Intelligent mower

Abstract

The intelligent mower comprises a mower body, and an opening is formed in the top of the mower body; the collision piece is arranged at the top of the machine body and configured to protrude out of the top of the machine body through the opening and at least partially retract into the top of the machine body under the action of external force, the intelligent mower can execute corresponding actions according to the retraction state of the collision piece, and the corresponding actions at least comprise a first action and a second action; under the condition that the intelligent mower executes mowing operation and the collision piece does not retract into the mower body in the vertical direction, a first action is executed, and the first action is forward movement; in the process that the intelligent mower executes the operation of the mower, under the condition that the collision piece is in the retraction state and the acting force borne by the collision piece from top to bottom is smaller than 10 Newton, a second action is executed, and the second action is continuous advancing movement; the problem that the judgment accuracy of the intelligent mower on the suspended obstacle is poor is solved.

Description

Technical Field

[0001] This application relates to the technical field of intelligent lawnmowers, specifically to an intelligent lawnmower. Background Technology

[0002] In existing technologies, smart lawnmowers typically incorporate active detection units such as cameras or lidar to assess the ease of passage of overhead obstacles. However, these active detection units are prone to misjudgments due to complex environmental factors, leading to inaccurate height assessments of overhead obstacles. For instance, they may mistakenly identify a low (impassable) obstacle as a high (passable) one, causing the lawnmower to rigidly contact the obstacle as it passes beneath it. This can result in the lawnmower becoming stuck in the area beneath the obstacle, negatively impacting the user experience. Utility Model Content

[0003] This application provides an intelligent lawnmower that solves the problem that existing intelligent lawnmowers have low accuracy in judging suspended obstacles, making them prone to getting stuck in low-lying areas.

[0004] To achieve the above objectives, in a first aspect, the intelligent lawnmower provided in this application includes:

[0005] The fuselage has an opening at its top;

[0006] A collision component is disposed on the top of the body and configured to protrude from the top of the body through the opening and to retract at least partially into the top of the body under the action of an external force. The intelligent lawnmower can perform corresponding actions according to the retracted state of the collision component, and the corresponding actions include at least a first action and a second action.

[0007] When the intelligent lawnmower is performing a lawnmowing operation and the collision member is not retracted into the body in the vertical direction, it performs a first action, which is forward movement;

[0008] When the intelligent lawnmower is performing lawnmower operations, and the collision member is in a retracted state and the collision member is subjected to a downward force of less than 10 Newtons, a second action is performed, which is to continue moving forward.

[0009] In this embodiment, the protruding collision component ensures that when the intelligent lawnmower encounters low, suspended obstacles (such as shrubs, tables, chairs, or other suspended plants), the collision component prioritizes contact with the obstacle without damaging the machine body. Furthermore, the retractable collision component allows it to retract into the machine body upon contact with low obstacles, preventing rigid contact and ensuring the component's lifespan. Moreover, compared to detection methods that rely solely on actively detecting obstacle height, this method, which determines obstacle height through physical contact, provides direct contact with the obstacle, resulting in higher accuracy and greater reliability.

[0010] When the intelligent lawnmower is performing a mowing operation and the collision parts are not retracted into the body in the vertical direction, it indicates that the intelligent lawnmower is in a normal mowing operation and is not in contact with low obstacles. At this time, performing forward movement can enable it to perform the mowing operation better.

[0011] It should be noted that, under normal walking conditions and without any downward force, the torque of the walking motor of a smart lawnmower is approximately 'a' Newton-meters (e.g., 2 Newton-meters). However, when the smart lawnmower is subjected to a downward force of less than 10 Newtons, the walking motor will adaptively increase its torque, to approximately 'b' Newton-meters (e.g., 2.1-2.5 Newton-meters), to maintain its walking speed. In this case, although energy consumption increases, it remains within an acceptable range for the user and will not consume excessive energy. Furthermore, when the force on the smart lawnmower is less than 10 Newtons, low obstacles cause less damage to the lawnmower, and its main functional components will not be affected in terms of working efficiency or the stability of its mowing operation.

[0012] Meanwhile, when the force exerted on the intelligent lawnmower is less than 10 Newtons, the relatively small force usually indicates that the low obstacle is easy to pass through. The intelligent lawnmower can move smoothly under the low obstacle and carry out the mowing operation smoothly.

[0013] Therefore, during the operation of the intelligent lawnmower, with the collision component in a retracted state and subjected to a downward force of less than 10 Newtons, it continues to move forward. This allows the intelligent lawnmower to smoothly mow the area below low obstacles without excessive energy consumption. Compared to related technologies where intelligent lawnmowers directly avoid low obstacles, this application's intelligent lawnmower can mow the area below low obstacles without requiring secondary mowing by the user, thus increasing the working area. This increases the working area by sacrificing less energy, improving energy efficiency and providing a better user experience. Furthermore, the lawnmower body does not directly contact low obstacles during its continued movement, preventing damage to the machine.

[0014] In addition, by using collision components to determine the height of low obstacles, the influence of external ambient light and transparent obstacles can be eliminated, ensuring that the smart lawnmower is less likely to get stuck in low areas. This helps improve the accuracy of the smart lawnmower in judging suspended obstacles in low spaces.

[0015] Secondly, the intelligent lawnmower provided in this application includes:

[0016] The fuselage has an opening at the top.

[0017] A collision member is disposed on the top of the body and configured to protrude from the top of the body through the opening and to retract at least partially into the top of the body under the action of an external force. A receiving space is formed within the collision member. The intelligent lawnmower can perform corresponding actions according to the retracted state of the collision member. The corresponding actions include at least a first action and a second action.

[0018] An environmental detection unit, at least partially housed within the housing space, is provided to detect environmental information of the smart lawnmower.

[0019] When the intelligent lawnmower is performing lawnmowing operations and the collision member is not retracted into the body in the vertical direction, it performs a first action, which is forward movement. When the intelligent lawnmower is performing lawnmowing operations and the collision member is in a retracted state and the collision member is subjected to a downward force of less than 10 Newtons, it performs a second action, which is continued forward movement.

[0020] The intelligent lawnmower includes: a body with an opening at the top; and a collision member located at the top of the body, configured to protrude from the top of the body through the opening and retract at least partially into the top of the body under external force. The intelligent lawnmower can perform corresponding actions based on the retracted state of the collision member, including at least a first action and a second action. When the intelligent lawnmower is performing mowing operations and the collision member is not retracted into the body in the vertical direction, the first action is forward movement. During mowing operations, when the collision member is in the retracted state and is subjected to a downward force of less than 10 Newtons, the second action is continued forward movement. This corresponds to the relevant technical solution in the first aspect of this application, and its beneficial effects are the same as those in the second aspect of this application, and will not be repeated here.

[0021] Furthermore, by constructing a receiving space inside the collision component to accommodate the environmental detection unit, the internal space of the collision component can be fully utilized. At the same time, the receiving space of the collision component is basically located above the top of the fuselage, so the environmental detection unit can also be located above the top of the fuselage. The detection environment of the environmental detection unit is better. Compared with the environmental detection unit being located inside the fuselage, it is not affected by other components inside the fuselage and the fuselage shell, and can have a better detection environment and detection accuracy.

[0022] Meanwhile, the environmental monitoring unit is located inside the collision component, which serves as a protective component for the environmental monitoring unit, providing physical protection and making the environmental monitoring unit less susceptible to external impacts.

[0023] Of course, when the collision component retracts into the body under the action of the obstacle above, the environmental detection unit inside the collision component can also sense the changes in real time and provide more accurate environmental information. The collision component not only has mechanical protection and feedback functions, but can also achieve intelligent functions by combining with the environmental detection unit. The collaboration between the collision component and the environmental detection unit can more accurately identify obstacles and working areas, enabling the intelligent lawnmower to perceive the surrounding environment more comprehensively, thereby optimizing the lawnmower's path planning and working efficiency.

[0024] Thirdly, the intelligent lawnmower provided in this application includes:

[0025] The fuselage has an opening at its top;

[0026] A collision member is disposed on the top of the body and configured to protrude from the top of the body through the opening and to retract at least partially into the top of the body under the action of an external force. The intelligent lawnmower can perform corresponding actions according to the retracted state of the collision member. The corresponding actions include at least a first action and an avoidance action.

[0027] When the intelligent lawnmower is performing a lawnmowing operation and the collision member is not retracted into the body in the vertical direction, the first action is to move forward.

[0028] When the intelligent lawnmower is performing lawnmowing operations, if the collision component is in a retracted state and the collision component is subjected to a downward force greater than 30 Newtons, it will perform an avoidance action.

[0029] The intelligent lawnmower includes: a body with an opening at the top; and a collision member disposed at the top of the body, configured to protrude from the top of the body through the opening and retract at least partially into the top of the body under external force. The intelligent lawnmower can perform corresponding actions according to the retracted state of the collision member, the corresponding actions including at least a first action and a second action. When the intelligent lawnmower is performing mowing operations and the collision member is not retracted into the body in the vertical direction, the first action is forward movement, which corresponds to the relevant technical solution in the first aspect of this application. The beneficial effects obtained are the same as those in the second aspect of this application, and will not be repeated here.

[0030] First, when a smart lawnmower is subjected to a downward force greater than 30 Newtons, it usually indicates that the height of the low obstacle encountered by the smart lawnmower is lower than the height of the smart lawnmower.

[0031] Furthermore, it should be noted that when a smart lawnmower is moving normally and is not subjected to any downward force, the torque of its motor is approximately α Newton-meters (e.g., 2 Newton-meters). However, when the smart lawnmower is subjected to a downward force greater than 30 Newtons, the motor will adaptively increase its torque, reaching approximately α Newton-meters (e.g., 5-8 Newton-meters) or even higher. In other words, the motor's torque needs to increase by 2.5 to 4 times or more to maintain the lawnmower's speed. Under these circumstances, energy consumption will be high, leading to excessive energy consumption and making it difficult for the smart lawnmower to complete the expected mowing area, resulting in a significant reduction in the working area. Meanwhile, because intelligent lawnmowers experience significant forces, the low obstacles they encounter are typically shorter than the lawnmower itself, indicating obstacles that are difficult to traverse. Even with a substantial increase in power consumption, the lawnmower cannot move smoothly beneath these obstacles and perform mowing operations effectively, which is unacceptable to users. Furthermore, due to the significant forces they experience, low obstacles can cause considerable damage to the lawnmower, potentially affecting the performance of its key components and consequently impacting the stability of its mowing operations. Excessive heat generation also necessitates additional cooling components, increasing the machine's cost.

[0032] Therefore, when the intelligent lawnmower is performing its mowing operation, and the collision component is in a retracted state and subjected to a downward force greater than 30 Newtons, it can perform an avoidance maneuver. This not only ensures high energy efficiency but also allows for timely avoidance of low-lying obstacles that are difficult to traverse, preventing excessive contact between the intelligent lawnmower and the obstacles and thus minimizing the risk of damage. Furthermore, it ensures that the intelligent lawnmower is less likely to become trapped in low-lying areas.

[0033] Fourthly, the intelligent lawnmower provided in this application includes:

[0034] The fuselage has an opening at its top;

[0035] A collision member is disposed on the top of the body and configured to protrude from the top of the body through the opening and to retract at least partially into the top of the body under the action of an external force. A receiving space is formed inside the collision member. The intelligent lawnmower can perform corresponding actions according to the retracted state of the collision member. The corresponding actions include at least a first action and an avoidance action.

[0036] An environmental detection unit, at least partially housed within the housing space, is provided to detect environmental information of the smart lawnmower.

[0037] When the intelligent lawnmower is performing a lawnmowing operation and the collision member is not retracted into the body in the vertical direction, the first action is to move forward.

[0038] When the intelligent lawnmower is performing lawnmowing operations, and the collision member is in a retracted state and the collision member is subjected to a downward force greater than 30 Newtons, the avoidance action is performed.

[0039] The system includes a body with an opening at its top; a collision member located at the top of the body and configured to protrude from the top of the body through the opening, and to retract at least partially into the top of the body under external force. The intelligent lawnmower can perform corresponding actions based on the retracted state of the collision member, including at least a first action and an avoidance action. When the intelligent lawnmower is performing mowing operations and the collision member is not retracted into the body in the vertical direction, the first action is forward movement. When the intelligent lawnmower is performing mowing operations, and the collision member is in a retracted state and subjected to a downward force greater than 30 Newtons, an avoidance action is performed, with the first action being forward movement. This corresponds to the relevant technical solution in the first aspect of this application, and its beneficial effects are the same as those in the second aspect of this application, and will not be repeated here.

[0040] Furthermore, by constructing a receiving space inside the collision component to accommodate the environmental detection unit, the internal space of the collision component can be fully utilized. At the same time, the receiving space of the collision component is basically located above the top of the fuselage, so the environmental detection unit can also be located above the top of the fuselage. The detection environment of the environmental detection unit is better. Compared with the environmental detection unit being located inside the fuselage, it is not affected by other components inside the fuselage and the fuselage shell, and can have a better detection environment and detection accuracy.

[0041] Meanwhile, the environmental monitoring unit is located inside the collision component, which serves as a protective component for the environmental monitoring unit, providing physical protection and making the environmental monitoring unit less susceptible to external impacts.

[0042] Of course, when the collision component retracts into the body under the action of an obstacle above, the environmental detection unit inside the collision component can also sense the changes in real time, providing more accurate environmental information. The collision component not only has mechanical protection and feedback functions, but can also achieve intelligent functions by combining with the environmental detection unit. The cooperation between the collision component and the environmental detection unit can more accurately identify obstacles and working areas, enabling the intelligent lawnmower to perceive the surrounding environment more comprehensively, thereby optimizing the lawnmower's path planning and working efficiency. Furthermore, if the force is greater than 30 Newtons, it indicates a large force, usually representing a low obstacle encountered. These objects are likely to make rigid contact with the intelligent lawnmower, substantially affecting its forward movement. Therefore, the intelligent lawnmower will perform an avoidance maneuver to protect itself.

[0043] Fifthly, the intelligent lawnmower provided in this application includes:

[0044] The fuselage has an opening at its top;

[0045] A collision member, the collision member being disposed on the top of the fuselage and configured to protrude from the top of the fuselage through the opening, and to retract at least partially into the top of the fuselage under the action of an external force;

[0046] A reset component is provided, which connects the collision component and the fuselage. The reset component can reset the collision component after the external force is eliminated.

[0047] In this way, when the retraction height of the collision component into the body is small, the intelligent lawnmower continues to move forward, slowly traversing minor or flexible obstacles. When passing minor or flexible obstacles, the reset component automatically restores the collision component to its initial position based on changes in external force, providing the intelligent lawnmower with continuous adjustment capabilities to help it cope with dynamic environments (such as wind, obstacle movement, etc.). Because the extension and retraction settings of the collision component and the reset component automatically adjust, users do not need to manually adjust the collision component or worry about the impact of obstacles, reducing the need for human intervention and enhancing the autonomy and intelligence of the intelligent lawnmower.

[0048] Sixthly, the intelligent lawnmower provided in this application includes:

[0049] The fuselage has an opening at its top;

[0050] A collision member is disposed on the top of the fuselage and configured to protrude from the top of the fuselage through the opening and to retract at least partially into the top of the fuselage under the action of an external force, wherein a receiving space is formed within the collision member.

[0051] An environmental detection unit, at least partially housed within the housing space, is provided to detect environmental information of the smart lawnmower.

[0052] A reset component is provided, which connects the collision component and the fuselage. The reset component can reset the collision component after the external force is eliminated.

[0053] In this way, when the collision component retracts into the machine body under the action of an obstacle above, the environmental detection unit inside the collision component can also sense the changes in real time, providing more accurate environmental information. The collision component not only has mechanical protection and feedback functions, but can also achieve intelligent functions in conjunction with the environmental detection unit. The collaboration between the collision component and the environmental detection unit can more accurately identify obstacles and working areas, enabling the intelligent lawnmower to perceive the surrounding environment more comprehensively, thereby optimizing the lawnmower's path planning and work efficiency. Furthermore, because the extension and retraction settings of the collision component and the reset component automatically adjust, users do not need to manually adjust the collision component or worry about the impact of obstacles, reducing the need for human intervention and improving the autonomy and intelligence level of the intelligent lawnmower. When the intelligent lawnmower passes through slight or flexible obstacles, the reset component can automatically restore the initial position of the collision component (such as the position when the collision component is not retracted into the machine body) according to changes in external force, providing the intelligent lawnmower with the ability to continuously adjust and help it prepare for the next detection of suspended obstacles.

[0054] In some embodiments of this application, the collision member has a connection end located near the front end of the smart lawnmower, the connection end being rotatably connected to the body, and the connection end and the body being connected by a reset member, which can reset the collision member after the external force is eliminated.

[0055] By placing the reset component at the connecting end of the collider using the above method, the reset component can directly act on the rotating connection part of the collider, thus concentrating the force on the collider at the mechanical rotation point and ensuring the stability and reliability of the reset component. This ensures that the reset force of the reset component is transmitted along the correct path, allowing the collider to quickly return to its initial position. Furthermore, it avoids deformation or damage to the reset component caused by distance or complex force transmission paths.

[0056] In some embodiments of this application, the collision member is provided with a guide structure on the side near the front end of the lawnmower, the guide structure being configured to cause the collision member to gradually retract into the top of the machine body.

[0057] Through the above method, when the smart lawnmower encounters a suspended obstacle, the guide structure can slowly retract the collision component into the body, thereby reducing the impact force transmitted from the suspended obstacle to the collision component and lowering the risk of collision between the smart lawnmower and the suspended obstacle. The collision component can act as a buffer and isolation, reducing direct collisions between the smart lawnmower and the suspended obstacle and protecting the integrity of the smart lawnmower.

[0058] In some embodiments of this application, the guide structure is a guide arc surface disposed on the outer periphery of the collision member. The guide arc surface is disposed close to the connection end, and the height of the guide arc surface gradually increases from the front end of the smart lawnmower to the rear end of the smart lawnmower.

[0059] Through the above method, the design of the guide arc surface allows the collision component to move smoothly during the retraction process. As the height of the guide arc surface increases, the collision component gradually retracts into the body. By gradually increasing the height of the guide arc surface, the force distribution on the collision component during the retraction process is more uniform, reducing local stress concentration on the collision component and lowering the risk of damage to the smart lawnmower.

[0060] In some embodiments of this application, the height of the collision member gradually increases from the front end to the rear end of the smart lawnmower.

[0061] Through the above method, when the smart lawnmower encounters a suspended obstacle, the gradually increasing design can detect the suspended obstacle in stages, avoiding direct collision between the collision components and the suspended obstacle, which could cause the smart lawnmower to jam, tip over, or be damaged.

[0062] In some embodiments of this application, an elastic element is connected between the collision member and the fuselage, and the collision member tends to be pushed upward under the action of the elastic element.

[0063] In this way, firstly, the elastic component (such as a spring) can immediately provide a reaction force to the colliding component after the external force disappears, allowing the colliding component to quickly return to its initial position, reducing the reset time of the colliding component and improving the working continuity of the intelligent lawnmower. Secondly, the elastic component can ensure that the colliding component does not remain in a retracted state for a long time after being subjected to external force, avoiding permanent deformation or jamming due to fatigue.

[0064] In some embodiments of this application, the collision member includes a connecting end and a movable end disposed opposite to each other, the connecting end being disposed near the front end of the smart lawnmower and the movable end being disposed near the rear end of the smart lawnmower.

[0065] Wherein, one end of the elastic element is connected between the movable end and the connecting end, or one end of the elastic element is connected to the movable end.

[0066] By connecting the elastic element to the movable end in the above manner, and the connecting end being the rotating end of the collision element, this arrangement allows the elastic force of the elastic element to act on the collision element through a relatively long lever arm, thereby generating a greater torque and thus more effectively pushing the collision element to reset.

[0067] In some embodiments of this application, the elastic element extends in a vertical direction.

[0068] In this way, the vertical extension of the elastic element aligns with the main force and displacement directions of the colliding element, making the restoring force of the elastic element more direct and effective, and reducing the loss of restoring force. Simultaneously, the vertically extending elastic element provides a uniform restoring force, avoiding the loss of restoring force due to the elastic element's misalignment caused by inconsistent force directions, thus effectively preventing incomplete restoring of the colliding element.

[0069] In some embodiments of this application, a receiving space is formed within the collision member, the collision member includes a top wall defining the top boundary of the receiving space, a portion of the elastic member is received within the receiving space and connected to the top wall, and another portion of the elastic member is received within the fuselage and connected to the fuselage.

[0070] In this way, the elastic component is housed within both the colliding component's storage space and the machine body. This effectively prevents external environmental factors (such as dust, rain, and weeds) from affecting the elastic component, extending its service life. Furthermore, it prevents the elastic component from being exposed to the outside of the smart lawnmower, reducing the risk of damage caused by physical collisions, friction, or human error.

[0071] In some embodiments of this application, the collision member has a receiving space formed therein, the collision member includes a top wall defining the top boundary of the receiving space, the top wall is provided with a first limiting part extending downward, the body is provided with a second limiting part protruding upward, one end of the elastic member is limited and engaged with the first limiting part, and the other end is connected and limited and engaged with the second limiting part.

[0072] In the above manner, the first limiting part and the second limiting part can provide a clear installation position or fixed position for the elastic element. Even under severe collision or irregular external force, the limiting structure can limit the deformation range of the elastic element, thereby limiting the horizontal or vertical displacement generated by the elastic element during operation to a certain extent, and ensuring that the elastic element always extends in the vertical direction.

[0073] In some embodiments of this application, the first limiting part is a first limiting post, the second limiting part is a second limiting post, the second limiting post is located below the first limiting post, and there is always a gap between the two.

[0074] In this way, the gap between the first and second limiting posts provides space for the impact component to retract downwards into the fuselage, ensuring that the first and second limiting posts undergo a hard physical collision during the downward retraction of the impact component. Simultaneously, the gap provides a buffer space for the elastic component to freely expand and contract, better absorbing impact force and smoothly returning to its original position.

[0075] In some embodiments of this application, one of the first limiting part and the second limiting part is a guide post, and the other is a guide sleeve. The guide sleeve is at least partially sleeved on the outer periphery of the guide post and slidably connected to the guide post. One end of the elastic member is sleeved on the outer periphery of the guide post, and the other end of the elastic member is sleeved on the outer periphery of the guide sleeve.

[0076] Through the above method, the sliding connection between the guide post and the guide sleeve can ensure that the collision part moves along a precise track during the retraction or protrusion process and the elastic part moves along the extension and contraction process, reducing unnecessary friction and lateral swaying, avoiding the elastic part from shifting or deforming, thereby improving the reliability of the elastic part's reset action.

[0077] In some embodiments of this application, the intelligent lawnmower further includes a collision detection component disposed between the collision member and the body. The collision detection component is used to detect the height position of the collision member, and the intelligent lawnmower can determine whether it is in a collision state based on the height position.

[0078] In this way, the collision detection component detects the height of the colliding component, enabling the smart lawnmower to accurately identify whether a collision has occurred, rather than relying solely on external pressure or force sensing. This reduces the possibility of misjudgments or missed judgments due to malfunctions of the colliding component.

[0079] In some embodiments of this application, the collision detection component includes a test element and a sensor element. The test element is disposed on the collision element, and the sensor element is disposed on the body. The sensor element is capable of sensing the height position of the collision element through the test element.

[0080] In this way, the sensor can sense the height and position of the colliding object through the measured object and provide real-time feedback signals. Once the sensor detects that the colliding object is in contact with the suspended obstacle, it will immediately send a signal to the control system of the smart lawnmower to ensure that the corresponding avoidance action or stop action can be triggered in time to avoid collision and damage to the smart lawnmower.

[0081] In some embodiments of this application, the intelligent lawnmower further includes an environmental detection unit, which is disposed inside the collision component;

[0082] When the colliding element is at least not subjected to the force, the top of the environmental detection unit is lower than the setting position of the tested element, or the top of the environmental detection unit and the top of the colliding element are separated in the vertical direction.

[0083] In this way, the top of the environmental detection unit is lower than the installation position of the object being measured, ensuring that the environmental detection unit is within the detection range of the collision detection component. Therefore, when the collision detection component senses a decrease in the height of the collision object, it can promptly trigger corresponding avoidance or stop actions, preventing the collision object from continuing to descend and causing the environmental monitoring unit to come into contact with and be damaged by the suspended obstacle. The collision object provides a certain degree of physical protection for the environmental monitoring unit. When encountering low, suspended obstacles, the spacing design ensures that the collision object preferentially contacts the suspended obstacle, preventing the environmental monitoring unit from being damaged by contact with the suspended obstacle.

[0084] In some embodiments of this application, the collision member has a receiving space, the receiving space is provided with an elastic member, the collision member has a downwardly extending first limiting part on the inner wall at the top of the receiving space, the body has an upwardly protruding second limiting part, one end of the elastic member is limited and cooperates with the first limiting part, and the other end is limited and cooperates with the second limiting part, the test object is disposed in the first limiting part, and the sensing element is disposed in the second limiting part.

[0085] In this manner, the first limiting part (the downwardly extending first limiting post) and the second limiting part (the upwardly protruding second limiting post) provide clear positioning for both ends of the elastic element (e.g., a spring), ensuring the correct operation of the elastic element within the receiving space. Furthermore, the design of the first and second limiting parts provides fixed mounting points for the measured component and the sensing component, allowing them to be accurately and stably mounted on the collision component and the machine body. This enables precise sensing of the collision component's position, facilitating accurate collision detection and avoidance maneuvers.

[0086] In some embodiments of this application, the device under test is a magnetic device, and the sensing device is a Hall effect detection unit.

[0087] Through the methods described above, the Hall effect sensor is highly sensitive to changes in the magnetic field, enabling it to quickly and accurately detect changes in the position and height of magnetic components. The high sensitivity of the Hall effect sensor provides precise collision detection, ensuring timely intervention. Furthermore, because the Hall effect sensor employs non-contact detection, it is unaffected by physical wear and friction, exhibiting high reliability. It can operate stably under various environmental conditions, unaffected by external factors such as dust and moisture, providing stable and reliable detection results.

[0088] In some embodiments of this application, the collision detection component includes an infrared transmitter, an infrared receiver, and a blocking component. The infrared transmitter and the infrared receiver are installed inside one of the collision component and the fuselage and are arranged opposite to each other and spaced apart. The blocking component is provided inside the other of the collision component and the fuselage.

[0089] The blocking element is configured to have at least a blocking state located at the interval to block the light emitted by the infrared emitting end;

[0090] The lawnmower can determine the height and position of the collision component based on the information received by the infrared receiver.

[0091] In this way, because infrared light travels at a high speed, the infrared receiver can quickly receive the light signal blocked by the barrier, enabling the collision detection component to respond quickly to collision events and trigger avoidance or cessation actions in a timely manner. This helps improve the safety and efficiency of the smart lawnmower.

[0092] In some embodiments of this application, a micro switch is provided between the collision component and the machine body, and the intelligent lawnmower can determine whether the collision component is in a collision state based on the trigger information of the micro switch.

[0093] In this way, the microswitch can be triggered instantly upon impact, thus accurately determining whether the colliding component is affected by an external force, and judging whether a collision has occurred based on its triggering state. The microswitch is not easily affected by environmental factors (such as temperature changes, humidity, etc.). Therefore, it can avoid misjudgment or failure due to environmental changes, ensuring reliable detection of the collision state.

[0094] In some embodiments of this application, the outer periphery of the collision member is provided with a hand-held portion.

[0095] In this way, users can easily grasp the collision component with the handheld part for installation or position adjustment. Additionally, if the collision component encounters a low, suspended obstacle and retracts into the fuselage, and after removing the obstacle, the user can return the collision component to its initial position by holding the handheld part.

[0096] In some embodiments of this application, the intelligent lawnmower has a lateral direction, and the collision member includes a first side plate and a second side plate disposed opposite to each other along the lateral direction. The first side plate is provided with a first recessed surface that is recessed toward the second side plate, and the second side plate is provided with a second recessed surface that is recessed toward the first side plate. The first recessed surface and the second recessed surface together constitute the handheld part.

[0097] In this way, the design of the first concave surface can increase the structural strength of the first side plate, and the design of the second concave surface can increase the structural strength of the second side plate, thereby increasing the structural strength of the collision component, which helps to protect the collision component from damage and extend its service life.

[0098] In some embodiments of this application, the intelligent lawnmower has a lateral direction, and the collision member includes a first side plate and a second side plate disposed opposite to each other along the lateral direction, and a top wall connected between the top of the first side plate and the top of the second side plate. The top wall is provided with a groove recessed toward the bottom of the intelligent lawnmower, and a reinforcing rib is provided between the first side plate, the second side plate and the groove.

[0099] Through the above methods, the design of reinforcing ribs can further increase the structural strength of the impact components, helping to protect them from damage and extend their service life.

[0100] In some embodiments of this application, the environmental detection unit includes one or more of lidar, RTK sensor, and ultrasonic sensor.

[0101] By employing the above methods, when the environmental detection unit includes one of LiDAR, RTK sensors, or ultrasonic sensors, the manufacturing cost of the intelligent lawnmower can be reduced while meeting basic environmental perception requirements. This also simplifies the integration and management of the intelligent lawnmower's control system. When the environmental detection unit includes multiple types of sensors, such as LiDAR, RTK sensors, and ultrasonic sensors, the combination of various sensors provides multiple detection methods, thereby increasing the accuracy and reliability of environmental perception. This helps the intelligent lawnmower to more accurately perceive its surroundings and avoid obstacles and dangerous areas.

[0102] In some embodiments of this application, the avoidance action is one or more combinations of stopping forward, turning, and reversing.

[0103] In this way, the intelligent lawnmower can choose to stop, turn, or reverse in combination based on the actual situation, thereby making the most appropriate avoidance decision to bypass obstacles as quickly as possible and continue working, thus improving work efficiency. Attached Figure Description

[0104] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0105] Figure 1This is one of the perspective views of the intelligent lawnmower in the embodiments of this application;

[0106] Figure 2 This is a cross-sectional view of the intelligent lawnmower in the embodiments of this application;

[0107] Figure 3 yes Figure 1 Enlarged view of part A in the image;

[0108] Figure 4 This is the second perspective view of the intelligent lawnmower in the embodiments of this application.

[0109] Explanation of reference numerals in the attached figures:

[0110] 1. Fuselage;

[0111] 2. Collision component; 21. Connecting end; 22. Movable end; 23. Guide arc surface; 24. Top wall; 241. Groove; 25. First side plate; 251. First recessed area; 26. Second side plate; 261. Second recessed area;

[0112] 3. Environmental monitoring unit;

[0113] 4. Elastic components;

[0114] 5. First limiting part;

[0115] 6. Second limiting part. Detailed Implementation

[0116] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0117] In the description of this application, it should be understood that the terms "center", "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. They 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. Therefore, they should not be construed as limitations on this application.

[0118] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0119] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, a direct connection, or an indirect connection through an intermediate medium; or they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0120] This application provides an intelligent lawnmower, which is described in detail below. It should be noted that the order of description of the following embodiments is not intended to limit the preferred order of the embodiments of this application. Furthermore, in the following embodiments, the descriptions of each embodiment have their own emphasis; parts not described in detail in a certain embodiment can be referred to in the relevant descriptions of other embodiments.

[0121] Reference Figure 1 and Figure 2 In a first aspect, the intelligent lawnmower provided in this application includes a body 1 and a collision member 2. The top of the body 1 is provided with an opening 11. The collision member 2 is provided on the top of the body 1 and is configured to protrude from the top of the body through the opening 11 and to retract at least partially into the top of the body 1 under the action of an external force.

[0122] The intelligent lawnmower can perform corresponding actions based on the retracted state of the collision member 2. These actions include at least a first action and a second action. When the intelligent lawnmower is performing mowing operations and the collision member 2 is not retracted vertically, the first action is performed: forward movement. When the intelligent lawnmower is performing mowing operations, and the collision member 2 is in the retracted state and experiences a downward force P of less than 10 Newtons, the second action is performed: continued forward movement.

[0123] In this embodiment, the protruding collision member 2 from the body 1 ensures that when the intelligent lawnmower encounters low, suspended obstacles (such as shrubs, tables, chairs, or other suspended plants), the collision member 2 will preferentially contact the obstacle without damaging the body 1. Furthermore, the retractable design of the collision member 2 allows it to retract into the body 1 upon contact with a low obstacle, preventing rigid contact and ensuring the lifespan of the collision member 2. Moreover, compared to detection methods that rely solely on actively detecting the height of low obstacles, this method, which determines the height of low obstacles through physical contact, directly engages with the obstacle, resulting in higher accuracy and greater reliability.

[0124] When the intelligent lawnmower is performing a mowing operation and the collision part 2 is not retracted into the body 1 in the vertical direction, it indicates that the intelligent lawnmower is in a normal mowing operation and is not in contact with low obstacles. At this time, performing a forward movement can enable it to perform the mowing operation better.

[0125] It should be noted that, under normal walking conditions and without any downward force, the torque of the walking motor of a smart lawnmower is approximately 'a' Newton-meters (e.g., 2 Newton-meters). However, when the smart lawnmower is subjected to a downward force of less than 10 Newtons, the walking motor will adaptively increase its torque, to approximately 'b' Newton-meters (e.g., 2.1-2.5 Newton-meters), to maintain its walking speed. In this case, although energy consumption increases, it remains within an acceptable range for the user and will not consume excessive energy. Furthermore, when the force on the smart lawnmower is less than 10 Newtons, low obstacles cause less damage to the lawnmower, and its main functional components will not be affected in terms of working efficiency or the stability of its mowing operation.

[0126] Meanwhile, when the force exerted on the intelligent lawnmower is less than 10 Newtons, the relatively small force usually indicates that the low obstacle is easy to pass through. The intelligent lawnmower can move smoothly under the low obstacle and carry out the mowing operation smoothly.

[0127] Therefore, during the operation of the intelligent lawnmower, when the collision member 2 is in a retracted state and the downward force on the collision member 2 is less than 10 Newtons, it continues to move forward. Without excessive energy consumption, the intelligent lawnmower can smoothly mow the working area below low obstacles. Compared with related technologies where intelligent lawnmowers directly avoid low obstacles, the intelligent lawnmower of this application can mow the working area below low obstacles without requiring the user to mow the area below low obstacles a second time. It can also increase the working area of ​​the intelligent lawnmower. By sacrificing less energy, the working area of ​​the intelligent lawnmower can be increased, improving energy utilization and providing a better user experience. At the same time, during the continued movement of the intelligent lawnmower, the body 1 will not directly contact the low obstacles, and the body 1 will not be damaged.

[0128] In addition, by using the collision component 2 to determine the height of low obstacles, it is not affected by external ambient light, weather and transparent obstacles, which can ensure that the smart lawnmower is not easily trapped in low areas, which helps to improve the accuracy of the smart lawnmower in judging suspended obstacles in low spaces.

[0129] It should be noted that when the first action is forward movement and the second action is continued forward movement, the continued forward movement means maintaining the original forward speed and blade rotation speed of the smart lawnmower. In other words, the forward speed and blade rotation speed of the smart lawnmower are the same in both the first and second actions.

[0130] Secondly, the intelligent lawnmower provided in this application includes a body 1, a collision component 2, and an environmental detection unit 3. The top of the body 1 has an opening 11.

[0131] The collision member 2 is located on the top of the body 1 and is configured to protrude from the top of the body 1 through the opening 11 and retract at least partially into the top of the body 1 under the action of external force. A receiving space is formed inside the collision member 2. The intelligent lawnmower can perform corresponding actions according to the retracted state of the collision member 2. The corresponding actions include at least a first action and a second action.

[0132] The environmental detection unit 3 is at least partially housed within the containment space to detect environmental information about the location of the smart lawnmower.

[0133] When the intelligent lawnmower is performing mowing operations and the collision component is not retracted in the vertical direction, it performs the first action, which is forward movement. When the intelligent lawnmower is performing mowing operations, and the collision component is in the retracted state and subjected to a downward force P of less than 10 Newtons, it performs the second action, which is continued forward movement.

[0134] The intelligent lawnmower includes: a body 1 with an opening 11 at its top; and a collision member 2 located at the top of the body 1, configured to protrude from the top of the body 1 through the opening 11 and retract at least partially into the top of the body 1 under external force. The intelligent lawnmower can perform corresponding actions based on the retracted state of the collision member 2, including at least a first action and a second action. When the intelligent lawnmower is performing mowing operations and the collision member 2 is not retracted into the body in the vertical direction, the first action is forward movement. During mowing operations, when the collision member 2 is in the retracted state and is subjected to a downward force of less than 10 Newtons, the second action is continued forward movement. This corresponds to the relevant technical solution in the first aspect of this application, and its beneficial effects are the same as those in the second aspect of this application, and will not be repeated here.

[0135] Furthermore, by constructing a receiving space inside the collision component 2 to accommodate the environmental detection unit 3, the internal space of the collision component 2 can be fully utilized. At the same time, the receiving space of the collision component 2 is basically located above the top of the fuselage 1. Thus, the environmental detection unit 3 can also be located above the top of the fuselage 1. The detection environment of the environmental detection unit 3 is better. Compared with the environmental detection unit 3 being located inside the fuselage 1, it is not affected by other internal components of the fuselage 1 or the shell of the fuselage 1, and can have better detection environment and detection accuracy.

[0136] Meanwhile, the environmental monitoring unit 3 is located inside the collision component 2, which serves as a protective structure for the environmental monitoring unit, providing physical protection and making the environmental monitoring unit 3 less susceptible to external impacts. For example, it protects the environmental monitoring unit 3 from damage caused by external physical impacts (such as gravel, branches, raindrops, etc.) and prevents external dust, dirt, or moisture from entering, ensuring the reliable operation of the environmental monitoring unit 3 under various environmental conditions.

[0137] Of course, when the collision component 2 retracts into the body 1 under the action of the obstacle above, the environmental detection unit 3 inside the collision component 2 can also sense the changes in real time and provide more accurate environmental information. The collision component 2 not only has mechanical protection and feedback functions, but can also achieve intelligent functions by combining with the environmental detection unit 3. The cooperation between the collision component 2 and the environmental detection unit 3 can more accurately identify obstacles and working areas, enabling the intelligent lawnmower to perceive the surrounding environment more comprehensively, thereby optimizing the lawnmower's path planning and working efficiency.

[0138] For example, the environmental detection unit 3 can use sensors (such as ultrasonic, infrared, or laser sensors) to detect obstacles around the smart lawnmower, such as trees, flower beds, and stones. By detecting the position and distance of obstacles, the smart lawnmower can avoid collisions, ensuring safe operation. Alternatively, the environmental detection unit 3 can use sensors (such as tilt sensors or terrain sensors) to sense the slope, elevation difference, or unevenness of the ground, helping the smart lawnmower adapt to different terrains and adjust the height of the blades or the mowing path to ensure mowing efficiency. Alternatively, the environmental detection unit 3 can use sensors (such as boundary line sensors or electronic fence sensors) to detect the boundaries of the mowing area, preventing the smart lawnmower from crossing boundaries or entering non-mowing areas.

[0139] Thirdly, the intelligent lawnmower provided in this application includes a body 1 and a collision member 2. The top of the body 1 is provided with an opening 11. The collision member 2 is located on the top of the body 1 and is configured to protrude from the top of the body 1 through the opening 11, and to retract at least partially into the top of the body 1 under the action of an external force. The intelligent lawnmower can perform corresponding actions according to the retracted state of the collision member 2, and the corresponding actions include at least a first action and an avoidance action.

[0140] When the intelligent lawnmower is performing lawnmowing operations and the collision component 2 is not retracted into the body 1 in the vertical direction, it performs the first action, which is forward movement. During lawnmowing operations, if the collision component 2 is in the retracted state and is subjected to a downward force P greater than 30 Newtons, it performs an avoidance action.

[0141] The intelligent lawnmower includes: a body 1, with an opening 11 at the top; a collision member 2 disposed at the top of the body 1 and configured to protrude from the top of the body 1 through the opening 11, and to retract at least partially into the top of the body 1 under the action of an external force; the intelligent lawnmower can perform corresponding actions according to the retracted state of the collision member 2, the corresponding actions including at least a first action and a second action; when the intelligent lawnmower is performing a mowing operation and the collision member 2 is not retracted into the body 1 in the vertical direction, the first action is forward movement, which corresponds to the relevant technical solution in the first aspect of this application, and the beneficial effects obtained are the same as those in the second aspect of this application, and will not be repeated here.

[0142] First, when a smart lawnmower is subjected to a downward force greater than 30 Newtons, it usually indicates that the height of the low obstacle encountered by the smart lawnmower is lower than the height of the smart lawnmower.

[0143] Furthermore, it should be noted that when a smart lawnmower is moving normally and is not subjected to any downward force, the torque of its motor is approximately α Newton-meters (e.g., 2 Newton-meters). However, when the smart lawnmower is subjected to a downward force greater than 30 Newtons, the motor will adaptively increase its torque, reaching approximately α Newton-meters (e.g., 5-8 Newton-meters) or even higher. In other words, the motor's torque needs to increase by 2.5 to 4 times or more to maintain the lawnmower's speed. Under these circumstances, energy consumption will be high, leading to excessive energy consumption and making it difficult for the smart lawnmower to complete the expected mowing area, resulting in a significant reduction in the working area. Meanwhile, because intelligent lawnmowers experience significant forces, the low obstacles they encounter are typically shorter than the lawnmower itself, indicating obstacles that are difficult to traverse. Even with a substantial increase in power consumption, the lawnmower cannot move smoothly beneath these obstacles and perform mowing operations effectively, which is unacceptable to users. Furthermore, due to the significant forces they experience, low obstacles can cause considerable damage to the lawnmower, potentially affecting the performance of its key components and consequently impacting the stability of its mowing operations. Excessive heat generation also necessitates additional cooling components, increasing the machine's cost.

[0144] Therefore, when the intelligent lawnmower is performing its mowing operation, and the collision component 2 is in a retracted state and subjected to a downward force greater than 30 Newtons, it can perform an avoidance action. This not only ensures that the intelligent lawnmower has a high energy utilization rate, but also allows it to avoid low obstacles that are difficult to pass through in a timely manner, ensuring that the intelligent lawnmower does not come into excessive contact with low obstacles and is not easily damaged. At the same time, it ensures that the intelligent lawnmower is not easily trapped in low-lying areas.

[0145] Fourthly, the intelligent lawnmower provided in this application includes a body 1, a collision member 2, and an environmental detection unit 3. The top of the body 1 has an opening 11. The collision member 2 is located on the top of the body 1 and is configured to protrude from the top of the body 1 through the opening 11, and to at least partially retract into the top of the body 1 under the action of an external force. An accommodating space is formed within the collision member 2, and the intelligent lawnmower can perform corresponding actions based on the retracted state of the collision member 2. These corresponding actions include at least a first action and an avoidance action. The environmental detection unit 3 is at least partially accommodated within the accommodating space to detect environmental information of the intelligent lawnmower.

[0146] When the intelligent lawnmower is performing lawnmowing operations and the collision component 2 is not retracted into the body 1 in the vertical direction, it performs the first action, which is forward movement. During lawnmowing operations, if the collision component 2 is in the retracted state and is subjected to a downward force P greater than 30 Newtons, it performs an avoidance action.

[0147] In this technical solution, when the collision component 2 retracts into the body 1 under the action of an obstacle above, the environmental detection unit 3 inside the collision component 2 can also sense the changes in real time, providing more accurate environmental information. The collision component 2 not only has mechanical protection and feedback functions, but can also achieve intelligent functions in conjunction with the environmental detection unit 3. The cooperation between the collision component 2 and the environmental detection unit 3 can more accurately identify obstacles and working areas, enabling the intelligent lawnmower to perceive the surrounding environment more comprehensively, thereby optimizing the lawnmower's path planning and working efficiency. Furthermore, if the force is greater than 30 Newtons, it indicates a large force, usually representing a low-lying obstacle. These objects are likely to make rigid contact with the intelligent lawnmower, substantially affecting its forward movement. Therefore, the intelligent lawnmower will perform an avoidance maneuver to protect itself.

[0148] Based on any of the above embodiments, when an obstacle is detected, the intelligent lawnmower can choose a combination of actions such as stopping, turning, or reversing according to the actual situation, thereby making the most appropriate avoidance decision to bypass the obstacle as quickly as possible and continue working. For example, the avoidance action is one or more combinations of stopping, turning, reversing, and turning around. For example, it could be stopping and sounding an alarm, turning directly and trying to find a passable area, reversing directly, or stopping first and then turning or reversing. Of course, other avoidance actions can also be used in other embodiments. The specific avoidance actions and their combinations are not limited here, as long as the intelligent lawnmower can avoid low obstacles in time. Through the flexible selection of multiple actions, this application allows the intelligent lawnmower to avoid obstacles more efficiently and improve work efficiency.

[0149] Fifthly, the intelligent lawnmower provided in this application includes a body 1, a collision member 2, and a reset member. The top of the body 1 has an opening 11. The collision member 2 is located on the top of the body 1 and is configured to protrude from the top of the body 1 through the opening 11, and to at least partially retract into the top of the body 1 under the action of an external force. The collision member 2 and the body 1 are connected by the reset member, which can reset the collision member 2 after the external force is removed.

[0150] With this configuration, when the retraction height of the collision component 2 within the body 1 is small, the intelligent lawnmower continues to move forward, slowly traversing minor or flexible obstacles. When passing minor or flexible obstacles, the reset component automatically restores the collision component 2 to its initial position (e.g., the position when the collision component 2 is not retracted into the body 1) based on changes in external force, facilitating the next detection of suspended obstacles. Simultaneously, this configuration also provides the intelligent lawnmower with continuous adjustment capabilities, helping it cope with dynamic environments (such as wind, obstacle movement, etc.). Because the extension and retraction of the collision component 2 and the reset component automatically adjust, users do not need to manually adjust the collision component 2 or worry about the impact of obstacles, reducing the need for human intervention and enhancing the autonomy and intelligence of the intelligent lawnmower.

[0151] Sixthly, the intelligent lawnmower provided in this application includes a body 1, a collision member 2, an environmental detection unit 3, and a reset member. The top of the body 1 has an opening 11. The collision member 2 is located on the top of the body 1 and is configured to protrude from the top of the body 1 through the opening 11, and to at least partially retract into the top of the body 1 under the action of an external force, forming a receiving space within the collision member 2. The environmental detection unit 3 is at least partially housed within the receiving space to detect environmental information of the intelligent lawnmower. The collision member 2 and the body 1 are connected by the reset member, which can reset the collision member 2 after the external force is removed.

[0152] In practical use, when the collision component 2 retracts into the body 1 under the action of an obstacle above, the environmental detection unit 3 inside the collision component 2 can also sense the changes in real time, providing more accurate environmental information. The collision component 2 not only has mechanical protection and feedback functions, but can also achieve intelligent functions in conjunction with the environmental detection unit 3. The cooperation between the collision component 2 and the environmental detection unit 3 can more accurately identify obstacles and working areas, enabling the intelligent lawnmower to perceive the surrounding environment more comprehensively, thereby optimizing the lawnmower's path planning and working efficiency. In addition, since the extension and retraction settings of the collision component 2 and the reset component automatically adjust, users do not need to manually adjust the collision component 2 or worry about the impact of obstacles, reducing the need for human intervention and improving the autonomy and intelligence level of the intelligent lawnmower. When the intelligent lawnmower passes through slight or flexible obstacles, the reset component can automatically restore the initial position of the collision component 2 (such as the position when the collision component 2 is not retracted into the body 1) according to the change of external force, providing the intelligent lawnmower with the ability to continuously adjust and help it prepare for the next detection of suspended obstacles.

[0153] The collision component 2 has a connecting end 21 located near the front end of the intelligent lawnmower. The connecting end 21 is rotatably connected to the body 1, and a reset component connects the connecting end 21 and the body 1. This reset component allows the collision component 2 to reset after the external force is removed. By placing the reset component at the connecting end 21 of the collision component 2, the reset component can directly act on the rotatable connection part of the collision component 2. That is, the force on the collision component 2 is concentrated at the mechanical rotation point, ensuring the stability and reliability of the reset component. This ensures that the reset force of the reset component is transmitted along the correct path, allowing the collision component 2 to quickly return to its initial position. Furthermore, it avoids deformation or damage to the reset component due to distance or complex force transmission paths. For example, the reset component can be an elastic reset component (e.g., a reset torsion spring), a pneumatic reset component (e.g., a cylinder), a hydraulic reset component (e.g., a hydraulic cylinder), an electric reset component, etc.

[0154] Based on the above embodiments, a guide structure is provided on the side of the collision member 2 near the front end of the lawnmower. The guide structure is configured to allow the collision member 2 to gradually retract into the top of the body 1. For example, when the smart lawnmower encounters a suspended obstacle, the guide structure can cause the collision member 2 to slowly retract into the body 1, thereby reducing the impact force transmitted from the suspended obstacle to the collision member 2 and lowering the risk of collision between the smart lawnmower and the suspended obstacle. The collision member 2 can act as a buffer and isolation element, reducing direct collisions between the smart lawnmower and the suspended obstacle and protecting the integrity of the smart lawnmower.

[0155] Optionally, the guide structure is a guide arc surface 23 located on the outer periphery of the collision member 2. The guide arc surface 23 is positioned near the connecting end 21, and its height gradually increases from the front end to the rear end of the intelligent lawnmower. The design of the guide arc surface 23 allows the collision member 2 to move smoothly during retraction. As the height of the guide arc surface 23 increases, the collision member 2 gradually retracts into the body 1. By gradually increasing the height of the guide arc surface 23, the force distribution on the collision member 2 during retraction is more uniform, reducing local stress concentration and lowering the risk of damage to the intelligent lawnmower.

[0156] Furthermore, the gradually increasing height of the guide arc surface 23 allows it to adapt to suspended obstacles of varying heights. When the intelligent lawnmower encounters a low suspended obstacle, the lower portion of the guide arc surface 23 provides sufficient space to ensure that the collision member 2 retracts into the top of the body 1. Conversely, when the intelligent lawnmower encounters a high suspended obstacle, the higher portion of the guide arc surface 23 ensures that the collision member 2 retracts into the top of the body 1. This design enhances the intelligent lawnmower's adaptability and obstacle avoidance capabilities against suspended obstacles of different heights.

[0157] In some embodiments, the height of the collision member 2 gradually increases from the front end to the rear end of the intelligent lawnmower. This allows the lower front end of the collision member 2 to contact low, suspended obstacles earlier, while the higher rear end can handle relatively higher obstacles, achieving omnidirectional detection from low to high. Furthermore, the lower front end of the collision member 2 prioritizes the detection of low, suspended obstacles, preventing the higher rear end from prematurely contacting them, thus reducing unnecessary stops or avoidance maneuvers caused by oversensitivity. For example, when the intelligent lawnmower encounters a suspended obstacle, the gradually increasing height allows for segmented detection, preventing direct collisions that could cause the lawnmower to jam, tip over, or be damaged.

[0158] Please refer to Figures 2-4 An elastic element 4 connects the collision component 2 to the body 1, causing the collision component 2 to tend to rise upwards under the action of the elastic element 4. Firstly, the elastic element 4 (such as a spring) can immediately provide a reaction force to the collision component 2 after the external force disappears, allowing the collision component 2 to quickly return to its initial position, reducing the reset time of the collision component 2 and improving the continuous operation of the intelligent lawnmower. Secondly, the elastic element 4 ensures that the collision component 2 will not remain in a retracted state for an extended period after being subjected to external force, avoiding permanent deformation or jamming due to fatigue.

[0159] If the collision element 2 fails to reset quickly, the intelligent lawnmower may mistakenly believe that the suspended obstacle still exists, thus performing an incorrect avoidance maneuver. The design of the elastic element 4 reduces the likelihood of such false alarms. Furthermore, in practical use, when the collision element 2 encounters an irregular suspended obstacle, the upward lifting tendency provided by the elastic element 4 ensures that the collision element 2 maintains good contact with the suspended obstacle, guaranteeing the reliability of the obstacle avoidance detection.

[0160] Based on the above embodiments, the collision member 2 includes a connecting end 21 and a movable end 22 disposed opposite to each other. The connecting end 21 is disposed near the front end of the intelligent lawnmower, and the movable end 22 is disposed near the rear end of the intelligent lawnmower. One end of the elastic member 4 is connected between the movable end 22 and the connecting end 21, or one end of the elastic member 4 is connected to the movable end 22. It is understood that the other end of the elastic member 4 is connected to the body 1. By using the above method, connecting the elastic member 4 to the movable end 22, while the connecting end 21 is the rotating end of the collision member 2, this arrangement allows the elastic force of the elastic member 4 to act on the collision member 2 through a relatively long lever arm, generating a greater torque, thereby more effectively pushing the collision member 2 to reset. Simultaneously, the elastic member 4 disposed near the movable end 22 can reduce loosening or damage to the rotating connection of the collision member 2 due to excessive force.

[0161] Furthermore, the vertical extension of the elastic element 4 aligns with the main force and displacement directions of the impact element 2, making the restoring force of the elastic element 4 more direct and effective, and reducing the loss of restoring force. Simultaneously, the vertically extending elastic element 4 provides a uniform restoring force, preventing the elastic element 4 from tilting due to inconsistent force directions, thus effectively preventing incomplete restoring of the impact element 2. Therefore, the elastic element 4 in this application extends vertically. Furthermore, the vertically arranged elastic element 4 can have its restoring force easily adjusted by changing its length or stiffness parameters to adapt to different working scenarios and equipment models.

[0162] In some embodiments of this application, a receiving space is formed within the collision member 2. The collision member 2 includes a top wall 24 defining the top boundary of the receiving space. A portion of the elastic member 4 is housed within the receiving space and connected to the top wall 24, while another portion of the elastic member 4 is housed within the body 1 and connected to the body 1. In other words, the entire elastic member 4 is housed within the receiving space of the collision member 2 and inside the body 1. On the one hand, this effectively prevents the invasion of external environmental factors (such as dust, rain, weeds, etc.) and extends the service life of the elastic member 4. On the other hand, it prevents the elastic member 4 from being exposed to the outside of the smart lawnmower, reducing the risk of damage to the elastic member 4 caused by physical collisions, friction, or human error. Furthermore, the arrangement of the elastic member 4 cleverly utilizes the internal space of the collision member 2 and the body 1, making the overall structure of the smart lawnmower more compact and not affecting the appearance design of the smart lawnmower or the functional layout of other components.

[0163] In some embodiments of this application, a receiving space is formed within the collision member 2. The collision member 2 includes a top wall 24 defining the top boundary of the receiving space. A first limiting portion extending downward is provided on the top wall 24, and a second limiting portion protruding upward is provided within the body 1. One end of the elastic member 4 is limited and engaged with the first limiting portion, and the other end is connected and limited and engaged with the second limiting portion. The first and second limiting portions provide a clear installation or fixed position for the elastic member 4. Even under severe collisions or irregular external forces, the limiting structure can restrict the deformation range of the elastic member, thereby limiting the horizontal or vertical displacement of the elastic member 4 during operation to a certain extent, ensuring that the elastic member 4 always extends in the vertical direction. The first and second limiting portions can firmly fix both ends of the elastic member 4, preventing the elastic member 4 from loosening or falling off due to frequent elastic deformation or vibration.

[0164] Based on the above embodiments, the first limiting part is a first limiting post 5, and the second limiting part is a second limiting post 6. The second limiting post 6 is located below the first limiting post 5, and there is always a gap between them, thereby ensuring that the collision member 2 can reliably retract into the fuselage 1. Specifically, the gap between the first limiting post and the second limiting post can provide space for the collision member 2 to retract downward into the fuselage 1, ensuring that the first limiting post 5 and the second limiting post 6 undergo a hard physical collision during the process of the collision member 2 retracting downward into the fuselage 1. At the same time, the gap area provides a freely expandable and contractible buffer space for the elastic member 4, which can better absorb the impact force and smoothly reset.

[0165] Alternatively, one of the first and second limiting parts can be a guide post, and the other a guide sleeve. The guide sleeve is at least partially fitted around the outer periphery of the guide post and slidably connected to it. One end of the elastic member 4 is fitted around the outer periphery of the guide post, and the other end is fitted around the outer periphery of the guide sleeve. The sliding connection between the guide post and the guide sleeve ensures that the collision member 2 moves along a precise track during retraction or protrusion, and that the elastic member 4 moves along its extension or retraction. This reduces unnecessary friction and lateral swaying, prevents the elastic member 4 from shifting or deforming, and thus improves the reliability of the elastic member 4's reset action.

[0166] This can be understood as the combination of the guide post and the guide sleeve playing a precise guiding role, ensuring that the elastic element 4 can extend and retract along the set trajectory when encountering external force, improving the accuracy of the reset action of the collision 4, and avoiding possible errors or irregular movements during the reset process.

[0167] In some embodiments of this application, the intelligent lawnmower also includes a collision detection component disposed between the collision member 2 and the body 1. The collision detection component detects the height position of the collision member 2, enabling the intelligent lawnmower to determine whether it is in a collision state based on the height position. The collision detection component can monitor the position of the collision member 2 in real time, ensuring that the state of the collision member 2 is accurately reflected when external obstacles or collisions occur. This allows the intelligent lawnmower to accurately determine whether it is in a collision state and take appropriate obstacle avoidance or reset actions. Furthermore, by detecting the height of the collision member 2, the intelligent lawnmower can accurately identify whether a collision has occurred, rather than solely relying on external pressure or force sensing, reducing the possibility of misjudgment or missed judgment due to malfunction of the collision member 2.

[0168] For example, the collision detection component includes a test element and a sensor. The test element is mounted on the collision element 2, and the sensor is mounted on the machine body 1. The sensor can sense the height position of the collision element 2 through the test element. In actual use, the sensor can sense the height position of the collision element 2 through the test element and provide real-time feedback signals. Once the sensor detects that the collision element 2 is in contact with a suspended obstacle, it will immediately send a signal to the control system of the intelligent lawnmower to ensure that the corresponding avoidance action or stop action can be triggered in time to avoid collision and damage to the intelligent lawnmower.

[0169] Based on the above embodiments, the intelligent lawnmower also includes an environmental detection unit 3, which is located inside the collision member 2. When the collision member 2 is at least not subjected to a force P, or when the collision member 2 is at least not retracted into the body 1, the top of the environmental detection unit 3 is lower than the position of the measured component, or there is a vertical gap between the top of the environmental detection unit 3 and the collision member 2. The environmental detection unit 3, located inside the collision member 2, can perceive the surrounding environment. For example, it can detect environmental factors such as obstacles, terrain changes, and vegetation, providing information about the surrounding environment.

[0170] If the collision element 2 is too close to the environmental detection unit 3, it may directly contact the environmental detection unit 3 upon collision or retraction, affecting the function and accuracy of the environmental detection unit 3. Therefore, in this application, when the collision element 2 is at least not subjected to force P or when the collision element 2 is at least not retracted from the fuselage 1, the top of the environmental detection unit 3 is lower than the setting position of the tested object, or there is a vertical gap between the top of the environmental detection unit 3 and the collision element 2.

[0171] Specifically, the top of the environmental detection unit 3 is lower than the installation position of the object being tested, ensuring that the environmental detection unit 3 is within the detection range of the collision detection component. Therefore, when the collision detection component senses a decrease in the height of the collision component 2, it can promptly trigger corresponding avoidance or stop actions, preventing the collision component 2 from continuing to descend and causing the environmental monitoring unit 3 to come into contact with and be damaged by the suspended obstacle. The collision component 2 provides a certain degree of physical protection for the environmental monitoring unit 3. When encountering low, suspended obstacles, the spacing design ensures that the collision component 2 preferentially contacts the suspended obstacle, preventing the environmental monitoring unit 3 from being damaged by contact with the suspended obstacle.

[0172] In any of the above embodiments, the environmental detection unit 3 includes one or more of LiDAR, RTK sensors, and ultrasonic sensors. LiDAR is suitable for accurate map generation and obstacle detection, RTK sensors are suitable for high-precision positioning and navigation, and ultrasonic sensors are suitable for short-range obstacle detection. When the environmental detection unit 3 includes one of LiDAR, RTK sensors, or ultrasonic sensors, it can reduce the manufacturing cost of the intelligent lawnmower while meeting basic environmental perception requirements, and facilitates the integration and management of the intelligent lawnmower's control system. When the environmental detection unit 3 includes multiple of LiDAR, RTK sensors, and ultrasonic sensors, the combination of multiple sensors can provide multiple detection methods, thereby increasing the accuracy and reliability of environmental perception, helping the intelligent lawnmower to more accurately perceive its surrounding environment and avoid obstacles and dangerous areas. Different sensors have different working principles and detection ranges; their combination can obtain more comprehensive and multi-faceted environmental information.

[0173] In some embodiments of this application, a receiving space is formed within the collision member 2, and an elastic member 4 is disposed within the receiving space. A first limiting portion extending downwards is provided on the inner wall of the collision member 2 at the top of the receiving space, and a second limiting portion protruding upwards is provided within the body 1. One end of the elastic member 4 is limited and engaged with the first limiting portion, and the other end is limited and engaged with the second limiting portion. The test component is disposed at the first limiting portion, and the sensing component is disposed at the second limiting portion. The test component is a magnetic component, and the sensing component is a Hall effect sensor. The first limiting portion (the first limiting post extending downwards) and the second limiting portion (the second limiting post protruding upwards) provide clear positioning for both ends of the elastic member 4 (e.g., a spring), ensuring the correct operation of the elastic member 4 within the receiving space. Furthermore, the design of the first and second limiting portions provides fixed mounting points for the test component and the sensing component, allowing them to be accurately and stably mounted on the collision member 2 and the body 1, thereby achieving precise sensing of the position of the collision member 2 and facilitating accurate collision detection and avoidance actions.

[0174] The collision detection component includes a test object (DAMPE) and a sensing element. The DAMPE is a magnetic component, and the sensing element is a Hall effect sensor. The Hall effect sensor is highly sensitive to changes in the magnetic field, enabling it to quickly and accurately detect changes in the position and height of the magnetic component. Its high sensitivity provides precise collision detection, ensuring timely intervention. Furthermore, because the Hall effect sensor employs non-contact detection, it is unaffected by physical wear and friction, exhibiting high reliability. It can operate stably under various environmental conditions, unaffected by external factors such as dust and moisture, providing stable and reliable detection results.

[0175] In other embodiments, the collision detection component includes an infrared emitter, an infrared receiver, and a blocking element. The infrared emitter and receiver are positioned opposite each other and spaced apart inside the collision element 2, while the blocking element is disposed on the body 1. The blocking element is configured to at least have a blocking state located at the interval to block the light emitted by the infrared emitter. The lawnmower can determine the height position of the collision element 2 based on the information received by the infrared receiver. Because infrared light travels at a fast speed, the infrared receiver can quickly receive the light signal blocked by the blocking element, enabling the collision detection component to respond quickly to collision events and promptly trigger avoidance or stop actions, thus helping to improve the safety and efficiency of the intelligent lawnmower.

[0176] Of course, the infrared transmitter and receiver can also be arranged opposite to each other and spaced apart inside the body 1, with the blocking component on the collision component 2, to achieve the same technical effect.

[0177] Optionally, a microswitch is installed between the collision component 2 and the machine body 1. The intelligent lawnmower can determine whether the collision component 2 is in a collision state based on the triggering information of the microswitch. The microswitch can be triggered instantly at the moment of collision, thereby accurately determining whether the collision component 2 is affected by external force, and judging whether a collision has occurred based on its triggering state. The microswitch is not easily affected by environmental factors (such as temperature changes, humidity, etc.), thus avoiding misjudgment or failure due to environmental changes, ensuring reliable detection of the collision state.

[0178] In some embodiments, the outer periphery of the collision member 2 is provided with a handhold. The user can easily grasp the collision member 2 with the handhold for installation or position adjustment. Additionally, when the collision member 2 encounters a low, suspended obstacle and retracts into the body 1, and after the suspended obstacle is removed, the user can use the handhold to return the collision member 2 to its initial position.

[0179] The intelligent lawnmower has a lateral orientation. The collision component 2 includes a first side plate 25 and a second side plate 26 arranged opposite each other in the lateral direction. The first side plate 25 has a first recessed surface 251 that is recessed towards the second side plate 26, and the second side plate 26 has a second recessed surface 261 that is recessed towards the first side plate 25. The first recessed surface 251 and the second recessed surface 261 together form the handgrip. With this design, the first recessed surface 251 increases the structural strength of the first side plate 25, and the second recessed surface 261 increases the structural strength of the second side plate 26, thereby increasing the structural strength of the collision component 2, helping to protect the collision component 2 from damage and extend its service life. Furthermore, the concave-convex mechanism on the first recessed surface 251 and the second recessed surface 261 increases the friction between the collision component 2 and the hand, preventing the hand from slipping during operation.

[0180] In other words, the first side panel 25 can be understood as the side panel that defines the left boundary of the accommodating space, and the second side panel 26 can be understood as the side panel that defines the right boundary of the accommodating space.

[0181] Alternatively, the smart lawnmower has a lateral direction, and the collision component 2 includes a first side plate 25 and a second side plate 26 arranged opposite each other in the lateral direction, and a top wall 24 connected between the top of the first side plate 25 and the top of the second side plate 26. The top wall 24 is provided with a groove 241 recessed toward the bottom of the smart lawnmower. A reinforcing rib is provided between the first side plate 25, the second side plate 26 and the groove 241. The design of the reinforcing rib can further increase the structural strength of the collision component 2, which helps to protect the collision component 2 from damage and extend its service life.

[0182] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0183] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of protection of the claims. Furthermore, specific examples have been used in the specification to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application, and the content of this specification should not be construed as a limitation of this application.

Claims

1. A smart lawnmower, characterized in that, include: The fuselage (1) has an opening (11) at its top; The collision member (2) is located on the top of the body (1) and is configured to protrude from the top of the body (1) through the opening (11) and retract at least partially into the top of the body (1) under the action of external force. The intelligent lawnmower can perform corresponding actions according to the retracted state of the collision member (2). The corresponding actions include at least a first action and a second action. When the intelligent lawnmower is performing a lawnmowing operation and the collision member (2) is not retracted into the body (1) in the vertical direction, it performs a first action, which is forward movement; When the intelligent lawnmower is performing lawnmower operations, and the collision member (2) is in a retracted state and the collision member (2) is subjected to a downward force (P) of less than 10 Newtons, it performs a second action, which is to continue moving forward.

2. The intelligent lawnmower according to claim 1, characterized in that, The collision component (2) has a connection end (21) located near the front end of the intelligent lawnmower. The connection end (21) is rotatably connected to the body (1). The connection end (21) and the body (1) are connected by a reset component. The reset component can reset the collision component (2) after the external force is eliminated.

3. The lawnmower according to claim 2, characterized in that, The collision member (2) has a guide structure on one side near the front end of the lawnmower, and the guide structure is configured to allow the collision member (2) to gradually retract into the top of the body (1).

4. The lawnmower according to claim 3, characterized in that, The guide structure is a guide arc surface (23) located on the outer periphery of the collision member (2). The guide arc surface (23) is located close to the connecting end (21). The height of the guide arc surface (23) gradually increases from the front end of the smart lawnmower to the rear end of the smart lawnmower.

5. The intelligent lawnmower according to claim 1, characterized in that, The height of the collision member (2) gradually increases from the front end to the rear end of the smart lawnmower.

6. The intelligent lawnmower according to claim 1, characterized in that, An elastic element (4) is connected between the collision element (2) and the fuselage (1), and the collision element (2) tends to be pushed upward under the action of the elastic element (4).

7. The intelligent lawnmower according to claim 6, characterized in that, The collision component (2) includes a connecting end (21) and a movable end (22) disposed opposite to each other. The connecting end (21) is disposed near the front end of the smart lawnmower, and the movable end (22) is disposed near the rear end of the smart lawnmower. Wherein, one end of the elastic element (4) is connected between the movable end (22) and the connecting end (21), or one end of the elastic element (4) is connected to the movable end (22).

8. The intelligent lawnmower according to claim 7, characterized in that, The elastic element (4) extends in the vertical direction.

9. The intelligent lawnmower according to claim 6, characterized in that, The collision member (2) has a receiving space formed therein. The collision member (2) includes a top wall (24) that defines the top boundary of the receiving space. A portion of the elastic member (4) is received in the receiving space and connected to the top wall (24). Another portion of the elastic member (4) is received in the fuselage (1) and connected to the fuselage (1).

10. The intelligent lawnmower according to claim 6, characterized in that, The collision member (2) has a receiving space, and the collision member (2) includes a top wall (24) that defines the top boundary of the receiving space. The top wall (24) is provided with a first limiting part extending downward. The body (1) is provided with a second limiting part protruding upward. One end of the elastic member (4) is limited and cooperated with the first limiting part, and the other end is connected and limited and cooperated with the second limiting part.

11. The intelligent lawnmower according to claim 10, characterized in that, The first limiting part is a first limiting post (5), and the second limiting part is a second limiting post (6). The second limiting post (6) is located below the first limiting post (5), and there is always a gap between the two.

12. The intelligent lawnmower according to claim 10, characterized in that, One of the first limiting part and the second limiting part is a guide post, and the other is a guide sleeve. The guide sleeve is at least partially fitted around the outer periphery of the guide post and is slidably connected to the guide post. One end of the elastic member (4) is fitted around the outer periphery of the guide post, and the other end of the elastic member (4) is fitted around the outer periphery of the guide sleeve.

13. The intelligent lawnmower according to claim 1, characterized in that, The intelligent lawnmower also includes a collision detection component disposed between the collision component (2) and the body (1). The collision detection component is used to detect the height position of the collision component (2), and the intelligent lawnmower can determine whether it is in a collision state based on the height position.

14. The intelligent lawnmower according to claim 13, characterized in that, The collision detection component includes a test component and a sensor component. The test component is disposed on the collision component (2), and the sensor component is disposed on the body (1). The sensor component can sense the height position of the collision component (2) through the test component.

15. The intelligent lawnmower according to claim 14, characterized in that, The intelligent lawnmower also includes an environmental detection unit (3), which is located inside the collision component (2); When the collision member (2) is at least not subjected to the force (P), the top of the environmental detection unit (3) is lower than the setting position of the test object, or the top of the environmental detection unit (3) and the top of the collision member (2) are separated in the vertical direction.

16. The intelligent lawnmower according to claim 14, characterized in that, The collision member (2) has a receiving space, and an elastic member (4) is provided in the receiving space. The collision member (2) has a first limiting part extending downward on the inner wall at the top of the receiving space. The body (1) has a second limiting part protruding upward. One end of the elastic member (4) is limited and cooperated with the first limiting part, and the other end is limited and cooperated with the second limiting part. The test piece is located in the first limiting part, and the sensing piece is located in the second limiting part.

17. The intelligent lawnmower according to claim 14, characterized in that, The tested component is a magnetic component, and the sensing component is a Hall effect detection unit.

18. The intelligent lawnmower according to claim 13, characterized in that, The collision detection component includes an infrared transmitter, an infrared receiver, and a blocking component. The infrared transmitter and the infrared receiver are installed inside one of the collision component (2) and the fuselage (1) and are arranged opposite to each other and spaced apart. The blocking component is provided inside the other of the collision component (2) and the fuselage (1). The blocking element is configured to have at least a blocking state located at the interval to block the light emitted by the infrared emitting end; The lawnmower can determine the height position of the collision element (2) based on the information received by the infrared receiver.

19. The intelligent lawnmower according to claim 1, characterized in that, A micro switch is provided between the collision component (2) and the machine body (1), and the intelligent lawnmower can determine whether the collision component (2) is in a collision state based on the trigger information of the micro switch.

20. The intelligent lawnmower according to claim 1, characterized in that, The outer periphery of the collision member (2) is provided with a hand-held part.

21. The intelligent lawnmower according to claim 20, characterized in that, The intelligent lawnmower has a lateral direction, and the collision member (2) includes a first side plate (25) and a second side plate (26) arranged opposite to each other along the lateral direction. The first side plate (25) has a first recessed surface (251) that is recessed toward the second side plate (26), and the second side plate (26) has a second recessed surface (261) that is recessed toward the first side plate (25). The first recessed surface (251) and the second recessed surface (261) together constitute the handheld part.

22. The intelligent lawnmower according to claim 20, characterized in that, The intelligent lawnmower has a transverse direction. The collision member (2) includes a first side plate (25) and a second side plate (26) arranged opposite to each other along the transverse direction, and a top wall (24) connecting the top of the first side plate (25) and the top of the second side plate (26). The top wall (24) is provided with a groove (241) recessed toward the bottom of the intelligent lawnmower. A reinforcing rib is provided between the first side plate (25), the second side plate (26) and the groove (241).

23. A smart lawnmower, characterized in that, include: The fuselage (1) has an opening (11) at its top; The collision member (2) is located on the top of the body (1) and is configured to protrude from the top of the body (1) through the opening (11) and retract at least partially into the top of the body (1) under the action of external force. A receiving space is formed inside the collision member (2). The intelligent lawnmower can perform corresponding actions according to the retracted state of the collision member (2). The corresponding actions include at least a first action and a second action. An environmental detection unit (3) is at least partially housed in the housing space to detect environmental information of the smart lawnmower. When the intelligent lawnmower is performing a lawnmowing operation and the collision member (2) is not retracted into the body (1) in the vertical direction, the first action is to move forward. When the intelligent lawnmower is performing lawnmower operations, and the collision member is in a retracted state and the collision member is subjected to a downward force (P) of less than 10 Newtons, the second action is performed, which is to continue moving forward.

24. The intelligent lawnmower according to claim 23, characterized in that, The environmental detection unit (3) includes one or more of lidar, RTK sensor, and ultrasonic sensor.

25. A smart lawnmower, characterized in that, include: The fuselage (1) has an opening (11) at its top; The collision member (2) is located on the top of the body (1) and is configured to protrude from the top of the body (1) through the opening (11) and retract at least partially into the top of the body (1) under the action of external force. The intelligent lawnmower can perform corresponding actions according to the retracted state of the collision member (2). The corresponding actions include at least a first action and an avoidance action. When the intelligent lawnmower is performing a lawnmowing operation and the collision member (2) is not retracted into the body (1) in the vertical direction, the first action is to move forward. When the intelligent lawnmower is performing lawnmower operations, and the collision member (2) is in a retracted state and the collision member (2) is subjected to a downward force (P) greater than 30 Newtons, the avoidance action is performed.

26. The intelligent lawnmower according to claim 25, characterized in that, The avoidance action is one or more combinations of stopping forward, turning, reversing, and turning around.

27. A smart lawnmower, characterized in that, include: The fuselage (1) has an opening (11) at its top; The collision member (2) is located on the top of the body (1) and is configured to protrude from the top of the body (1) through the opening (11) and retract at least partially into the top of the body (1) under the action of external force. A receiving space is formed inside the collision member (2). The intelligent lawnmower can perform corresponding actions according to the retracted state of the collision member (2). The corresponding actions include at least a first action and an avoidance action. An environmental detection unit (3) is at least partially housed in the housing space to detect environmental information of the smart lawnmower. When the intelligent lawnmower is performing a lawnmowing operation and the collision member (2) is not retracted into the body (1) in the vertical direction, the first action is to move forward. When the intelligent lawnmower is performing lawnmower operations, and the collision member (2) is in a retracted state and the collision member (2) is subjected to a downward force (P) greater than 30 Newtons, the avoidance action is performed.

28. The intelligent lawnmower according to claim 27, characterized in that, The environmental detection unit (3) includes one or more of lidar, RTK sensor, and ultrasonic sensor.

29. The intelligent lawnmower according to claim 27, characterized in that, The avoidance action is one or more combinations of stopping forward, turning, reversing, and turning around.

30. A smart lawnmower, characterized in that, include: The fuselage (1) has an opening (11) at its top; A collision member (2) is provided on the top of the fuselage (1) and is configured to protrude from the top of the fuselage (1) through the opening (11) and to retract at least partially into the top of the fuselage (1) under the action of an external force. The collision member (2) and the fuselage (1) are connected by a reset member, which can reset the collision member (2) after the external force is eliminated.

31. A smart lawnmower, characterized in that, include: The fuselage (1) has an opening (11) at its top; A collision member (2) is provided on the top of the fuselage (1) and is configured to protrude from the top of the fuselage (1) through the opening (11) and retract at least partially into the top of the fuselage (1) under the action of an external force, and a receiving space is formed inside the collision member (2). An environmental detection unit (3) is at least partially housed in the housing space to detect environmental information of the smart lawnmower. The collision member (2) and the fuselage (1) are connected by a reset member, which can reset the collision member (2) after the external force is eliminated.

32. The intelligent lawnmower according to claim 31, characterized in that, The environmental detection unit (3) includes one or more of lidar, RTK sensor, and ultrasonic sensor.

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