is equal to V1. When the first blade disc 120 is moving, the rotational speed of the blade disc is consistent with the rotational speed V1 when the blade disc is mowing. On the one hand, this can reduce the acceleration and deceleration of the first blade disc 120, increase the speed of the first blade disc 120 position adjustment, and thus improve the working efficiency of the lawnmower. On the other hand, reducing the acceleration and deceleration of the first blade disc 120 can reduce the load on the motor of the first blade disc 120 and increase the service life of the motor.

[0520] In one possible implementation, the first cutter head 120 moves through at least a first position, a second position, and a third position during its movement relative to the machine body 110.

[0521] By positioning the first blade disc 120 in a third position, it can be located inside the body 110 and far from its edge. When cutting at the second position is not required, the first blade disc 120 can be moved to the third position, thus improving the safety performance of the intelligent lawnmower. When cutting at the second position is required, the first blade disc 120 can be moved to either the first or second position, expanding its cutting range. This allows the intelligent lawnmower to cut beyond the body 110, ensuring edge cutting and improving cutting efficiency. This allows the position of the first blade disc 120 to be determined based on the cutting situation, enhancing the adaptability of the intelligent lawnmower.

[0522] In one possible implementation, the first cutter head 120 moves through at least a first position and a second position relative to the body 110. This arrangement expands the cutting area of ​​the first cutter head 120, ensuring that the cut reaches the edge and improving the cutting efficiency of the lawnmower.

[0523] Specifically, when cutting in the first or second position, the rotational speed of the first cutter head 120 is greater than or equal to the rotational speed of the first cutter head 120 during its movement relative to the machine body. This reduces the wobbling of the first cutter head 120 by decreasing the rotational speed during its movement relative to the machine body, thus improving safety and stability. Conversely, setting a higher rotational speed in the first or second position can improve cutting efficiency.

[0524] In one possible implementation, the smart lawnmower 100 further includes, when the first cutter head 120 is in the third position, at least a portion of the first cutter head 120 and the second cutter head 122 have their orthographic projections toward the ground in the forward direction of the smart lawnmower 100 coincide.

[0525] This configuration ensures that when the first cutter head 120 is in the third position, there is no missed cutting area between the first cutter head 120 and the second cutter head 122, preventing missed cutting and improving cutting efficiency. On the other hand, the first cutter head 120 and the second cutter head 122 partially overlap in the forward direction, and the space outside the overlap has a certain obstacle-crossing utilization rate, allowing them to traverse more complex terrains.

[0526] In one possible implementation, such as Figure 20 As shown, the intelligent lawnmower 100 may include a drive unit 150 and a control unit 190. The drive unit 150 is disposed between the body 110 and the first cutter head 120. The drive unit 150 is used to drive the first cutter head 120 to move radially along the first cutter head 120. The control unit 190 is connected to the drive unit 150 and is used to control the drive unit 150 to move the first cutter head 120 to a first position, a second position, or a third position.

[0527] By setting up a drive device 150 and a control device 190, and connecting the drive device 150 to the first cutter head 120 and the control device 190 to the drive device 150, the position switching efficiency of the first cutter head 120 can be improved by controlling the first cutter head 120 to switch between the first position, the second position, or the third position.

[0528] For example, the drive device 150 is one or more combinations of a worm gear structure, a linkage drive device, a linkage mechanism, or a gear assembly. Among these, the worm gear structure, linkage drive device, linkage mechanism, or gear assembly are common drive devices and are relatively simple to assemble. Therefore, setting the drive device 150 as a worm gear structure, linkage drive device, linkage mechanism, or gear assembly can simplify the drive device 150 and reduce the cost of the intelligent lawnmower 100.

[0529] In some embodiments, the intelligent lawnmower 100 may further include a first acquisition unit 191, which is used to acquire the position information of the intelligent lawnmower 100 in the area to be cut 200. The first acquisition unit 191 is electrically connected to the control device 190, which is used to control the drive device 150 to move the first cutter head 120 to a first position, a second position, or a third position according to the position information of the intelligent lawnmower 100 in the area to be cut 200.

[0530] It should be noted that the location information of the intelligent lawnmower 100 in the area to be cut 200 refers to the intelligent lawnmower 100 being located in the edge area 210, the middle area 220, or the corner area 230.

[0531] By controlling the state of the first cutter head 120 based on the position information of the intelligent lawnmower 100 in the area to be cut 200, the first cutter head 120 can be positioned appropriately when the intelligent lawnmower 100 performs cutting operations on different areas, thereby improving cutting efficiency while ensuring that the edge can be cut.

[0532] For example, when the location information indicates that the smart lawnmower 100 is located in the edge region 210, the first blade 120 can be adjusted to a first position or a second position to cut the edge of the body 110 or the area outside the edge of the body 110, thus solving the problem in related technologies where the smart lawnmower 100 cannot cut the edge. When the location information indicates that the location is in the middle region 220, the first blade 120 can be moved to a third position, placing the first blade 120 below the body 110, thereby improving the safety performance of the smart lawnmower 100. When the location information indicates that the location is in the corner region, the first blade 120 can be moved to a first position to cut the edge of the body 110 and the area outside the edge of the body 110, thus solving the problem in related technologies where the smart lawnmower 100 cannot cut the edge.

[0533] Of course, in other embodiments, the first cutter head 120 can be moved to other states according to the position information. The specific settings can be made according to the specific circumstances. In this embodiment, no further limitations are made.

[0534] For example, the first acquisition unit 191 may include one or more of radar, time of flight (TOF) sensor, depth camera, binocular camera, camera, distance sensor, laser rangefinder, edge sensor, and flight sensor, so as to acquire the position information of the smart lawnmower 100 in the area to be cut 200, so that the smart lawnmower 100 can control the position of the first cutter head 120 according to the position information.

[0535] In one possible implementation, the intelligent lawnmower 100 may further include a second acquisition unit 192, wherein the second acquisition unit 192 is used to acquire minimum horizontal distance information from the first cutter head 120 to the boundary line 300 of the area to be cut 200. The second acquisition unit 192 is connected to a control device 190, which is used to drive the drive device 150 to move the first cutter head 120 to a first position, a second position, or a third position based on the minimum horizontal distance information.

[0536] For example, when the first cutter head 120 is in the first position, the control device 190 is further configured to control the drive device 150 to extend the first cutter head 120 beyond the second end 114 by a first preset length based on the minimum horizontal distance information. The minimum horizontal distance from the first cutter head 120 to the boundary line 300 of the area to be cut 200 is greater than the first preset length. That is, the control device 190 can control the horizontal distance of the first cutter head 120 extension based on the minimum horizontal distance, which can prevent the first cutter head 120 from colliding with the boundary line 300, etc., and prevent the first cutter head 120 from being damaged. In other words, the first cutter head 120 can expand the cutting range without collision, thereby achieving cutting to the edge.

[0537] For example, the first preset length is between 10-20cm. For instance, the first preset length can be 10cm, 11cm, 12cm, 13cm, 14cm, 15cm, 16cm, 17cm, 18cm, 19cm, 20cm, etc. Of course, in other embodiments, the first preset length can also be other values. In this embodiment, the first preset length is not further limited. By setting the first preset length to 10-20cm, the cutting range of the first cutter head can be expanded, ensuring that the cutting reaches the edge. Additionally, it can prevent the first cutter head from extending too far and becoming difficult to retract.

[0538] In one possible implementation, when the first cutter head 120 is in the first position, in the y direction, the minimum horizontal distance h4 between the farthest point of the first cutter head 120 away from the body 110 and the body 110 is greater than 1 / 10 of the diameter of the first cutter head, and the minimum horizontal distance h4 between the farthest point of the first cutter head 120 away from the body 110 and the body 110 is less than 1 / 3 of the diameter of the first cutter head.

[0539] In one possible implementation, when the first cutter head 120 is in the first position, in the y direction, the minimum horizontal distance h4 between the farthest point of the first cutter head 120 away from the body 110 and the body 110 is greater than 1 / 8 of the diameter of the first cutter head, and the minimum horizontal distance h4 between the farthest point of the first cutter head 120 away from the body 110 and the body 110 is less than 1 / 4 of the diameter of the first cutter head.

[0540] For example, the minimum horizontal distance h4 between the farthest point of the first cutter head 120 away from the machine body 110 and the machine body 110 can be 1 / 10, 1 / 9, 1 / 8, 1 / 7, 1 / 6, 1 / 5, 1 / 4, 1 / 3, 1 / 2, etc. of the diameter of the first cutter head 120. In the embodiments of this application, the minimum horizontal distance h4 between the farthest point of the first cutter head 120 away from the machine body 110 and the machine body 110 is not further limited to a fraction of the diameter of the first cutter head 120.

[0541] For example, the second acquisition unit 192 can be a distance sensor, an edge sensor, an edge radar, or other device that can measure distance. In this application, the structure of the second acquisition unit 192 is not further limited.

[0542] In one possible implementation, the intelligent lawnmower 100 may further include a detection device 140 disposed on the body 110. The detection device 140 is used to detect biological information. The intelligent lawnmower 100 is used to perform safety protection actions based on the biological information. The safety protection actions include at least controlling the first cutter head 120 to decelerate and / or stop rotating and / or covering the first cutter head 120 within the protective cover 125.

[0543] Of course, in other embodiments, the safety protection action may also include controlling the first cutter head 120 to move to the third position, controlling the first cutter head 120 to decelerate, etc. In this application embodiment, the safety protection action can be set in various ways, and no further limitation is made on the safety protection action in this application embodiment.

[0544] By setting up the detection device 140, the lawnmower can be controlled to enter a safety protection action based on the biological information detected by the detection device 140. During the safety protection action, the first blade disc is decelerated and / or stopped and / or the first blade disc is covered inside the protective cover 125, which can improve the safety performance of the lawnmower.

[0545] It should be noted that, in this embodiment of the application, when the first cutter head 120 is fixedly connected to the machine body 110, the safety protection action is the same as... Figures 1-12 The safety protection actions in the embodiments shown are the same. For a description of the safety protection actions in this embodiment, please refer to [reference needed]. Figures 1-12 The description of the safety protection actions in the illustrated embodiment is not further explained in this embodiment. When the first cutter head 120 is movably connected to the machine body 110, the safety protection actions are... Figures 13-16 The safety protection actions in the embodiments shown are the same. For a description of the safety protection actions in this embodiment, please refer to [reference needed]. Figures 13-16 The descriptions of the safety protection actions shown in the embodiments are not further explained in this embodiment.

[0546] For example, the smart lawnmower 100 may also include a balancing structure 170, which is disposed on the body 110 and is used to balance the mass of the first blade 120 and the motor 130. This arrangement can keep the body 110 balanced and prevent the smart lawnmower 100 from tipping over or causing other problems during mowing.

[0547] In one possible implementation, the motor 130 is equipped with a heat dissipation device for cooling the motor 130. For example, the heat dissipation device can be a fan, a water-cooling device, an air-cooling device, etc., and the specific structure of the heat dissipation device is not further limited in this embodiment. By providing a heat dissipation device, the motor 130 can be cooled, ensuring its normal operation.

[0548] It should be noted that in some implementations, a heat dissipation device may not be provided on the outside of the motor 130. In the embodiments of this application, the specific shape and location of the heat dissipation device are not further limited.

[0549] In one possible implementation, the motor 130 may also have a waterproof structure on its exterior.

[0550] By installing a waterproof structure on the outside of the motor 130, water or moisture can be prevented from entering the motor 130, ensuring the normal operation of the motor 130.

[0551] It should be noted that the waterproof structure can be set between the output shaft of motor 130 and the motor body of motor 130. This allows the output shaft of motor 130 to be exposed while motor 130 itself is not exposed, thereby effectively preventing water or moisture from entering motor 130 and ensuring the normal operation of motor 130.

[0552] It should be noted that, in the embodiments of this application, the shape, structure, principle, and placement of the rear wheel 162, detection device 140, protective cover 125, and balance structure 170 are all similar to those of the rear wheel 162, detection device 140, protective cover 125, and balance structure 170. Figures 1-12 The rear wheel 162, detection device 140, protective cover 125, and balancing structure 170 are the same in the illustrated embodiment. Therefore, in the embodiments of this application, the shape, structure, principle, and placement of the rear wheel 162, detection device 140, protective cover 125, and balancing structure 170 can be referred to... Figures 1-12 The descriptions of the rear wheel 162, detection device 140, protective cover 125, and balance structure 170 in the illustrated embodiments are not further elaborated in this application embodiment.

[0553] In addition, the moving speed of the intelligent lawnmower 100, the minimum horizontal distance between the first blade disc 120 and the second blade disc 122 and the ground, and the mass of the first blade disc 120 are all related to... Figures 1-12 In the illustrated embodiment, the intelligent lawnmower 100 has the same moving speed, the minimum horizontal distance between the first blade disc 120 and the second blade disc 122 and the ground, and the same mass of the first blade disc 120. For details, please refer to [reference needed]. Figures 1-12 The descriptions in the embodiments shown are not further elaborated in the embodiments of this application.

[0554] like Figure 22As shown, the control method of this intelligent lawnmower includes the following steps:

[0555] S101. When the intelligent lawnmower enters a corner area and its forward direction is parallel to the first boundary line of the corner area, control the intelligent lawnmower to repeatedly execute the first action combination until its forward direction is parallel to the second boundary line of the corner area. The first action combination is defined as first rotating by a preset angle, then moving forward a preset distance.

[0556] It should be noted that the forward direction of a smart lawnmower refers to the direction from the rear to the front, which is the overall forward direction in a macroscopic sense. It can also be understood as the direction from the rear wheels to the front wheels. For more details, please refer to [link / reference needed]. Figure 2 The direction of travel is shown in the diagram. Corner areas are those with physical boundaries, such as fences, walls, or where an insurmountable height difference is detected.

[0557] In one possible implementation, the preset angle ranges from 10° to 30°. For example, the preset angle can be 10°, 11°, 12°, 13°, 14°, 15°, 16°, 17°, 18°, 19°, 20°, 21°, 22°, 23°, 24°, 25°, 26°, 27°, 28°, 29°, or 30°. In this embodiment, the specific value of the preset angle is not further limited.

[0558] The following section takes the corner area as a right angle and the preset angle as 10° as an example to explain in detail step S101: when the smart lawnmower enters the corner area and the forward direction of the smart lawnmower is parallel to the first boundary line of the corner area, the smart lawnmower is controlled to repeatedly execute the first action combination until the forward direction of the smart lawnmower is parallel to the second boundary line of the corner area.

[0559] Specifically, when the intelligent lawnmower is located in a corner area, its forward direction is parallel to the first boundary line. First, the intelligent lawnmower rotates 10°, then moves a preset distance along its forward direction. Then, it rotates 10° again and moves the preset distance along its forward direction. This cutting action of rotating 10° and moving the preset distance along its forward direction is repeated until the intelligent lawnmower rotates 90°, making its forward direction parallel to the second boundary line, and then it moves away from the corner area.

[0560] It should be noted that the method provided in the embodiments of this application can be applied to the above-mentioned methods. Figures 1-21 The smart lawnmower in any embodiment.

[0561] In this embodiment of the application, the intelligent lawnmower can be Figure 17The smart lawnmower shown. Exemplarily, in the forward direction of the smart lawnmower, at least a portion of the first blade is located between the first cutting surface and the first end of the front wheel (see...). Figure 17 (As shown). The first cut surface is perpendicular to the direction of travel and passes through the first end point of the front wheel, which is configured as the point where the front wheel is furthest from the first end point.

[0562] In one possible implementation, the relative position of the first cutter head to the machine body remains fixed, and the first cutter head is fixed in either a first position or a second position. When the first cutter head is in the first position, at least a portion of the first cutter head is outside the orthographic projection of the machine body towards the ground and is exposed on the outer side of the machine body. When the first cutter head is in the second position, the first cutter head is within the orthographic projection of the machine body towards the ground, and the minimum horizontal distance from the outer edge of the cutting edge to the outer edge of the machine body is greater than or equal to 0 and less than or equal to 50 mm.

[0563] It should be noted that the first and second positions are related to... Figures 1-12 The first and second positions are the same in the illustrated embodiment, therefore the descriptions of the first and second positions can be found above. Figures 1-12 The descriptions in the embodiments shown are not repeated in this application.

[0564] In one possible implementation, the smart lawnmower also includes a second cutter disc mounted on the side of the body facing the ground, and positioned between the rear wheel and the front wheel in the direction of travel of the smart lawnmower.

[0565] The method also includes:

[0566] Control the second cutter head to perform or stop the cutting operation.

[0567] In one possible implementation, the smart lawnmower includes a first acquisition unit located on the body, which is used to acquire position information of the smart lawnmower in the area to be cut.

[0568] like Figure 22A As shown, in step S101, when the intelligent lawnmower enters the corner area and its forward direction is parallel to the first boundary line of the corner area, the intelligent lawnmower is controlled to repeatedly execute the first action combination until its forward direction is parallel to the second boundary line of the corner area. Prior to this, the following steps may also be included:

[0569] S102, Control the first acquisition unit to acquire the location information of the intelligent lawnmower in the area to be cut.

[0570] In one possible implementation, step S102, controlling the first acquisition unit to acquire the location information of the intelligent lawnmower within the area to be cut, may include:

[0571] The first acquisition unit is controlled to acquire the number and position of boundary lines, wherein the minimum horizontal distance from the boundary line to the intelligent lawnmower is less than a second preset distance.

[0572] Based on the number and location of the boundary lines, the location information of the intelligent lawnmower within the area to be cut is determined.

[0573] It should be noted that when the smart lawnmower is located in a corner area, one of the two adjacent boundary lines is the first boundary line and the other is the second boundary line, and the second boundary line is located in front of or to the side of the smart lawnmower.

[0574] Optionally, the first acquisition unit may be one or more of a camera, edge sensor, distance sensor, angle sensor, infrared sensor, radar, time of flight (TOF) sensor, depth camera, and binocular camera. In this embodiment, the specific structure of the first acquisition unit is not further limited.

[0575] In some embodiments, step S102, controlling the first acquisition unit to acquire the location information of the intelligent lawnmower in the area to be cut, may include:

[0576] The first acquisition unit is controlled to acquire at least one image of the smart lawnmower within the area to be cut.

[0577] The location information of the smart lawnmower within the area to be cut is obtained based on at least one image.

[0578] Optionally, the first acquisition unit may acquire at least one image of the smart lawnmower within the area to be cut. Specifically, it may acquire one, two, three, four, or more images, such as images covering 360°. In this embodiment, the number of images of the smart lawnmower within the area to be cut acquired by the first acquisition unit is not further described.

[0579] The first acquisition unit is controlled to acquire at least one image of the smart lawnmower within the area to be cut. Specifically, the first acquisition unit is controlled to acquire image information of multiple locations of the smart lawnmower within the area to be cut.

[0580] The location information of the smart lawnmower within the area to be cut can be obtained based on at least one image, specifically, the location information of the smart lawnmower within the area to be cut can be obtained based on multiple image information.

[0581] The following explanation uses the acquisition of image information from four directions—front, back, left, and right—of a smart lawnmower as an example. For instance, the front of the smart lawnmower is the first direction, the left side is the second direction, the right side is the third direction, and the rear is the fourth direction. The front and rear are positioned relative to each other, as are the left and right sides, and the direction from the front to the rear is perpendicular to the direction from the left to the right. It should be noted that front, back, left, and right are only used to distinguish directions and do not represent the actual location.

[0582] Optionally, controlling the first acquisition unit to acquire image information of the intelligent lawnmower at multiple locations within the area to be cut can specifically involve controlling the first acquisition unit to acquire first image information of the intelligent lawnmower at a first position, second image information at a second position, third image information at a third position, and fourth image information at a fourth position within the area to be cut.

[0583] The location information of the intelligent lawnmower in the area to be cut can be obtained by using multiple image information. Specifically, the location information of the intelligent lawnmower can be determined based on the first image information, the second image information, the third image information, and the fourth image information.

[0584] For example, it is determined whether the first, second, third, and fourth image information contain boundaries, and the number of graphic information containing boundaries in the first, second, third, and fourth image information is obtained. Based on the first, second, third, and fourth image information, the horizontal distance from the boundaries in the first, second, third, and fourth image information to the intelligent lawnmower is obtained. Based on the horizontal distance from the boundaries in the first, second, third, and fourth image information to the intelligent lawnmower, it is determined whether the boundaries in the first, second, third, and fourth image information are boundary lines.

[0585] If the first, second, third, and fourth image information includes boundary lines, and the number of graphic information pieces with boundaries is greater than or equal to 2, then it is determined whether the positions corresponding to the image information pieces with boundary lines are adjacent. For example, the first position is adjacent to both the second and third positions, and the fourth position is adjacent to both the second and third positions. If the positions corresponding to the image information pieces with boundary lines are adjacent, then the intelligent lawnmower is determined to be in the corner area. If the first, second, third, and fourth image information includes boundary lines, and the number of graphic information pieces with boundaries is 1, then the intelligent lawnmower is determined to be in the edge area. If the first, second, third, and fourth image information does not include boundary lines, then the intelligent lawnmower is determined to be in the middle area.

[0586] By combining real-time images acquired by the first acquisition unit with existing mapping for location determination, or by combining the number of boundary lines for comprehensive judgment, the location information of the intelligent lawnmower within the area to be cut can be determined. This method is convenient, fast, and highly accurate, improving the precision of obtaining the location information of the intelligent lawnmower within the area to be cut. Furthermore, image information is readily available, reducing the difficulty of obtaining the location information of the intelligent lawnmower within the area to be cut.

[0587] In one possible implementation, the first acquisition unit may include a camera and a distance sensor, wherein controlling the first acquisition unit to acquire the location information of the smart lawnmower within the area to be cut may include:

[0588] The system controls the camera in the first acquisition unit to acquire image information of the outer side of the smart lawnmower, and obtains the number of outer boundaries of the smart lawnmower and the position of the boundaries relative to the smart lawnmower based on the image information. The system also controls the distance sensor in the first acquisition unit to acquire the horizontal distance from all boundaries in the image information to the smart lawnmower. When the distance from a boundary in the image information to the smart lawnmower is less than a second preset distance, the boundary is determined to be a boundary line.

[0589] The system acquires the number and location of boundary lines and determines the location of the smart lawnmower within the area to be cut based on these information. For example, when there are two or more boundary lines, including two adjacent boundary lines, and one of these adjacent boundary lines is located in front of the smart lawnmower's direction of travel, the location is identified as a corner area. When there is only one boundary line, the location is identified as an edge area. When there are zero boundary lines, the location is identified as a central area.

[0590] In some other embodiments, the first acquisition unit may further include a distance sensor, wherein step S102, controlling the first acquisition unit to acquire the position information of the intelligent lawnmower within the area to be cut, may include:

[0591] The control distance sensor acquires distance and position information from multiple boundary lines surrounding the intelligent lawnmower. Based on this information, the number and position of the boundary lines are determined. The distance between a boundary line and the intelligent lawnmower is less than a second preset distance. The location of the intelligent lawnmower is then determined based on the number and position of the boundary lines. Specifically, when there are two or more boundary lines, including two adjacent boundary lines, and one of these adjacent boundary lines is located in front of the intelligent lawnmower in its direction of travel, the location is identified as a corner area. When there is only one boundary line, the location is identified as an edge area. When there are zero boundary lines, the location is identified as a central area.

[0592] Of course, in other embodiments, the first acquisition unit may be other structures. In this application embodiment, the specific structure of the first acquisition unit is not further limited.

[0593] In one possible implementation, the smart lawnmower may include a detection device mounted on the machine body. This detection device detects biological information, and the smart lawnmower performs safety actions based on this biological information. For example, the detection device may include one or more of an infrared sensor, a line laser sensor, a camera, a distance sensor, a laser rangefinder, an edge sensor, and a flight sensor.

[0594] For example, the intelligent lawnmower includes a protective cover, which has an open state and a retracted state. When the protective cover is in the open state, it covers the outside of the first blade disc; when the protective cover is in the retracted state, it is stored within the machine body or the first blade disc. The specific structure of the protective cover can be found in [reference needed]. Figures 1-12 The protective shield shown in the embodiments is not further described in this application embodiment.

[0595] In one possible implementation, the control method may further include the following steps:

[0596] The control and detection device acquires biological information about the area to be cut.

[0597] The intelligent lawnmower is controlled by bio-information to perform safe cutting actions. These safe cutting actions include at least controlling the first cutter head to decelerate and / or stop rotating and / or shielding the first cutter head within a protective cover.

[0598] It should be noted that "bio-information" refers to information about living organisms. The basis for controlling the intelligent lawnmower to perform safety protection actions can be whether there are living organisms in the area to be cut, whether the distance between the organism and the intelligent lawnmower is less than a preset distance, or whether the distance between the organism and the intelligent lawnmower is gradually decreasing, etc. In this embodiment of the application, the basis for controlling the intelligent lawnmower to perform safety protection actions is not further limited.

[0599] In one possible implementation, the detection device may include an infrared sensor and a distance sensor. Acquiring biological information about the area to be cut may include controlling the infrared sensor to detect whether there are living organisms in the area to be cut. When there are living organisms in the area to be cut, the distance sensor is controlled to detect the distance between the smart lawnmower and the living organism, and to determine whether the distance between the smart lawnmower and the living organism is less than a preset threshold. When the distance between the smart lawnmower and the living organism is less than the preset threshold, the smart lawnmower is controlled to perform a safety protection action.

[0600] In one possible implementation, the detection device may include a camera and a laser rangefinder. Acquiring biological information about the area to be cut may include controlling the camera to capture an image of the area to be cut and analyzing whether there are living organisms in the image. When there are living organisms in the area to be cut, the laser rangefinder is controlled to measure the distance between the smart lawnmower and the organism and determine whether the distance between the smart lawnmower and the organism is less than a preset threshold. When the distance between the smart lawnmower and the organism is less than the preset threshold, the smart lawnmower is controlled to perform a safety protection action.

[0601] Of course, in other embodiments, the detection device may be other devices. In this application embodiment, the specific structure of the detection device is not further limited.

[0602] It should be noted that the safety protection actions in the implementation of this application can be referenced. Figures 1-12 The descriptions in the illustrated embodiments will not be repeated in the embodiments of this application.

[0603] The control method for the intelligent lawnmower in the above embodiments can be applied to intelligent lawnmowers where the first blade disc and the body are fixedly connected. However, in some embodiments, the first blade disc and the body are movably connected. Other steps may be included in the control method for such intelligent lawnmowers where the first blade disc is movably connected to the body.

[0604] In one possible implementation, the first cutter head is movably connected to the machine body. During its movement relative to the machine body, the first cutter head passes through at least a first position and a second position.

[0605] When the first cutter head is in the first position, at least a portion of the first cutter head is outside the orthographic projection of the machine body toward the ground and is exposed on the outer side of the machine body.

[0606] When the first cutter head is in the second position, the first cutter head is located within the orthographic projection of the machine body towards the ground, and the minimum horizontal distance from the outer edge of the cutting blade to the outer edge of the machine body is greater than or equal to 0 and less than or equal to 50 mm.

[0607] The method also includes:

[0608] Control the first cutter head to move to the first position and the second position.

[0609] like Figure 23 As shown, the control method for the intelligent lawnmower provided in this application embodiment may include:

[0610] Step S201: When the intelligent lawnmower enters the corner area and its forward direction is parallel to the first boundary line of the corner area, control the intelligent lawnmower to repeatedly execute the first action combination until its forward direction is parallel to the second boundary line of the corner area. The first action combination is defined as first rotating by a preset angle, then moving forward a preset distance.

[0611] In one possible implementation, the smart lawnmower includes a first acquisition unit located on the body, which is used to acquire position information of the smart lawnmower in the area to be cut.

[0612] Step S201: When the intelligent lawnmower enters the corner area and its forward direction is parallel to the first boundary line of the corner area, control the intelligent lawnmower to repeatedly execute the first action combination until its forward direction is parallel to the second boundary line of the corner area. Prior to this, the following steps may also be included:

[0613] S202, Control the first acquisition unit to acquire the location information of the intelligent lawnmower in the area to be cut.

[0614] It should be noted that steps S201 and S101 are the same, and steps S202 and S102 are the same. For specific details of steps S201 and S202, please refer to steps S101 and S102. They will not be repeated in this embodiment.

[0615] like Figure 24 As shown, step S202 involves controlling the first acquisition unit to acquire the position information of the intelligent lawnmower in the area to be cut, and may further include step S203, controlling the first cutter head to move to the first position and the second position according to the position information.

[0616] For example, when the location information indicates that the smart lawnmower is in a corner area, the first blade can be moved to a first position. When the location information indicates that the smart lawnmower is in an edge area, the first blade can be moved to a first position. When the location information indicates that the smart lawnmower is in a middle area, the first blade can be moved to a second position.

[0617] In one possible implementation, the smart lawnmower includes a second acquisition unit for acquiring information on the minimum horizontal distance from the first cutter head to the boundary line.

[0618] For example, the second acquisition unit can be a device that can measure horizontal distance, such as a horizontal distance sensor, an edge sensor, or an edge radar. In this application, the structure of the second acquisition unit is not further limited.

[0619] Step S202: Control the first acquisition unit to acquire the location information of the intelligent lawnmower within the area to be cut, which may then include:

[0620] The second acquisition unit is controlled to acquire the minimum horizontal distance information from the first cutter head to the boundary line.

[0621] The first cutter head is controlled to move to the first or second position based on the minimum horizontal distance information.

[0622] The following is a detailed explanation of how to obtain the minimum horizontal distance information from the first cutter head to the boundary line. Obtaining the minimum horizontal distance from the first cutter head to the boundary line refers to obtaining the minimum horizontal distance from all boundary lines outside the first cutter head to the outer edge of the first cutter head. Based on the minimum horizontal distance information from the first cutter head to the boundary line, the first cutter head is controlled to move to the first position or the second position.

[0623] In addition, in some embodiments, the horizontal distance from the outer edge of the first cutter head to the outer edge of the machine body when the first cutter head is in the first position or the second position can be controlled according to the minimum horizontal distance from the first cutter head to the boundary line. That is, the horizontal distance of the first cutter head retracting relative to the machine body when the first cutter head is in the second position can be controlled according to the minimum horizontal distance from the first cutter head to the boundary line, and the horizontal distance of the first cutter head extending relative to the machine body when the first cutter head is in the first position can also be controlled.

[0624] In one possible implementation, after controlling the first cutter head to move to the first or second position based on the minimum horizontal distance information, the following may also be included:

[0625] When the first cutter head is in the first position, the first cutter head is controlled to extend out of the machine body towards the ground at a third preset distance according to the minimum horizontal distance information, wherein the minimum horizontal distance from the first cutter head to the boundary line is greater than the third preset distance.

[0626] It should be noted that, in the embodiments of this application, the third preset distance is related to the minimum horizontal distance from the first cutter head to the boundary line, and no further limitation is made on the third preset distance.

[0627] In one possible implementation, the area to be cut further includes a middle area, located on the side of the corner area away from the boundary line, and the distance from the outer edge of the middle area to the boundary line is greater than a first preset distance. In this embodiment, the first preset distance is not further limited; for example, it can be greater than 100 millimeters.

[0628] Optionally, the control methods for intelligent lawnmowers may also include:

[0629] When the smart lawnmower is in the middle area, control the first blade to move to the first or second position.

[0630] Optionally, the area to be cut also includes an edge region, which includes at least one boundary line, a corner region, and is adjacent to the middle region. The width of the edge region is equal to a first preset distance.

[0631] The control methods for intelligent lawnmowers may also include:

[0632] When the smart lawnmower is located in the edge area, the first blade is controlled to move to the first position or the second position.

[0633] Optionally, the control methods for intelligent lawnmowers may also include:

[0634] When the intelligent lawnmower is located in a corner area, the control drive will move the first blade to a first position or a second position.

[0635] For example, when the location information indicates a corner area, the first blade can be moved to a first position to maximize the cutting of the lawn along the edge, especially the area near the boundary line and located on the outer edge of the machine body, thus solving the problem in related technologies where smart lawnmowers cannot cut to the edge. Alternatively, when the location information indicates a corner area, the first blade can be moved to a second position, which can improve the safety of using the smart lawnmower while achieving edge cutting.

[0636] It should be noted that when the intelligent lawnmower is located in a corner area, the execution of the first action combination and the control drive device moving the first blade disc to the first position or the second position can be performed simultaneously. Of course, the first blade disc can also be moved to the first position or the second position first, and then the first action combination can be executed. In the embodiments of this application, the order of the above actions is not further limited.

[0637] In one possible implementation, the first cutter head is movably connected to the machine body, and the first cutter head may include a first position, a second position, and a third position.

[0638] See Figure 17 As shown, when the first cutter head is in the first position, at least a portion of the first cutter head is located outside the orthographic projection of the machine body toward the ground and is exposed on the outer side of the machine body.

[0639] When the first cutter head is in the second position, the first cutter head is located within the orthographic projection of the machine body towards the ground, and the minimum horizontal distance from the outer edge of the cutting blade to the outer edge of the machine body is greater than or equal to 0 and less than or equal to 50 mm.

[0640] When the first cutter head is in the third position, the first cutter head is located within the orthographic projection of the machine body towards the ground, and the minimum distance from the outer edge of the cutting blade to the outer edge of the machine body is greater than 50 mm.

[0641] During the movement of the first cutter head relative to the machine body, it passes through at least the first position, the third position, and the second position.

[0642] The method also includes:

[0643] Control the first cutter head to move to the first position, the second position, and the third position.

[0644] Correspondingly, such as Figure 25 As shown, step S202 involves controlling the first acquisition unit to acquire the position information of the intelligent lawnmower in the area to be cut, followed by step S204, which involves controlling the first blade to move to the first position, the second position, and the third position based on the position information.

[0645] For example, when the location information indicates that the smart lawnmower is located in an edge area, the first blade can be moved to a first or second position to cut the edge of the mower body or the area outside the edge of the mower body, solving the problem in related technologies where smart lawnmowers cannot cut to the edge. When the location information indicates a middle area, the first blade can be moved to a third position, placing the first blade under the mower body, thus improving the safety performance of the smart lawnmower. When the location information indicates a corner area, the first blade can be moved to a first position to cut the edge of the mower body and the area outside the edge of the mower body, solving the problem in related technologies where smart lawnmowers cannot cut to the edge.

[0646] In one possible implementation, when the first cutter head is in the third position, at least a portion of the first and second cutter heads overlap in their orthographic projections toward the ground in the direction of the smart lawnmower's movement. This configuration ensures that there are no missed areas between the first and second cutter heads when the first cutter head is in the third position, preventing missed cuts and improving cutting efficiency.

[0647] Optionally, the control methods for intelligent lawnmowers also include:

[0648] Control the first and / or second cutter heads to perform or stop the cutting operation.

[0649] In the embodiment where the first cutter head is movably connected to the machine body, step S202, controlling the first acquisition unit to acquire the position information of the intelligent lawnmower in the area to be cut, may further include:

[0650] The second acquisition unit is controlled to acquire the minimum horizontal distance information from the first cutter head to the boundary line.

[0651] The first cutter head is controlled to move to the first position, the second position, or the third position based on the minimum horizontal distance information.

[0652] The following is a detailed explanation of how to obtain the minimum horizontal distance information from the first cutter head to the boundary line. Obtaining the minimum horizontal distance from the first cutter head to the boundary line refers to obtaining the minimum horizontal distance from all boundary lines outside the first cutter head to the outer edge of the first cutter head. Based on the minimum horizontal distance information from the first cutter head to the boundary line, the first cutter head is controlled to move to the first position, the second position, or the third position.

[0653] In addition, in some embodiments, the horizontal distance from the outer edge of the first cutter head to the outer edge of the machine body when the first cutter head is in the first position or the second position can be controlled according to the minimum horizontal distance from the first cutter head to the boundary line. That is, the horizontal distance of the first cutter head retracting relative to the machine body when the first cutter head is in the second position can be controlled according to the minimum horizontal distance from the first cutter head to the boundary line, and the horizontal distance of the first cutter head extending relative to the machine body when the first cutter head is in the first position can also be controlled.

[0654] In one possible implementation, after controlling the first cutter head to move to the first position, the second position, or the third position based on the minimum horizontal distance information, the following is also included:

[0655] When the first cutter head is in the first position, the first cutter head is controlled to extend out of the machine body towards the ground at a third preset distance according to the minimum horizontal distance information, wherein the minimum horizontal distance from the first cutter head to the boundary line is greater than the third preset distance.

[0656] It should be noted that, in the embodiments of this application, the third preset distance is related to the minimum horizontal distance from the first cutter head to the boundary line, and no further limitation is made on the third preset distance.

[0657] This configuration allows the first cutter head to reduce the likelihood of collisions while expanding the cutting range, thus achieving edge cutting, even when physical boundary lines exist.

[0658] In one possible implementation, the area to be cut further includes a middle area, located on the side of the corner area away from the boundary line, and the distance from the outer edge of the middle area to the boundary line is greater than a first preset distance. In this embodiment, the first preset distance is not further limited; for example, it can be greater than 100 millimeters.

[0659] Optionally, the control methods for intelligent lawnmowers may also include:

[0660] When the smart lawnmower is in the middle area, control the first blade to move to the first position, the second position, or the third position.

[0661] In one possible implementation, the region to be cut also includes an edge region, which includes at least one boundary line, includes corner regions and is adjacent to the middle region, and the width of the edge region is equal to a first preset distance.

[0662] Optionally, the control methods for intelligent lawnmowers may also include:

[0663] When the smart lawnmower is located in the edge area, the first blade is controlled to move to the first position or the second position.

[0664] In one possible implementation, the method further includes:

[0665] When the intelligent lawnmower is located in a corner area, the control drive will move the first blade to a first position or a second position.

[0666] For example, when the location information indicates that the smart lawnmower is located in a corner area, the first blade can be moved to a first position to cut the area outside the edge of the machine body, solving the problem in related technologies where smart lawnmowers cannot cut to the edge. Alternatively, when the location information indicates that the smart lawnmower is located in a corner area, the first blade can be moved to a second position to cut the area on the underside of the machine body, ensuring that the edge is cut and improving safety performance.

[0667] In the description of this application, 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", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application.

[0668] In the description of this application, it should be understood that the terms “comprising” and “having” as used herein, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are expressly listed, but may include other steps or units that are not expressly listed or that are inherent to such process, method, product, or apparatus.

[0669] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "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 direct connection or an indirect connection through an intermediate medium; they can refer to the connection within two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," etc., 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.

[0670] 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 or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A smart lawnmower, characterized in that, include: The body includes a first end and a second end disposed opposite to each other along the forward direction of the intelligent lawnmower; Both the front and rear wheels are located on the side of the intelligent lawnmower facing the ground, and the front and rear wheels are spaced apart in the direction of travel of the intelligent lawnmower. The first cutter head is connected to the side of the machine body facing the ground, and the outer side of the first cutter head is provided with a cutting blade, which is a metal part; In the forward direction of the intelligent lawnmower, at least a portion of the first blade is located between the first cutting surface of the front wheel and the first end; The first cut surface is perpendicular to the forward direction and passes through the first end point of the front wheel, whereby the first end point is defined as the point where the front wheel is farthest from the first end point. The relative position of the first cutter head and the machine body remains fixed, and the first cutter head is fixed at either a first position or a second position. The first position is defined as: at least a portion of the first cutter head is located outside the orthographic projection of the machine body toward the ground. The second position is defined as follows: the first cutter head is located within the orthographic projection of the machine body towards the ground, and the minimum horizontal distance from the outer edge of the cutting blade to the outer edge of the machine body is greater than or equal to 0 and less than or equal to 50 mm; The first blade is configured to rotate at a speed between 1800 rpm and 3500 rpm when the smart lawnmower is in the mowing state and is not stuck in the grass. A detection device is installed on the machine body. The detection device is used to detect biological information. The intelligent lawnmower is used to perform safety protection actions based on the biological information. It also includes the first side edge and the second side edge; In the forward direction of the intelligent lawnmower, both ends of the first side edge and the second side edge are respectively connected to the second end and the first end, and the first side edge and the second side edge are arranged opposite to each other on both sides of the transverse direction of the body, and the transverse direction of the body is perpendicular to the forward direction; The number of the first cutter discs is at least two, and the at least two first cutter discs are arranged opposite each other at the first end in the lateral direction of the machine body.

2. The intelligent lawnmower according to claim 1, characterized in that, The two ends of the first end extend in the opposite direction to the direction of travel.

3. The intelligent lawnmower according to claim 1, characterized in that, The first cutter head is disposed on the side where the first end is connected to the first side edge, or the first cutter head is located on the side where the first end is connected to the second side edge.

4. The intelligent lawnmower according to claim 1, characterized in that, At least one of the first cutter heads is located on the side where the first end is connected to the first side edge, and at least one of the first cutter heads is located on the side where the first end is connected to the second side edge.

5. The intelligent lawnmower according to claim 1, characterized in that, The number of front wheels is one, and in the forward direction of the intelligent lawnmower, the front wheel is located on the central axis of the machine body in the lateral direction.

6. The intelligent lawnmower according to claim 1, characterized in that, The number of front wheels is two, and the front wheels are symmetrically arranged in the transverse direction of the machine body in the forward direction of the intelligent lawnmower.

7. The intelligent lawnmower according to claim 1, characterized in that, The safety protection actions include at least controlling the first cutter head to decelerate and / or stop the first cutter head from rotating and / or shielding the first cutter head inside a protective cover.

8. A smart lawnmower, characterized in that, include: The body includes a first end and a second end disposed opposite to each other along the forward direction of the intelligent lawnmower; Both the front and rear wheels are located on the side of the intelligent lawnmower facing the ground, and the front and rear wheels are spaced apart in the direction of travel of the intelligent lawnmower. The first cutter head is connected to the side of the machine body facing the ground, and the outer side of the first cutter head is provided with a cutting blade, which is a metal part; In the forward direction of the intelligent lawnmower, at least a portion of the first blade is located between the second cutting surface of the rear wheel and the second end. The second cut surface is perpendicular to the forward direction and passes through the second end point of the rear wheel, whereby the second end point is defined as the point where the rear wheel is furthest from the second end point. The relative position of the first cutter head and the machine body remains fixed, and the first cutter head is fixed at either a first position or a second position. The first position is defined as: at least a portion of the first cutter head is located outside the orthographic projection of the machine body toward the ground. The second position is defined as follows: the first cutter head is located within the orthographic projection of the machine body towards the ground, and the minimum horizontal distance from the outer edge of the cutting blade to the outer edge of the machine body is greater than or equal to 0 and less than or equal to 50 mm; The first blade is configured to rotate at a speed between 1800 rpm and 3500 rpm when the smart lawnmower is in the mowing state and is not stuck in the grass. A detection device is installed on the machine body. The detection device is used to detect biological information. The intelligent lawnmower is used to perform safety protection actions based on the biological information. It also includes the first side edge and the second side edge; In the forward direction of the intelligent lawnmower, both ends of the first side edge and the second side edge are respectively connected to the second end and the first end, and the first side edge and the second side edge are arranged opposite to each other on both sides of the transverse direction of the body, and the transverse direction of the body is perpendicular to the forward direction; The number of the first cutter discs is at least two, and in the transverse direction, the at least two first cutter discs are arranged opposite to each other at the second end.

9. The intelligent lawnmower according to claim 8, characterized in that, The two ends of the second end extend along the direction of travel.

10. The intelligent lawnmower according to claim 8, characterized in that, The first cutter head is disposed on the side where the second end is connected to the first side edge, or the first cutter head is located on the side where the second end is connected to the second side edge.

11. The intelligent lawnmower according to claim 8, characterized in that, At least one of the first cutter heads is located on the side where the second end is connected to the first side edge, and at least one of the first cutter heads is located on the side where the second end is connected to the second side edge.

12. The intelligent lawnmower according to claim 8, characterized in that, The number of front wheels is two, and the front wheels are symmetrically arranged in the lateral direction of the body in the forward direction of the intelligent lawnmower.

13. The intelligent lawnmower according to claim 8, characterized in that, The safety protection actions include at least controlling the first cutter head to decelerate and / or stop the first cutter head from rotating and / or shielding the first cutter head inside a protective cover.

14. A control method for an intelligent lawnmower, applied to an intelligent lawnmower, wherein the intelligent lawnmower is used to perform cutting operations on an area to be cut, the area to be cut comprising at least two adjacent boundary lines, the two adjacent boundary lines intersecting to form a corner area or the extensions of the two adjacent boundary lines intersecting to form a corner area, wherein the two adjacent boundary lines forming the corner area are respectively a first boundary line and a second boundary line; characterized in that, The intelligent lawnmower includes a body and a first blade disc. The body includes a first end and a second end that are disposed opposite to each other along the forward direction of the intelligent lawnmower. The first blade disc is mounted on the side of the intelligent lawnmower facing the ground. The outer side of the first blade disc is provided with a cutting blade, which is a metal part and is used to perform cutting operations on the area to be cut. The first cutter head is located at least in the second position of the machine body. When the first cutter head is in the second position, the first cutter head is located within the orthographic projection of the machine body toward the ground, and the minimum horizontal distance from the outer edge of the cutting blade to the outer edge of the machine body is greater than or equal to 0 and less than or equal to 50 mm. The first blade is configured to rotate at a speed between 1800 rpm and 3500 rpm when the smart lawnmower is in the mowing state and is not stuck in the grass. The method includes: When the intelligent lawnmower enters the corner area and its forward direction is parallel to the first boundary line of the corner area, the intelligent lawnmower is controlled to repeatedly execute the first action combination until its forward direction is parallel to the second boundary line of the corner area; wherein, The first action combination is defined as first rotating by a preset angle, then moving forward a preset distance.

15. The control method according to claim 14, characterized in that, The cutting operation is not stopped during the repeated execution of the first action combination.

16. The control method according to claim 15, characterized in that, The preset angle ranges from 10° to 30°.

17. The control method according to claim 16, characterized in that, The preset angle is 20°.

18. The control method according to any one of claims 14-17, characterized in that, The intelligent lawnmower includes a front wheel and a rear wheel, both of which are located on the side of the intelligent lawnmower facing the ground, and are spaced apart in the direction of travel of the intelligent lawnmower. In the forward direction of the intelligent lawnmower, at least a portion of the first blade is located between the first cutting surface of the front wheel and the first end; The first cut surface is perpendicular to the direction of travel and passes through the first end point of the front wheel, which is configured as the point where the front wheel is furthest from the first end point.

19. The control method according to any one of claims 15-17, characterized in that, The preset distance is less than the minimum horizontal distance from the smart lawnmower to the second boundary line.

20. The control method according to any one of claims 15-17, characterized in that, The relative position of the first cutter head and the machine body remains fixed, and the first cutter head is fixed at a first position or a second position; When the first cutter head is in the first position, at least a portion of the first cutter head is located outside the orthographic projection of the machine body toward the ground and is exposed on the outside of the machine body; When the first cutter head is in the second position, the first cutter head is located within the orthographic projection of the machine body toward the ground, and the minimum horizontal distance from the outer edge of the cutting blade to the outer edge of the machine body is greater than or equal to 0 and less than or equal to 50 mm.

21. The control method according to any one of claims 15-17, characterized in that, The first cutter head is movably connected to the machine body; During the movement of the first cutter head relative to the machine body, it passes through at least a first position and a second position; When the first cutter head is in the first position, at least a portion of the first cutter head is located outside the orthographic projection of the machine body toward the ground and is exposed on the outside of the machine body; When the first cutter head is in the second position, the first cutter head is located within the orthographic projection of the machine body toward the ground, and the minimum horizontal distance from the outer edge of the cutting blade to the outer edge of the machine body is greater than or equal to 0 and less than or equal to 50 mm. The method further includes: Control the first cutter head to move to the first position and the second position.

22. The control method according to claim 21, characterized in that, The first cutter head also includes a third position; When the first cutter head is in the third position, the first cutter head is located within the orthographic projection of the machine body toward the ground, and the minimum distance from the outer edge of the cutting blade to the outer edge of the machine body is greater than 50 mm. During the movement of the first cutter head relative to the machine body, it passes through at least a first position, a second position, and a third position; The method further includes: Control the first cutter head to move to the first position, the second position, and the third position.

23. The control method according to claim 22, characterized in that, The intelligent lawnmower includes a front wheel and a rear wheel, both of which are located on the side of the intelligent lawnmower facing the ground, and are spaced apart in the direction of travel of the intelligent lawnmower. The intelligent lawnmower also includes a second blade disc, which is mounted on the side of the machine body facing the ground, and in the forward direction of the intelligent lawnmower, the second blade disc is located between the rear wheel and the front wheel; The method further includes: Control the second cutter head to perform or stop the cutting operation.

24. The control method according to claim 23, characterized in that, It also includes the following: when the first cutter head is in the third position, at least a portion of the first cutter head and the second cutter head have their orthographic projections toward the ground in the direction of travel of the smart lawnmower coincide. Control the first cutter head and / or the second cutter head to perform or stop the cutting operation.

25. The control method according to claim 24, characterized in that, The area to be cut also includes a middle area, which is located on the side of the corner area away from the boundary line; The distance from the outer edge of the intermediate region to the boundary line is greater than a first preset distance; The method further includes: When the intelligent lawnmower is located in the middle area, the first blade is controlled to move to the first position, the second position, or the third position.

26. The control method according to claim 25, characterized in that, The area to be cut also includes an edge region, the edge region includes at least one boundary line, the edge region includes the corner region and is adjacent to the middle region, and the width of the edge region is equal to the first preset distance; The method further includes: When the intelligent lawnmower is located in the edge area, the first blade is controlled to move to the first position or the second position.

27. The control method according to claim 26, characterized in that, The intelligent lawnmower includes a drive unit, which is disposed between the machine body and the first blade disc. The drive unit is used to drive the first blade disc to move radially along the first blade disc. The method includes: When the intelligent lawnmower is located in the corner area, the drive device is controlled to move the first blade to the first position or the second position.

28. The control method according to any one of claims 15-17, characterized in that, The intelligent lawnmower includes a first acquisition unit located on the body of the machine. The first acquisition unit is used to acquire the position information of the intelligent lawnmower in the area to be cut. When the intelligent lawnmower enters the corner area and its forward direction is parallel to the first boundary line of the corner area, the intelligent lawnmower is controlled to repeatedly execute the first action combination until its forward direction is parallel to the second boundary line of the corner area. Prior to this, the procedure further includes: The first acquisition unit is controlled to acquire the location information of the intelligent lawnmower within the area to be cut.

29. The control method according to claim 28, characterized in that, The control of the first acquisition unit to obtain the position information of the intelligent lawnmower within the area to be cut includes: The first acquisition unit is controlled to acquire the number and position of boundary lines, wherein the minimum horizontal distance from the boundary line to the intelligent lawnmower is less than a second preset distance; The location information of the intelligent lawnmower within the area to be cut is determined based on the number of boundary lines.

30. The control method according to claim 28, characterized in that, The control of the first acquisition unit to obtain the position information of the intelligent lawnmower within the area to be cut includes: The first acquisition unit is controlled to acquire at least one image of the intelligent lawnmower within the area to be cut, and the location information within the area to be cut is determined based on the at least one image.

31. The control method according to claim 22, characterized in that, The intelligent lawnmower includes a second acquisition unit, which is used to acquire information on the minimum horizontal distance from the first blade to the boundary line. The method further includes: The second acquisition unit is controlled to acquire the minimum horizontal distance information from the first cutter head to the boundary line; Based on the minimum horizontal distance information, the first cutter head is controlled to move to the first position, the second position, or the third position.

32. The control method according to claim 31, characterized in that, The step of controlling the first cutter head to move to the first position, the second position, and the third position based on the minimum horizontal distance information further includes: When the first cutter head is in the first position, the first cutter head is controlled to extend beyond the outer edge of the machine body projecting towards the ground by a third preset distance according to the minimum horizontal distance information, wherein the minimum horizontal distance from the first cutter head to the boundary line is greater than the third preset distance.

33. The control method according to any one of claims 14-17, characterized in that, The intelligent lawnmower also includes: a detection device disposed on the body, the detection device being used to detect biological information, and the intelligent lawnmower being used to perform safety protection actions based on the biological information; The method further includes: The detection device is controlled to acquire biological information of the area to be cut. The intelligent lawnmower is controlled to perform safe cutting actions based on the bio-information, wherein the safe cutting actions include at least controlling the first cutter head to decelerate and / or stop rotating and / or covering the first cutter head inside a protective cover.

34. The control method according to any one of claims 14-17, characterized in that, The corner area refers to a corner with a physical boundary; wherein, The physical boundary includes at least one of a fence, a wall, or a detected uncrossable height difference.

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