Smart lawnmower and method of controlling the same

Abstract

This disclosure provides an intelligent lawnmower and its control method. The intelligent lawnmower includes: a body; a moving component disposed below the body and driving the body to move; the moving component includes a front wheel assembly and a rear wheel assembly; a cutting component disposed at the bottom of the body; the cutting component includes: a trimming unit disposed offset from the longitudinal axis of the body between the front wheel assembly and the rear wheel assembly; the front wheel assembly includes a first front wheel; the intelligent lawnmower includes a first working state and a second working state; compared with the intelligent lawnmower in the first working state, in the second working state, the overlap between the area traversed by the first front wheel and the cutting area corresponding to the trimming unit is reduced. This disclosure, by adjusting the working state of the intelligent lawnmower and adaptively changing the position of the first front wheel, can avoid the problem of missed mowing caused by the front wheel crushing grass when the trimming unit is working, thereby improving the working efficiency of the intelligent lawnmower and providing a better user experience.

Description

Technical Field

[0001] This disclosure relates to the field of garden tool technology, and more particularly to a smart lawnmower. Background Technology

[0002] A lawnmower is a mechanical tool used for trimming lawns, vegetation, etc. With the development of technology, intelligent lawnmowers are being used more and more widely. Intelligent lawnmowers are equipped with wheels and a cutting assembly. The cutting assembly includes a main blade located in the middle of the machine body and a secondary blade located off-center near the side of the machine body. The placement of the secondary blade allows the intelligent lawnmower to get closer to obstacles, walls, outer boundaries, and other boundary areas, which is beneficial for cutting the lawn.

[0003] The moving wheels include the front moving wheels. When the smart lawnmower moves, the front moving wheels will roll over the lawn. If the trajectory of the front moving wheels rolling over the lawn overlaps with the cutting area of ​​the secondary blade, the front moving wheels will roll over the grass before the secondary blade cuts the grass. If the grass in that area does not bounce back when the secondary blade moves to the area where the grass has been rolled over, the secondary blade cannot cut the grass in that area properly, which will result in missed grass. Summary of the Invention

[0004] In view of this, the purpose of this disclosure is to propose an intelligent lawnmower and its control method.

[0005] To achieve the above-mentioned objectives, this disclosure provides an intelligent lawnmower, comprising: a body; a moving component disposed below the body and driving the body to move; the moving component includes a front wheel assembly and a rear wheel assembly; a cutting component disposed at the bottom of the body; the cutting component includes: an edge trimming unit disposed between the front wheel assembly and the rear wheel assembly, offset from the longitudinal axis of the body;

[0006] The front wheel assembly includes a first front wheel;

[0007] The intelligent lawnmower includes a first working state and a second working state; compared with the intelligent lawnmower in the first working state, when the intelligent lawnmower is in the second working state, the overlap between the area traversed by the first front wheel and the cutting area corresponding to the trimming unit is reduced.

[0008] To achieve the above-mentioned objectives, this disclosure provides an intelligent lawnmower, comprising: a body; a moving component disposed below the body and driving the body to move; the moving component includes a front wheel assembly and a rear wheel assembly; a cutting component disposed at the bottom of the body; the cutting component includes: an edge trimming unit disposed between the front wheel assembly and the rear wheel assembly, offset from the longitudinal axis of the body;

[0009] The front wheel assembly includes a first front wheel, the first front wheel having a first working position and a second working position that are selectively adjustable relative to the trimming unit;

[0010] When the first front wheel is in the first working position, the cutting area that the trimming unit can currently cut overlaps with the area passed by the first front wheel.

[0011] When the first front wheel is in the second working position, at least 90% of the cutting area that the trimming unit can currently cut does not overlap with the area traversed by the first front wheel.

[0012] As a further improvement to the embodiments of this disclosure, when the intelligent lawnmower is working in the working area, the first front wheel is in a first working position;

[0013] When the intelligent lawnmower is working along the edge, the first front wheel is in the second working position.

[0014] As a further improvement to the embodiments of this disclosure, the front wheel assembly includes a second front wheel;

[0015] When the first front wheel is in the first working position, the first front wheel and the second front wheel are symmetrically arranged along the longitudinal axis of the fuselage;

[0016] When the first front wheel is in the second working position, the first front wheel and the second front wheel are asymmetrically arranged along the longitudinal axis of the fuselage.

[0017] As a further improvement to the embodiments of this disclosure, the intelligent lawnmower includes: a control module, the control module being configured to:

[0018] Upon receiving an edge-cutting command, the first front wheel is driven to switch from the first working position to the second working position;

[0019] When the first front wheel is detected to be in the second working position, the trimming unit is driven to perform a cutting operation;

[0020] When the trimming unit detects that it has completed the edge cutting task, the first front wheel is driven to switch from the second working position to the first working position.

[0021] As a further improvement to the embodiments of this disclosure, the control module receives the edge-cutting command from the mobile terminal; or,

[0022] The control module receives the edge-cutting command from the interaction module on the smart lawnmower; the interaction module is used for user interaction with the smart lawnmower; or...

[0023] The control module receives the edge-cutting command from the detection module on the smart lawnmower; the detection module is used to acquire the position data of the smart lawnmower.

[0024] As a further improvement to the embodiments of this disclosure, the detection module includes a positioning module and a vision sensor, and the control module receives the edge-cutting command from the detection module on the intelligent lawnmower, including:

[0025] During the movement of the intelligent lawnmower along the edge, if the positioning module determines that a boundary area of ​​the working area has been detected, the detection module sends an edge-cutting command to the control module; or...

[0026] During the movement of the intelligent lawnmower along the edge, if the boundary area of ​​the working area is identified based on the data collected by the vision sensor, the detection module sends an edge-cutting command to the control module.

[0027] As a further improvement to the embodiments of this disclosure, a track is provided between the first working position and the second working position; the track is perpendicular to the longitudinal axis of the fuselage, or the track is arc-shaped;

[0028] The first front wheel switches between a first working position and a second working position by sliding in the track.

[0029] As a further improvement to the embodiments of this disclosure, the first front wheel is detachably disposed in the first working position or the second working position;

[0030] The first front wheel switches between the first working position and the second working position by plugging and unplugging.

[0031] To achieve the aforementioned objectives, this disclosure provides a control method for an intelligent lawnmower, the method comprising:

[0032] Receive edge cutting command;

[0033] Drive the first front wheel to switch from the first working position to the second working position;

[0034] The trimming unit is driven to perform the cutting operation;

[0035] After the edge cutting task is completed, drive the first front wheel to switch from the second working position to the first working position;

[0036] Wherein, when the first front wheel is in the first working position, the cutting area that the trimming unit can currently cut overlaps with the area passed by the first front wheel;

[0037] When the first front wheel is in the second working position, at least 90% of the cutting area that the trimming unit can currently cut does not overlap with the area traversed by the first front wheel.

[0038] The intelligent lawnmower and its control method disclosed herein can adaptively change the position of the first front wheel by adjusting the working state of the intelligent lawnmower, thereby avoiding the problem of missed mowing due to the front wheel rolling over the grass, improving the working efficiency of the intelligent lawnmower and providing a good user experience. Attached Figure Description

[0039] Figure 1 A schematic diagram of the intelligent lawnmower in its first working state according to an embodiment of this disclosure;

[0040] Figure 2 A schematic diagram of the intelligent lawnmower in its second working state according to an embodiment of this disclosure;

[0041] Figures 3 to 5 for Figure 1 A schematic diagram showing the positional relationships of some components in the middle section;

[0042] Figure 6 This is a flowchart illustrating a control method for an intelligent lawnmower according to one embodiment of the present disclosure.

[0043] The symbols in the attached image are explained as follows:

[0044] 10. Body; 21. First front wheel; 22. Second front wheel; 23. Track; 30. Rear wheel assembly; 51. Trimming unit; 53. Main cutting unit. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0046] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this disclosure should have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms "first," "second," and similar terms used in the embodiments of this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0047] Intelligent lawnmowers, also known as lawn mowers, are used to move across the ground and perform vegetation cutting and maintenance. Intelligent lawnmowers can be powered in various ways. For example, intelligent lawnmowers are powered by batteries for both movement and operation. The intelligent lawnmower described in this disclosure is merely illustrative, and the solutions described herein can also be applied to other machines. Other machines can be single-function outdoor garden machines, such as autonomous waterers or autonomous snow blowers; or they can be multi-function outdoor garden machines, such as a combination of mowing, watering, and pest control functions. In some cases, it can also be an automated navigation platform configured with appropriate functional components according to actual needs.

[0048] In this disclosure, "work area" is used to refer to areas contained (or largely contained) within boundaries where the intelligent lawnmower will perform its work. For example, a work area may be defined by the grass surface of a yard, on which the intelligent lawnmower will perform maintenance functions, such as mowing the lawn. A home may contain one or more work areas, such as a front yard and a backyard, or two yards separated by a fence.

[0049] While the actual construction of the working machine is not necessarily essential for understanding the implementation of this disclosure, the intelligent lawnmower of this disclosure is part of an autonomous working system that may also include other components such as charging stations and cloud servers.

[0050] like Figure 1 As shown, this disclosure uses a smart lawnmower as an example for specific details. The smart lawnmower includes a body 10; a cutting component, a moving component, a control module, and a detection module disposed on the body 10.

[0051] The body 10 provides structural support for the intelligent lawnmower; for example, a frame and / or chassis with a cover. Exemplarily, the body 10 extends continuously and is formed by one or more components connected together. Alternatively, the body 10 may also be formed by a combination of mutually separate components connected by dynamic couplings.

[0052] A moving assembly is disposed below the body 10 and drives the body 10 to move. It typically includes one or more drive wheels or tracks, and a drive assembly that drives the drive wheels or tracks. The moving assembly of this disclosure includes a front wheel assembly and rear wheel assemblies 30. In some embodiments, the front wheel assembly can freely steer relative to the housing (e.g., about a vertical axis). In this configuration, the direction of the smart lawnmower can be controlled by the differential rotation of the two rear wheels, similar to a conventional zero-turning-radius smart lawnmower. That is, the drive assembly can provide a separate drive motor for each of the left and right rear wheels so that the speed and direction of each rear wheel assembly 30 can be controlled independently. Alternatively, the drive assembly can also provide a drive motor for the front wheels to drive the smart lawnmower to move, and the steering of the smart lawnmower can be controlled by controlling the differential rotation of the front wheel assemblies. Additionally, a steering motor can be provided for the front wheel assembly, i.e., the motor controls the active steering of the front wheel assembly, thereby controlling the direction of the smart lawnmower.

[0053] In a specific embodiment of this disclosure, the front wheel assembly includes two front wheels, namely a first front wheel 21 and a second front wheel 22.

[0054] A cutting assembly, typically comprising one or more, is located at the bottom of the body 10 and is used to trim or cut vegetation in the work area. The cutting assembly includes a blade disc and blades mounted on the blade disc. The cutting assembly is typically coupled to a cutting motor, which, when activated, cuts vegetation (e.g., grass) through which the smart lawnmower passes by, via the rotating blades. While conventional "blades" are described herein, other cutting elements, such as discs, nylon threads, or thread elements, may also be included without departing from the scope of this disclosure. Furthermore, embodiments combining different cutting elements are considered, where the smart lawnmower is equipped with both blades and thread elements to perform cutting under different conditions; when the smart lawnmower is a machine with other functions, the cutting assembly can be replaced with other components for the corresponding functions.

[0055] The cutting assembly disclosed herein includes a trimming unit 51, which is disposed offset from the longitudinal axis of the body 10 between the front wheel assembly and the rear wheel assembly 30. The trimming unit 51 can be a trimming head, a bladed disc, or the like. The trimming unit 51 is typically used for trimming lawn edges, such as lawns along walls or island edges. When the intelligent lawnmower travels along edges or close to walls, the trimming unit 51 maximizes the cutting range on the side close to the wall, significantly reducing areas that cannot be cut, thus avoiding manual trimming.

[0056] In this specific embodiment of the present disclosure, the trimming unit 51 and the first front wheel 21 are disposed on the same side of the fuselage 10.

[0057] In this specific embodiment, the intelligent lawnmower includes a first working state and a second working state. Compared to when the intelligent lawnmower is in the first working state, when the intelligent lawnmower is in the second working state, the overlap between the area traversed by the first front wheel 21 and the cutting area corresponding to the trimming unit 51 is reduced. Thus, by adjusting the working state of the intelligent lawnmower and adaptively changing the position of the first front wheel 21 relative to the trimming unit 51, the problem of missed mowing due to front wheel compaction can be avoided, improving the working efficiency of the intelligent lawnmower and providing a better user experience.

[0058] It should be noted that when the intelligent lawnmower is adjusted from the first working state to the second working state, the overlap between the area traversed by the first front wheel 21 and the cutting area corresponding to the trimming unit 51 can be reduced in various ways. For example, when the intelligent lawnmower is adjusted between the two states, adjusting the position of the first front wheel 21 and / or adjusting the position of the trimming unit 51 can achieve the above purpose.

[0059] The aforementioned cutting area can be the area near the outer edge of the smart lawnmower within the cutting area corresponding to the trimming unit 51. In some embodiments, the smart lawnmower further includes a main cutting unit 53, which is located near or on the central axis of the smart lawnmower body 10. The main cutting unit 53 can cut the grass in the working area. Thus, when there is missed grass in the area far from the outer edge of the smart lawnmower (which can also be understood as the area near the central axis) within the cutting area corresponding to the trimming unit 51, the missed area can be repaired by the main cutting unit 53 or by other means.

[0060] In a preferred embodiment of this disclosure, the front wheel assembly includes a first front wheel 21, which has a first working position and a second working position that are selectively adjustable relative to the trimming unit 51. When the first front wheel 21 is in the first working position, the cutting area that the trimming unit 51 can currently cut overlaps with the area traversed by the first front wheel 21. When the first front wheel 21 is in the second working position, at least 90% of the cutting area that the trimming unit 51 can currently cut does not overlap with the area traversed by the first front wheel 21.

[0061] like Figure 1 As shown, this indicates that the intelligent lawnmower is in its first working state, meaning that when the intelligent lawnmower is working within its working area, the first front wheel 21 is in its first working position. For example... Figure 2 As shown, when the intelligent lawnmower is in its second working state, that is, when the intelligent lawnmower is working along the edge, the first front wheel 21 is in the second working position.

[0062] When the intelligent lawnmower is working within its working area, the moving area of ​​the first front wheel 21 largely overlaps with the cutting area of ​​the trimming unit 51; the trimming unit 51 is not working. When the intelligent lawnmower is working along the edge, the trimming unit 51 starts working, and the first front wheel 21 switches from the first working position to the second working position. At this time, the moving area of ​​the first front wheel 21 and the cutting area of ​​the trimming unit 51 do not overlap, or only overlap very little, and do not affect the trimming unit 51's mowing. In a preferred embodiment of this disclosure, the other of the two front wheels in the front wheel assembly is the second front wheel 22. When the first front wheel 21 is in the first working position, the first front wheel 21 and the second front wheel 22 are symmetrically arranged along the longitudinal axis of the body 10; when the first front wheel 21 is in the second working position, the first front wheel 21 and the second front wheel 22 are asymmetrically arranged along the longitudinal axis of the body 10.

[0063] Here, the positions of the two front wheels can be changed simultaneously, or the position of at least one of the two front wheels can be changed, so that the first front wheel 21 and the second front wheel 22 are asymmetrically arranged along the longitudinal axis of the fuselage 10. Accordingly, in order to ensure that at least 90% of the cutting area that the trimming unit 51 can currently perform cutting does not overlap with the area traversed by the first front wheel 21, a preferred embodiment is to change the position of the first front wheel 21.

[0064] In the feasible method disclosed herein, combined with Figures 3 to 5 As shown, the solid line indicates that the first front wheel 21 is in the first working position, and the dashed line indicates that the first front wheel 21 is in the second working position. In practical applications, the first front wheel 21 is set to either the first working position or the second working position. Figure 3 and Figure 4 As shown, the line connecting the first working position and the second working position is perpendicular to the longitudinal axis of the fuselage 10, or, as... Figure 5 As shown, the line connecting the first working position and the second working position is set at a preset angle to the longitudinal axis of the machine body 10.

[0065] Preferably, the distance between the first front wheel 21 and the longitudinal axis of the fuselage 10 when the first front wheel 21 is in the second working position is less than or greater than the distance between the first front wheel 21 and the longitudinal axis of the fuselage 10 when the first front wheel 21 is in the first working position. In a specific example of this disclosure, the distance between the first front wheel 21 and the longitudinal axis of the fuselage 10 when the first front wheel 21 is in the second working position is less than the distance between the first front wheel 21 and the longitudinal axis of the fuselage 10 when the first front wheel 21 is in the first working position.

[0066] In a specific example of this disclosure, a track 23 is provided between the first working position and the second working position; combined with Figures 3 to 5 As shown, the track 23 is linear, and it can be perpendicular to the longitudinal axis of the fuselage 10 or set at an angle to the longitudinal axis of the fuselage; or the track 23 can be arc-shaped. The first front wheel 21 switches between the first working position and the second working position by sliding in the track 23. In a specific example, the switching between the first working position and the second working position can also be achieved by translating / pivoting the first front moving wheel.

[0067] Correspondingly, the second working position can be set between the longitudinal axis of the body 10 and the first working position, or it can be set on the side of the first working position away from the longitudinal axis of the body 10. Preferably, the second working position and the second front wheel 22 are located on opposite sides of the longitudinal axis of the body 10, so as not to affect the movement of the intelligent lawnmower.

[0068] In another preferred embodiment of this disclosure, the first front wheel 21 is detachably disposed in the first working position or the second working position. The first front wheel 21 can be switched between the first working position and the second working position by plugging and unplugging.

[0069] Here, the first front wheel 21 switches between the first working position and the second working position. The switching can be achieved automatically by motor drive or by user assistance. The specific method is not limited.

[0070] The control module controls the smart lawnmower; specifically, it allows users to operate the smart lawnmower and facilitates interaction between the smart lawnmower and the user. The detection module provides input information to the control module. The control module receives instructions from the detection module and, based on these instructions, controls the smart lawnmower to move and operate according to a pre-set pattern, as well as controlling the changes in various components.

[0071] The control module may include a processor that receives various inputs and executes one or more computer programs or applications stored in memory. Memory may include computer-readable instructions or applications that, when executed by the processor, generate various calculations and / or commands that the controller performs. In other words, the processor and memory can together define a computing device for processing input data and generating desired outputs to one or more components / devices. For example, the processor can receive various input data and generate speed and steering angle commands to drive the wheel motors, causing the wheels to rotate (at the same or different speeds, in the same or different directions). In other words, the controller can control the steering angle and speed of the intelligent lawnmower, the switching direction of the first front wheel 21, and the switching position, etc.

[0072] In a specific embodiment of this disclosure, the control module is configured to: upon receiving an edge cutting command, drive the first front wheel 21 to switch from the first working position to the second working position;

[0073] When the first front wheel 21 is detected to be in the second working position, the trimming unit 51 is driven to perform the cutting operation.

[0074] When the trimming unit 51 detects that it has completed the edge cutting task, it drives the first front wheel 21 to switch from the second working position to the first working position.

[0075] In some implementations, the control module receives the edge-cutting command from the mobile terminal;

[0076] Alternatively, the control module receives the edge-cutting command from the interaction module on the smart lawnmower; the interaction module is used for user interaction with the smart lawnmower.

[0077] Alternatively, the control module receives an edge-cutting command from the detection module on the smart lawnmower; the detection module is used to acquire the position data of the smart lawnmower.

[0078] In a preferred embodiment of this disclosure, the detection module typically includes sensors used to identify and sense environmental information of the smart lawnmower.

[0079] In a specific embodiment of this disclosure, the detection module includes a positioning module and a vision sensor. The control module receives the edge-cutting command from the detection module on the intelligent lawnmower, including:

[0080] During the movement of the intelligent lawnmower along the edge, if the boundary area of ​​the working area is detected based on the data obtained by the positioning module, the detection module sends an edge-cutting command to the control module.

[0081] Alternatively, if the boundary area of ​​the working area is identified based on the data collected by the vision sensor during the movement of the intelligent lawnmower along the edge, the detection module sends an edge-cutting command to the control module.

[0082] The positioning module may include several position sensors. For example, an azimuth sensor for obtaining the azimuth angle of the autonomous machine; a ranging module arranged to determine the distance traveled by the front and / or rear wheel assemblies 30 to assist in determining the position of the intelligent lawnmower from its starting point; an inertial measurement unit (IMU) module arranged to measure the moving forces of the intelligent lawnmower by detecting and recording various forces experienced on it, including direction of movement, moving force, magnetic azimuth of movement, acceleration, and gyroscope movement; and a satellite positioning sensor to receive position data from satellites. Depending on actual needs, the satellite positioning sensor can receive signals from different frequencies or systems, such as the Global Positioning System (GPS), Global Navigation Satellite System (GLONASS), Galileo Satellite Navigation System (Galileo), and Beidou Navigation Satellite System (BDS). It can also receive signals from base stations or network virtual base stations from servers, such as differential correction data. A higher precision position signal is obtained based on the position data and differential correction data.

[0083] In addition to the sensors mentioned above, other currently known or future-developed sensors can also be integrated into the positioning module.

[0084] Visual sensors include one or more that can provide environmental data, such as position, orientation, or velocity, based on visually acquired information. Specifically, a visual sensor may include one or more cameras for capturing or recording images for use by a vision system. Cameras can detect one or both of visible light and non-visible light (e.g., infrared light). The mounting method of the camera depends on its purpose and type. If the camera needs to detect environmental information along a movement path, it is mounted facing forward, and the mounting angle is adjusted according to the camera's field of view (FOV).

[0085] Combination Figure 6 As shown, one embodiment of this disclosure provides a control method for an intelligent lawnmower, characterized in that the method includes:

[0086] Receive edge cutting command;

[0087] Drive the first front wheel to switch from the first working position to the second working position;

[0088] The trimming unit is driven to perform the cutting operation;

[0089] After the edge cutting task is completed, drive the first front wheel to switch from the second working position to the first working position;

[0090] When the first front wheel is in the first working position, the cutting area that the trimming unit 51 can currently cut overlaps with the area passed by the first front wheel.

[0091] When the first front wheel is in the second working position, at least 90% of the cutting area that the trimming unit 51 can currently cut does not overlap with the area traversed by the first front wheel.

[0092] The control method for intelligent lawnmowers has the same beneficial effects as the corresponding implementation methods of intelligent lawnmowers, which can be referred to in the foregoing description and will not be repeated here.

[0093] In summary, the intelligent lawnmower and its control method disclosed herein can adaptively change the position of the first front wheel by adjusting the working state of the intelligent lawnmower, thereby avoiding the problem of missed mowing caused by the front wheel crushing grass during the trimming unit's operation, improving the working efficiency of the intelligent lawnmower, and providing a good user experience.

[0094] It should be noted that "a certain body" or "a certain part" can be a portion of the corresponding "component," meaning that "a certain body" or "a certain part" is integrally formed and manufactured with the "other parts of the component"; or it can be an independent component that can be separated from the "other parts of the component," meaning that "a certain body" or "a certain part" can be manufactured independently and then combined with the "other parts of the component" to form a whole. The expression of "a certain body" or "a certain part" in this disclosure is only one embodiment for ease of reading and is not intended to limit the scope of protection of this disclosure. Any technical solution that includes the above features and has the same function should be understood as an equivalent technical solution of this disclosure.

[0095] It should be noted that the above description describes some embodiments of this disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in a different order than that in the above embodiments and still achieve the desired result. In addition, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown to achieve the desired result.

[0096] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this disclosure (including the claims) is limited to these examples; within the framework of this disclosure, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this disclosure as described above, which are not provided in detail for the sake of brevity.

[0097] This disclosure is intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A smart lawnmower, comprising: body; A movable component is disposed below the body and drives the body to move; The moving assembly includes a front wheel assembly and a rear wheel assembly; The cutting assembly is located at the bottom of the machine body; Its features are, The cutting assembly includes: an edge trimming unit, which is disposed off-center from the longitudinal axis of the machine body between the front wheel assembly and the rear wheel assembly; The front wheel assembly includes a first front wheel; The intelligent lawnmower includes a first working state and a second working state; compared with the intelligent lawnmower in the first working state, when the intelligent lawnmower is in the second working state, the overlap between the area traversed by the first front wheel and the cutting area corresponding to the trimming unit is reduced.

2. A smart lawnmower, comprising: body; A movable component is disposed below the body and drives the body to move; The moving assembly includes a front wheel assembly and a rear wheel assembly; The cutting assembly is located at the bottom of the machine body; Its features are, The cutting assembly includes: an edge trimming unit, which is disposed off-center from the longitudinal axis of the machine body between the front wheel assembly and the rear wheel assembly; The front wheel assembly includes a first front wheel, the first front wheel having a first working position and a second working position that are selectively adjustable relative to the trimming unit; When the first front wheel is in the first working position, the cutting area that the trimming unit can currently cut overlaps with the area passed by the first front wheel. When the first front wheel is in the second working position, at least 90% of the cutting area that the trimming unit can currently cut does not overlap with the area traversed by the first front wheel.

3. The intelligent lawnmower according to any one of the above descriptions, characterized in that, When the intelligent lawnmower is working in the working area, the first front wheel is in the first working position; When the intelligent lawnmower is working along the edge, the first front wheel is in the second working position.

4. The intelligent lawnmower according to any one of the above descriptions, characterized in that, The front wheel assembly includes a second front wheel; When the first front wheel is in the first working position, the first front wheel and the second front wheel are symmetrically arranged along the longitudinal axis of the fuselage; When the first front wheel is in the second working position, the first front wheel and the second front wheel are asymmetrically arranged along the longitudinal axis of the fuselage.

5. The intelligent lawnmower according to any one of the above descriptions, characterized in that, The intelligent lawnmower includes a control module, which is configured to: Upon receiving an edge-cutting command, the first front wheel is driven to switch from the first working position to the second working position; When the first front wheel is detected to be in the second working position, the trimming unit is driven to perform a cutting operation; When the trimming unit detects that it has completed the edge cutting task, the first front wheel is driven to switch from the second working position to the first working position.

6. The intelligent lawnmower according to any one of the above descriptions, characterized in that, The control module receives the edge-cutting command from the mobile terminal; or... The control module receives the edge-cutting command from the interaction module on the smart lawnmower; the interaction module is used for user interaction with the smart lawnmower; or... The control module receives the edge-cutting command from the detection module on the smart lawnmower; the detection module is used to acquire the position data of the smart lawnmower.

7. The intelligent lawnmower according to any one of the above descriptions, characterized in that, The detection module includes a positioning module and a vision sensor. The control module receives the edge-cutting command from the detection module on the intelligent lawnmower, including: During the movement of the intelligent lawnmower along the edge, if the positioning module determines that a boundary area of ​​the working area has been detected, the detection module sends an edge-cutting command to the control module; or... During the movement of the intelligent lawnmower along the edge, if the boundary area of ​​the working area is identified based on the data collected by the vision sensor, the detection module sends an edge-cutting command to the control module.

8. The intelligent lawnmower according to any one of the above descriptions, characterized in that, A track is provided between the first working position and the second working position; the track is perpendicular to the longitudinal axis of the fuselage, or the track is arc-shaped; The first front wheel switches between a first working position and a second working position by sliding in the track.

9. The intelligent lawnmower according to any one of the above descriptions, characterized in that, The first front wheel is detachably mounted in the first working position or the second working position; The first front wheel switches between the first working position and the second working position by plugging and unplugging.

10. A control method for an intelligent lawnmower, characterized in that, The method includes: Receive edge cutting command; Drive the first front wheel to switch from the first working position to the second working position; The trimming unit is driven to perform the cutting operation; After the edge cutting task is completed, drive the first front wheel to switch from the second working position to the first working position; Wherein, when the first front wheel is in the first working position, the cutting area that the trimming unit can currently cut overlaps with the area passed by the first front wheel; When the first front wheel is in the second working position, at least 90% of the cutting area that the trimming unit can currently cut does not overlap with the area traversed by the first front wheel.

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