Mowing robot

Abstract

The utility model relates to the technical field of mowers, and discloses a mowing robot which comprises a cutting assembly. The cutting assembly comprises a first cutter head and a second cutter head; the first cutterhead is provided with a first cutting area, the first cutting area is generally circular and has a first center and a first cutting radius, the second cutterhead is provided with a second cutting area, and the second cutting area is circular and has a second center and a second cutting radius; the first cutting radius is R1, and the second cutting radius is R2; the minimum distance between the first cutterhead and the second cutterhead is L1, the projection distance of the first center and the second center in the width direction of the fuselage is L2, the angle between the connecting line of the first center and the second center and the width direction of the fuselage is alpha, alpha is larger than 0 degree and smaller than or equal to 80 degrees, R1 is larger than R2, R1-R2 is smaller than L2, and L1 / L2 is larger than or equal to 0.01 and smaller than or equal to 0.6666. In this way, the size of the robot can be reasonably controlled under the condition that the grass jamming risk is reduced.

Description

Technical Field

[0001] This application relates to the field of lawnmower technology, specifically to a lawnmower robot. Background Technology

[0002] A lawnmower, also known as a lawn mower, lawn trimmer, or lawn trimmer, is a mechanical tool used for trimming lawns, vegetation, and other similar objects.

[0003] Existing technologies generally use a single blade for cutting, but this fails to cut grass near obstacles or boundaries. To address this issue, patent CN115777327B uses an external module with a grass-trimming rope for corner cutting, but this method involves high rotation speed, significant vibration, and noise. While using an auxiliary blade for corner cutting presents challenges in controlling the placement of the two blades. If the two blades are too close together, blade interference may occur, leading to safety hazards and potential grass jamming. Conversely, if the blades are too far apart, the lawnmower's structure becomes less compact, increasing the machine's overall size.

[0004] Therefore, how to design a lawn mowing device that is effective, safe, does not jam grass, and has a more compact and reasonable structure is a problem that we urgently need to solve. Utility Model Content

[0005] This application provides a lawn mowing robot that, while reducing the risk of grass getting stuck, facilitates reasonable control of the overall size of the lawn mowing robot, making the structure of the lawn mowing robot more compact and reasonable.

[0006] In existing technologies, lawnmowers can cut weeds along their path, effectively clearing most of the weeds. However, clearing weeds near obstacles or at the boundaries of the work area requires additional auxiliary cutting modules to improve the cleaning effect. Existing technologies also include some lawnmower devices designed to improve weed clearing at the boundaries of nearby work areas. These typically involve adding an auxiliary cutting module near the main cutting module. The main and auxiliary cutting modules are arranged at the bottom of the lawnmower. However, controlling the placement of these two modules is difficult. If the main and auxiliary modules are too close together, they may get stuck or even interfere with each other, leading to safety accidents. Conversely, if the two modules are too far apart, it increases the size of the lawnmower, resulting in a non-compact and unreasonable structure.

[0007] To address the aforementioned issues, this application provides a lawnmower robot, comprising: a body having mutually perpendicular length and width directions; a cutting assembly disposed at the bottom of the body for moving with the body to cut vegetation, the cutting assembly including a first cutter disc and a second cutter disc; and a control module configured to control the first and second cutter discs to operate or not operate; the first cutter disc having a first cutting area, generally circular in shape with a first center and a first cutting radius, and the second cutter disc having a second cutting area, generally circular in shape with a second center and a second cutting radius; the first cutting radius being R1 and the second cutting radius being R2; the minimum distance between the first and second cutter discs being L1, the projection distance between the first and second centers in the width direction of the body being L2, and the angle between the line connecting the first and second centers and the width direction of the body being α, wherein: 0°<α≤80°, R1>R2 and R1-R2<L2, and 0.01≤L1 / L2≤0.6666.

[0008] By setting a first cutter head and a second cutter head at the bottom of the machine body, and by reasonably setting the minimum distance L1 between the first cutting area of ​​the first cutter head and the second cutting area of ​​the second cutter head, the distance L2 between the first center and the second center in the width direction, and the angle α between the line connecting the first center and the second center and the width direction, L1, L2, and α are controlled to satisfy: 0°<α≤80°, R1>R2 and R1-R2<L2, 0.01≤L1 / L2≤0.6666. This allows for a more rational arrangement of the first and second cutter heads at the bottom of the machine body, which helps to control the overall size of the mowing robot while reducing the risk of grass jamming between the first and second cutter heads.

[0009] This scheme ensures that the angle α between the line connecting the first and second centers and the width direction satisfies 0°<α≤80°. This not only offsets the projections of the first and second centers in the length direction, but also shifts the second center of the second cutter head relative to the first center of the first cutter head towards both sides of the machine body in the width direction by at least 10° in the length direction. This significantly offsets the cutting area of ​​the second cutter head on the machine body in the moving path from the cutting area of ​​the first cutter head in the moving path, which helps to effectively utilize the cutting resources of the second cutter head.

[0010] When α = 0°, the first center and the second center are located on the first straight line in the width direction of the machine body. The arrangement of the two blades occupies too much space in the width direction of the machine body, increasing the size of the lawnmower robot in the width direction, resulting in an uncompacted and unreasonable structural space setting of the lawnmower robot.

[0011] When α = 90°, the first center and the second center are located on a straight line along the length of the body. The body of the mowing robot in this solution can be configured to move along the length and cut vegetation. When R1 > R2, the area that the second cutter head can cut on the moving path is completely located within the area that the first cutter head can cut on the moving path, which will result in a complete waste of the cutting resources of the second cutter head.

[0012] When α = 80°, the area that the second cutter head can cut on the moving path is offset to a certain extent from the area that the first cutter head can cut on the moving path. The lawnmower robot can use the cutting resources of the second cutter head to assist the first cutter head in cutting vegetation. However, when 80° < α < 90°, although the second cutter head is offset from the first cutter head to a certain extent, the degree of offset is limited. The cutting area of ​​the second cutter head on the moving path still overlaps with the cutting area of ​​the first cutter head to a large extent, resulting in a significant waste of the cutting resources of the second cutter head.

[0013] This scheme ensures that the projection distance L2 of the first center and the second center in the width direction of the machine body satisfies R1-R2<L2. This not only controls the second cutting area to maintain a certain degree of offset from the first cutting area in the width direction, but also ensures that at least part of the projection of the second cutting area in the width direction is outside the projection of the first cutting area in the width direction. This prevents the cutting area of ​​the second cutter head on the moving path from falling completely into the cutting area of ​​the first cutter head on the moving path, thus helping to make effective use of the cutting resources of the second cutter head.

[0014] When R1-R2=L2, the projection of the second cutting area in the width direction falls completely into the projection of the first cutting area. The cutting area of ​​the second cutter head on the moving path also falls completely into the area that the first cutter head can cut on the moving path, resulting in a complete waste of the cutting resources of the second cutter head.

[0015] When L2 < R1 - R2, the projection of the second cutting area in the width direction falls completely into the projection of the first cutting area, and the cutting area of ​​the second cutter head on the moving path also falls completely into the cutting area of ​​the first cutter head on the moving path, resulting in a complete waste of the cutting resources of the second cutter head.

[0016] When the minimum distance L1 between the first and second cutting areas is too large, the distance between the first and second cutter discs is too far, preventing grass jamming, but wasting machine space. When L1 is too small, the first and second cutter discs can be arranged more compactly, but grass jamming is more likely. When the projection distance L2 between the first and second centers in the width direction is too large, the first and second cutter discs occupy too much space in the width direction of the machine, resulting in unreasonable machine dimensions. When L2 is too small, the overlapping area of ​​the cutting areas of the first and second cutter discs on the movement path is too large, resulting in low cutting efficiency and wasting cutting resources of the second cutter disc. Simply controlling the values ​​of L1 and L2 cannot reasonably configure the positions of the two cutter discs, leading to various problems. The ratio range controlled by this scheme, namely the minimum distance L1 between the first and second cutter discs and the projection distance L2 of the first and second centers in the width direction of the machine body, satisfies 0.01≤L1 / L2≤0.6666. This restricts the relative position of the cutting areas of the two cutter discs at the bottom of the machine body, making the spatial arrangement of the two cutter discs more reasonable, preventing grass from getting stuck, and making reasonable use of the machine body space.

[0017] When L1 / L2 = 0.01, L1 is smaller than L2, meaning the minimum distance L1 between the first cutting area of ​​the first blade and the second cutting area of ​​the second blade is smaller than the projection distance L2 between the first center and the second center in the width direction of the machine body. The minimum distance between the cutting areas of the two blades is relatively close. Experiments have shown that when L1 / L2 = 0.01, there is no grass jamming between the first and second blades of the lawnmower robot, the machine body space is effectively utilized, and the machine body size is controlled within a reasonable range.

[0018] When 0≤L1 / L2<0.01, the experiment found that either grass gets stuck between the first cutter head and the second cutter head, or the machine body space is wasted, resulting in unreasonable machine body size settings;

[0019] When L1 / L2 < 0, the cutting areas of the two cutter heads overlap, and there is an interference problem when the two cutter heads are working.

[0020] When L1 / L2 = 0.6666, L1 is approximately 2 / 3L2, that is, the minimum distance L1 between the first cutting area of ​​the first cutter head and the second cutting area of ​​the second cutter head is closer to the projection distance L2 of the first center and the second center in the width direction of the fuselage. Experiments have shown that when the minimum distance L1 between the cutting areas of the two cutter heads and the projection distance L2 of the two cutting areas in the width direction are set to satisfy L1 / L2=0.6666, the arrangement position of the second cutter head is closer to both ends of the fuselage along the length direction than the first cutter head, and the grass jamming phenomenon will not occur. At the same time, the arrangement position of the two cutter heads can meet the requirements of compact and reasonable fuselage structure size.

[0021] When L1 / L2 > 0.6666, L1 > 2 / 3L2, that is, the minimum distance L1 between the first cutting area of ​​the first blade and the second cutting area of ​​the second blade is larger than the projection distance L2 of the first center and the second center in the width direction of the body. The experiment found that the distance between the cutting areas of the two blades is too large, which requires the body to be set to a larger size. As a result, the second blade cannot be arranged according to the body structure characteristics of the lawnmower robot. The arrangement of the two blades cannot meet the requirement of compact and reasonable body structure size.

[0022] In one embodiment of this application, the lawnmower robot further includes an environmental perception module, which is used to detect the relative positional relationship between the robot body and obstacles or working areas. The control module is configured to control the second cutter head to work when the environmental perception module identifies preset conditions.

[0023] By incorporating an environmental perception module, the lawnmower robot can detect the relative position of its body to obstacles or work areas. When the robot approaches an obstacle or the boundary of the work area, and the first blade cannot effectively trim the edges, the control module can automatically control the second blade to assist the first blade in mowing. This helps improve the cleaning effect of weeds near the boundary of obstacles or work areas, thus enhancing the robot's practicality.

[0024] In one embodiment of this application, the preset conditions include the distance between the fuselage and an obstacle or the boundary of the work area being less than a set threshold.

[0025] In this way, when the robot moves near an obstacle or the boundary of the work area, and the distance to the boundary is less than a set threshold, the environmental sensing module can promptly identify the signal. At this time, the control module will control the second cutter head to work in conjunction with the first cutter head to mow the grass, ensuring the effective clearing of weeds near the boundary of the obstacle or work area. For example, when the environmental sensing module detects that the robot is approaching the boundary of an obstacle or work area and is less than 10cm away from the boundary, the control module will activate the second cutter head to assist the first cutter head in mowing the grass, thereby improving the trimming effect of the lawnmower robot. Of course, when the environmental sensing module detects that the robot is moving away from the boundary of an obstacle or work area and is more than 10cm away from the boundary, the control module will deactivate the second cutter head.

[0026] In this embodiment, the distance setting threshold is not limited to 10cm. The value can be adjusted according to the width of the machine body, the type of obstacle, and the boundary of the work area to ensure the mowing effect near the obstacle and the boundary of the work area.

[0027] In one embodiment of this application, the environmental perception module includes at least one of a lidar, a vision component, and a physical perception component.

[0028] In practical applications, different lawnmower robots may be equipped with different environmental perception modules. For example, some lawnmower robots use LiDAR for ranging and positioning; some use vision components to perceive the environment; and some use the physical boundaries of the work area to allow the lawnmower robot to perceive its location. Of course, multiple environmental perception modules can also be configured simultaneously to enhance environmental perception capabilities.

[0029] In one embodiment of this application, the lawnmower robot further includes a human-machine interaction module, which is configured to receive control commands, and the control module is configured to control the second blade to work or not work based on the control commands.

[0030] In this way, the human-computer interaction module can be set and manually controlled to enter the working mode or non-working mode according to the actual working scenario, which makes it easier to operate the lawn mowing robot and improves the practicality of the lawn mowing robot.

[0031] Of course, during normal mowing operations, the second blade can work simultaneously with the first blade to improve mowing efficiency; or the second blade can be activated only when near obstacles or the boundary of the work area to achieve better trimming results.

[0032] In one embodiment of this application, the angle α between the line connecting the first center and the second center and the fuselage width direction also satisfies: 30°≤α≤60°.

[0033] By controlling α to satisfy 30°≤α≤60°, the second center of the second cutter head is offset by at least 30° relative to the first center of the first cutter head towards both ends of the body along the length direction and the width direction. This effectively utilizes the body space along the length direction, reduces the size of the mowing robot in the width direction, and makes the relative position layout of the two cutter heads on the mowing robot more compact and reasonable. By offsetting the second center relative to the first center towards both sides of the body along the width direction and the length direction, the projections of the first center and the second center in the length direction are further staggered. This further increases the degree of offset between the cutting area of ​​the second cutter head and the cutting area of ​​the first cutter head on the moving path, reduces the overlap between the second cutter head and the first cutter head in the width direction, makes full use of the cutting resources of the second cutter head, and improves the overall cutting efficiency of the two cutter heads.

[0034] When α = 30°, the second center can be offset relative to the first center towards both ends of the body 11 along the length direction, effectively utilizing the body space along the length direction and reducing the size of the mowing robot in the width direction, making the relative position layout of the two blades on the mowing robot more compact and reasonable. However, when 0° < α < 30°, although the second blade is offset from the first blade in the length direction to a certain extent, the degree of offset is limited, and the size of the body along the length direction cannot be fully utilized. It is necessary to increase the lateral size of the body along the width direction, which increases the manufacturing cost and makes the structural space setting of the mowing robot not compact and unreasonable.

[0035] When α = 60°, the area cut by the second cutter head on the moving path is offset to a certain extent from the area cut by the first cutter head on the moving path, reducing the overlap area between the two cutter heads and effectively utilizing the cutting resources of the second cutter head to cut vegetation. However, when 60° < α < 80°, although there is a certain degree of offset between the second and first cutter heads in the width direction, the degree of offset is limited, and the cutting area of ​​the second cutter head on the moving path still overlaps with the cutting area of ​​the first cutter head to a large extent, resulting in a significant waste of the cutting resources of the second cutter head.

[0036] In one embodiment of this application, the angle α between the line connecting the first center and the second center and the fuselage width direction is 45°.

[0037] In this way, the offset distance of the second center relative to the first center in the length and width directions of the machine body is equal, so that the second cutter head can make full use of the space of the machine body along the length direction. The spatial arrangement of the two cutter heads on the mowing robot is reasonable. At the same time, the cutting area of ​​the second cutter head on the moving path is offset from the cutting area of ​​the first cutter head on the moving path. The mowing robot can make full use of the cutting resources of the second cutter head to assist the first cutter head in cutting vegetation.

[0038] In one embodiment of this application, the first cutting area and the second cutting area overlap in the orthographic projection of the fuselage in the width direction, and the projection length of the overlapping portion in the width direction of the fuselage is L3, and L3 satisfies: 0 < L3 / R2 < 2.

[0039] When the second cutting area is completely located on both sides of the orthographic projection of the first cutting area in the width direction, there is no overlap between the orthographic projections of the two blades in the width direction, that is, L3 = 0 and the value of L3 / R2 is 0. At this time, the arrangement of the two blades occupies too much space in the width direction of the machine body, increasing the size of the lawnmower in the width direction, resulting in an uncompacted and unreasonable arrangement space for the lawnmower.

[0040] When the second cutting area is located on both sides of the orthographic projection of the first cutting area in the width direction, the orthographic projections of the two blades in the width direction only overlap at the edge, that is, L3=0, and the value of L3 / R2 is still 0. At this time, the arrangement of the two blades occupies too much space in the width direction of the machine body, increasing the size of the lawnmower in the width direction, resulting in the lawnmower's layout space being neither compact nor reasonable.

[0041] When the second cutting area is located between the orthographic projections of the first cutting area in the width direction, the orthographic projections of the two cutter heads in the width direction completely overlap, that is, L3 = 2R2, and the value of L3 / R2 is 2. At this time, the area that the second cutter head can cut on the moving path is completely located within the area that the first cutter head 3 can cut on the moving path, which will result in the complete waste of the cutting resources of the second cutter head.

[0042] When the second cutting area is completely located between the orthographic projections of the first cutting area in the width direction, the orthographic projections of the two cutter heads in the width direction completely overlap, that is, L3 = 2R2, and the value of L3 / R2 is 2. At this time, the area that the second cutter head can cut on the moving path is completely located within the area that the first cutter head can cut on the moving path, which will result in the complete waste of the cutting resources of the second cutter head.

[0043] Controlling L3 to satisfy 0 < L3 / R2 < 2 ensures that the second cutting area of ​​the second cutter head overlaps to a certain extent with the first cutting area on the machine body's moving path. This prevents the second cutting area from being completely offset from the first cutting area on the moving path or only overlapping at the edge, which would not only prevent the second cutter head from assisting the first cutter head in cutting vegetation but also fail to make reasonable use of the machine body space along the length direction, resulting in an unreasonable layout of the two cutter heads on the machine body. Furthermore, it also prevents the second cutting area from being completely located inside the first cutting area on the moving path or only overlapping at the edge, thus wasting the cutting resources of the second cutter head.

[0044] In one embodiment of this application, the minimum distance L1 between the first cutting area and the second cutting area also satisfies: 5mm≤L1≤200mm.

[0045] Using the above methods, when L1 = 5mm, the distance between the first and second cutting areas is very close, and the arrangement of the second and first blades on the body is very compact, which helps to design the lawnmower robot body towards miniaturization and integration. When L1 = 200mm, the first and second cutting areas are spaced a certain distance apart, and the arrangement of the second blade can make full use of the structural features of the body along the length direction, which helps to make the lawnmower robot structure more reasonable, especially suitable for lawnmower robots with a rectangular or near-rectangular bottom structure. When 5mm < L1 < 200mm, the lawnmower robot can be designed to be more compact or rational according to the needs, so as to be suitable for more lawnmower scenarios.

[0046] In one embodiment of this application, the distance L2 between the first center and the second center in the fuselage width direction also satisfies: 300≤L2≤500mm.

[0047] By limiting the L2 dimension to 300≤L3≤500 in the above manner, the width dimension of the lawnmower robot can be restricted, so that the robot body has a suitable span distance on the movement path and maintains the lawnmower robot's mowing efficiency.

[0048] In one embodiment of this application, the diameter of the first cutting region is D1, and D1 satisfies: 100≤D1≤350mm; the diameter of the second cutting region is D2, and D2 satisfies: 80≤D2≤180mm.

[0049] By using the above methods, the lawnmower robot can be designed according to the above size requirements to be suitable for most lawnmower scenarios, while also taking into account factors such as energy consumption and body size.

[0050] In one embodiment of this application, the orthographic projection of the second cutting region onto the fuselage is located inside the fuselage.

[0051] By using the above method, the orthographic projection of the second cutting area onto the machine body is located inside the machine body, that is, the edge of the second cutter head when it is working is located inside the edge of the machine body, preventing the second cutter head from protruding outward relative to the machine body when it is working, thus avoiding potential safety hazards and ensuring the safety of the robot's operation.

[0052] In one embodiment of this application, the rotational speed of the first cutter head is V1, and V1 satisfies: 1800r / min≤V1≤3800r / min; the rotational speed of the second cutter head is V2, and V2 satisfies: 2000r / min≤V2≤6000r / min.

[0053] By controlling the rotational speed V1 of the first blade to satisfy 1800r / min≤V1≤3800r / min and the rotational speed V2 of the second blade to satisfy 2000r / min≤V2≤6000r / min, the first and second blades of the lawnmower robot have a wide range of mowing power, which can meet the mowing requirements of most working conditions on the market and is applicable to most mowing scenarios.

[0054] In one embodiment of this application, the first cutter head includes a first base and a plurality of first blades, the plurality of first blades being movably mounted on the periphery of the first base and capable of rotating with the first base, and the first cutting area being the maximum cutting area formed by the first blades rotating with the first base; the second cutter head includes a second base and a plurality of second blades, the plurality of second blades being movably mounted on the periphery of the second base and capable of rotating with the second base, and the second cutting area being the maximum cutting area formed by the second blades rotating with the second base.

[0055] In this way, when encountering dense grass, the first blade experiences greater resistance to rotation and will rotate at a certain angle to the side opposite to the rotation direction of the first base. This provides a certain degree of protection for the drive assembly of the first cutter head, preventing damage due to overload. Similarly, when encountering dense grass, the second blade experiences greater resistance to rotation and will rotate at a certain angle to the side opposite to the rotation direction of the second base. This provides a certain degree of protection for the drive assembly of the second cutter head, preventing damage due to overload.

[0056] The beneficial effects of this application are as follows: By setting a first cutter disc and a second cutter disc at the bottom of the machine body, and by reasonably setting the minimum distance L1 between the first cutting area of ​​the first cutter disc and the second cutting area of ​​the second cutter disc, the distance L2 between the first center and the second center in the width direction, and the angle α between the line connecting the first center and the second center and the width direction, and controlling L1, L2 and α to satisfy: 0°<α≤80°, R1>R2 and R1-R2<L2, 0.01≤L1 / L2≤0.6666, the layout position of the first cutter disc and the second cutter disc at the bottom of the machine body can be rationally set. This can help to reasonably control the overall size of the mowing robot while reducing the risk of grass jamming between the first cutter disc and the second cutter disc. Attached Figure Description

[0057] 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.

[0058] Figure 1 This is a schematic diagram of the structure of an embodiment of the lawnmower robot of this application;

[0059] Figure 2 yes Figure 1 A schematic diagram of L1 of the first and second cutter discs of the lawnmower robot shown;

[0060] Figure 3 yes Figure 1 A schematic diagram of the first and second cutter heads (L2) of the lawnmower robot shown.

[0061] Figure 3a yes Figure 3 A schematic diagram of the first and second blades of the lawnmower robot when R1-R2=L2;

[0062] Figure 3b yes Figure 3 A schematic diagram of the first and second blades of the lawnmower robot when R1-R2 > L2;

[0063] Figure 3c yes Figure 3 A schematic diagram of the first and second blades of the lawnmower robot when R1-R2 < L2;

[0064] Figure 4 A schematic diagram of the first and second cutter discs α of the lawnmower robot shown;

[0065] Figure 4a yes Figure 4 A schematic diagram showing the relative positions of the first and second blades of the lawnmower robot when α is 0°;

[0066] Figure 4b yes Figure 4 A schematic diagram showing the relative positions of the first and second blades of the lawnmower robot when α is 90°.

[0067] Figure 4c yes Figure 4 A schematic diagram showing the relative positions of the first and second blades of the lawnmower robot when α is 80°.

[0068] Figure 4d yes Figure 4 A schematic diagram showing the relative positions of the first and second blades of the lawnmower robot when α is 30°.

[0069] Figure 4e yes Figure 4 A schematic diagram showing the relative positions of the first and second blades of the lawnmower robot when α is 60°.

[0070] Figure 4f yes Figure 4A schematic diagram showing the relative positions of the first and second blades of the lawnmower robot when α is 45°.

[0071] Figure 4g yes Figure 4 The diagram shows the first and second blades of the lawnmower robot located diagonally at the bottom of the machine body;

[0072] Figure 5 yes Figure 1 A schematic diagram of the first and second cutter heads (L3) of the lawnmower robot shown.

[0073] Figure 5a yes Figure 5 A schematic diagram showing the relative positions of the first and second cutter discs of the lawnmower robot when L3 is 0.

[0074] Figure 5b yes Figure 5 Another schematic diagram showing the relative positions of the first and second cutter heads of the lawnmower robot when L3 is 0;

[0075] Figure 5c yes Figure 5 A schematic diagram showing the relative positions of the first and second cutter heads of the lawnmower robot when L3 is 2.

[0076] Figure 5d yes Figure 5 This is another schematic diagram showing the relative positions of the first and second cutter discs when the L3 of the lawnmower robot is 2.

[0077] Explanation of reference numerals in the attached figures:

[0078] 11. Machine body; 21. Walking assembly; 211. First walking wheel; 212. Second walking wheel; 31. Cutting assembly; 311. First cutter head; 3111. First base; 3112. First blade; 312. Second cutter head; 3121. Second base; 3122. Second blade; 41. Control module; 51. Human-machine interaction module; a. First straight line; b. Center line; c. First tangent; d. Second tangent; e. Third tangent; f. Fourth tangent; g. Fifth tangent; h. Diagonal; m. First center line; n. Second center line. Detailed Implementation

[0079] 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. In addition, it should be understood that the specific embodiments described herein are only for illustration and explanation of this application and are not intended to limit this application. In this application, unless otherwise stated, directional terms such as "up," "down," "left," and "right" generally refer to up, down, left, and right in the actual use or working state of the device, specifically the drawing directions in the accompanying drawings.

[0080] In this application, unless otherwise expressly specified and limited, the terms "connected," "linked," "stacked," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two elements or the interaction between two elements. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0081] While existing lawnmowers can cut weeds along their path and clear most of them, they require additional auxiliary cutting modules to clear weeds near obstacles or at the boundaries of the work area. This improves the cleaning efficiency. Some existing lawnmowers also improve trimming by adding an auxiliary cutting module near the main cutting module. However, the placement of these two modules is difficult to control. If they are too close, grass may get stuck between them, or they may interfere with each other, leading to safety hazards. Conversely, if they are too far apart, it increases the size of the lawnmower, resulting in an uncompacted and inefficient layout.

[0082] To solve the above problems, refer to Figures 1 to 5This application provides a lawnmower robot, including: a body 11, which may include a base plate and a housing mounted on the base plate. The base plate may be square or approximately square, or rectangular or approximately rectangular. The body 11 has a length direction X and a width direction Y that are perpendicular to each other. The dimension of the body 11 along the length direction X can be set to 50cm-100cm, and the dimension of the body 11 along the width direction Y can be set to 30cm-100cm. In this application, the lawnmower robot can be configured to move along the length direction X; a cutting component 31, which is disposed at the bottom of the body 11 and is used to move with the body 11 to cut vegetation. The cutting component 31 includes a first cutter disc 311 and a second cutter disc 312. Typically, the first cutter disc 311 is a main cutter disc and the second cutter disc 312 is an auxiliary cutter disc. The lawnmower robot performs the main vegetation cutting work through the main cutter disc, and the auxiliary cutter disc is used to cut areas that the main cutter disc cannot reach, thereby improving the cutting effect of the lawnmower robot. The auxiliary cutter disc is relatively... For some lawn mowing equipment that uses straw-trimming ropes for assisted cutting, under the same cutting effect, the auxiliary blade rotates at a lower speed, generates less vibration, requires less energy, and the lawn mowing robot operates more stably and is more durable. The control module 41 is configured to control the operation of the first blade 311 and the second blade 312. The control module 41 typically includes a microcontroller, memory, and other peripheral circuits. The first blade 311 has a first cutting area, which is the area formed by the rotation of the first blade 311 under the action of the driving component. The first cutting area is generally circular and has a first center and a first cutting radius. The second blade 312 has a second cutting area, which is similarly the area formed by the rotation of the second blade under the action of the driving component. The second cutting area is generally circular and has a second center and a second cutting radius. The first cutting radius is R1, and the second cutting radius is R2. The minimum distance between the first blade 311 and the second blade 312 is L1. Figure 2 As shown, the line connecting the first center and the second center is the center line b. The first and second cutting regions intersect the center line b, and a third tangent e and a fourth tangent f are drawn from the intersection point, respectively. The distance between the third tangent e and the fourth tangent f is L1. The projection distance between the first center and the second center in the width direction of the fuselage 11 is L2, as shown. Figure 3 As shown, the first centerline m is a straight line extending along the length direction X and passing through the first center; the second centerline n is a straight line extending along the length direction X and passing through the second center; the distance between the first centerline m and the second centerline n is L2; ​​the angle between the line connecting the first center and the second center and the width direction Y of the fuselage 11 is α, as shown. Figure 4As shown, line a is a straight line that extends along the width direction Y and passes through the first center. The angle between the center line b and line a is α. Among them, the following conditions are met: 0°<α≤80°, R1>R2 and R1-R2<L2, 0.01≤L1 / L2≤0.6666.

[0083] By using the above method, this solution sets a first cutter head 311 and a second cutter head 312 at the bottom of the body 11, and reasonably sets the minimum distance L1 between the first cutting area of ​​the first cutter head 311 and the second cutting area of ​​the second cutter head 312, the distance L2 between the first center and the second center in the width direction Y, and the angle α between the line b connecting the first center and the second center and the width direction Y. By controlling L1, L2 and α to satisfy: 0°<α≤80°, R1>R2 and R1-R2<L2, 0.01≤L1 / L2≤0.6666, the layout position of the first cutter head 311 and the second cutter head 312 at the bottom of the body 11 can be rationally set. This can help to reasonably control the overall size of the mowing robot while reducing the risk of grass jamming between the first cutter head 311 and the second cutter head 312.

[0084] Reference Figure 4 This scheme ensures that the angle α between the line b connecting the first center and the second center and the width direction Y satisfies 0°<α≤80°. This not only offsets the projections of the first center and the second center in the length direction X, but also shifts the second center of the second cutter head 312 relative to the first center of the first cutter head 311 towards both sides of the machine body 11 in the width direction Y relative to the length direction X by at least 10°. This significantly offsets the cutting area of ​​the second cutter head 312 on the machine body 11 in the moving path from the cutting area of ​​the first cutter head 311 in the moving path, which helps to effectively utilize the cutting resources of the second cutter head 312.

[0085] Reference Figure 4a When α = 0°, the line b connecting the centers of the first center and the second center extends along the width direction Y, that is, the line b extends along the width direction Y. At this time, the projections of the first center and the second center on the length direction X of the body 11 coincide. At this time, the first straight line a is collinear with the line b. The first center and the second center are located on the first straight line a in the width direction Y of the body 11. The centers of the first cutter head 311 and the second cutter head 312 are located on the same straight line set along the width direction Y at the bottom of the body 11. The arrangement of the two cutter heads occupies too much space in the width direction Y of the body 11, increasing the size of the lawn mower robot in the width direction Y, resulting in an uncompacted and unreasonable structural space setting of the lawn mower robot.

[0086] Reference Figure 4bWhen α = 90°, the line b connecting the centers of the first center and the second center extends along the length direction X. At this time, the projections of the first center and the second center in the width direction Y coincide. The first center and the second center are located on a straight line along the length direction of the body 11. The body 11 of the lawnmower robot in this solution can be configured to move along the length direction X and cut vegetation. When R1 > R2, the area that the second cutter head 312 can cut on the moving path is completely located within the area that the first cutter head 311 can cut on the moving path. This will result in all the cutting resources of the second cutter head 312 being wasted.

[0087] Reference Figure 4c When α = 80°, the center line b will be offset by 10° towards the side of the body 11 along the width direction Y compared to the center line b when α = 90°. The area that the second cutter head 312 can cut on its moving path will be offset to a certain extent from the area that the first cutter head 311 can cut on its moving path. The lawnmower robot can use the cutting resources of the second cutter head 312 to assist the first cutter head 311 in cutting vegetation. However, when 80° < α < 90°, the center line b is located... Figure 4b and Figure 4c Within the range of the center line b, although the second cutter head 312 is offset from the first cutter head 311 to a certain extent, the degree of offset is limited. The cutting area of ​​the second cutter head 312 on the moving path still overlaps with the cutting area of ​​the first cutter head 311 to a large extent, resulting in a large degree of waste of the cutting resources of the second cutter head 312.

[0088] Reference Figure 3c This scheme ensures that the projection distance L2 of the first center and the second center on the width direction Y of the body 11 satisfies R1-R2<L2. At least part of the second cutting area is set on the body 11 outside the first tangent c and the second tangent g, so that L2 always satisfies R1-R2<L2. This not only controls the second cutting area to maintain a certain degree of offset from the first cutting area along the width direction Y, but also ensures that at least part of the projection of the second cutting area on the width direction Y is located outside the projection of the first cutting area on the width direction Y. This avoids the cutting area of ​​the second cutter head 312 on the moving path falling completely into the cutting area of ​​the first cutter head 311 on the moving path, which helps to make effective use of the cutting resources of the second cutter head 312.

[0089] Reference Figure 3aThe first cutting area has a first tangent c and a fifth tangent g extending along the length direction X on both sides along the width direction Y. When R1-R2=L2, the first cutting area of ​​the first cutter head 311 and the second cutting area of ​​the second cutter head 312 have the same first tangent c or fifth tangent g extending along the length direction X. At this time, the projection of the second cutting area in the width direction Y falls completely into the projection of the first cutting area. The cutting area of ​​the second cutter head 312 on the moving path also falls completely into the area that the first cutter head 311 can cut on the moving path, resulting in a complete waste of the cutting resources of the second cutter head 312.

[0090] Reference Figure 3b The first cutting area has a first tangent c and a fifth tangent g extending along the length direction X on both sides along the width direction Y. When L2 < R1 - R2, the second cutting area of ​​the second cutter head 312 is located between the two tangents. L2 always satisfies L2 < R1 - R2. At this time, the projection of the second cutting area in the width direction Y completely falls into the projection corresponding to the first cutting area. The cutting area of ​​the second cutter head 312 on the moving path also completely falls into the cutting area of ​​the first cutter head 311 on the moving path, resulting in a complete waste of the cutting resources of the second cutter head 312.

[0091] When the minimum distance L1 between the first and second cutting areas is too large, the distance between the first cutter head 311 and the second cutter head 312 is relatively large, preventing grass jamming, but wasting space in the machine body 11. When L1 is too small, the first cutter head 311 and the second cutter head 312 can be arranged more compactly, but grass jamming is more likely to occur. When the projection distance L2 between the first center and the second center in the width direction Y is too large, the first cutter head 311 and the second cutter head 312 occupy too much space in the width direction Y of the machine body 11, resulting in unreasonable dimensions of the machine body 11. When L2 is too small, the overlapping area of ​​the cutting areas of the first cutter head 311 and the second cutter head 312 on the moving path is too large, resulting in low cutting efficiency and wasting cutting resources of the second cutter head 312. Simply controlling the values ​​of L1 and L2 cannot reasonably configure the positions of the two cutter heads, leading to various problems. The ratio range controlled by this scheme, namely the minimum distance L1 between the first cutter head 311 and the second cutter head 312 and the projection distance L2 of the first center and the second center on the width direction Y of the machine body 11, satisfies 0.01≤L1 / L2≤0.6666. This restricts the relative position of the cutting area of ​​the two cutter heads at the bottom of the machine body 11, making the spatial arrangement of the two cutter heads more reasonable, so that grass will not get stuck and the space of the machine body 11 is also used reasonably.

[0092] When L1 / L2 = 0.01, L1 is smaller than L2, meaning the minimum distance L1 between the first cutting area of ​​the first blade 311 and the second cutting area of ​​the second blade 312 is smaller than the projection distance L2 of the first center and the second center on the width direction Y of the body 11. The minimum distance between the cutting areas of the two blades is relatively close. Experiments have shown that when L1 / L2 = 0.01, there will be no grass jamming between the first blade 311 and the second blade 312 of the mowing robot, the space of the body 11 is effectively utilized, and the size of the body 11 is controlled within a reasonable range.

[0093] When 0≤L1 / L2<0.01, the experiment found that either grass gets stuck between the first cutter head 311 and the second cutter head 312, or the space of the machine body 11 is wasted, resulting in an unreasonable size setting of the machine body 11;

[0094] When L1 / L2 < 0, the cutting areas of the two cutter heads overlap, and there is an interference problem when the two cutter heads are working.

[0095] When L1 / L2 = 0.6666, L1 is approximately 2 / 3L2, that is, the minimum distance L1 between the first cutting area of ​​the first cutter head 311 and the second cutting area of ​​the second cutter head 312 is closer to the projection distance L2 of the first center and the second center on the width direction Y of the body 11. Experiments have shown that when the minimum distance L1 between the cutting areas of the two cutter heads and the projection distance L2 of the two cutting areas on the width direction Y are set to satisfy L1 / L2=0.6666, the arrangement position of the second cutter head 312 is closer to the two ends of the body 11 along the length direction X than the first cutter head 311, and the grass jamming phenomenon will not occur. At the same time, the arrangement position of the two cutter heads can meet the requirements of compact and reasonable structural size of the body 11.

[0096] When L1 / L2 > 0.6666, L1 > 2 / 3L2, that is, the minimum distance L1 between the first cutting area of ​​the first blade 311 and the second cutting area of ​​the second blade 312 is larger than the projection distance L2 of the first center and the second center in the width direction Y of the body 11. Experiments have shown that the distance between the cutting areas of the two blades is too large, which requires the body 11 to be set to a larger size. As a result, the second blade 312 cannot be arranged according to the structural characteristics of the body 11 of the lawnmower robot. The arrangement of the two blades cannot meet the requirement of a compact and reasonable structural size of the body 11.

[0097] The following experiment used two blades with R1 of 110mm and R2 of 55mm. The rotation speed V1 of the first blade 311 was set to 2400r / min and the rotation speed V2 of the second blade 312 was set to 5000r / min. The blades were positioned on the machine body 11 on grass at a height of 5cm. The experiment was conducted and the experimental data were recorded.

[0098] Example 1:

[0099] The minimum distance L1 between the first and second cutting areas is controlled to be 5mm, and the projection distance L2 between the first center and the second center in the width direction Y is 500mm. At this time, the value of L1 / L2 is 0.01. The minimum distance L1 between the cutting areas of the two cutter heads is small, but no grass jamming occurred in the experiment. At the same time, the layout of the two cutter heads on the machine body 11 is compact, which can make full use of the space of the machine body 11 and avoid making the size of the machine body 11 too large, which is conducive to saving production costs and is convenient to use. In actual operation, the cutting resources of the second cutter head 312 are effectively utilized, ensuring the overall working efficiency of the two cutter heads.

[0100] Example 2:

[0101] The minimum distance L1 between the first and second cutting areas is controlled to be 10mm, and the projection distance L2 between the first center and the second center in the width direction Y is 400mm. At this time, the value of L1 / L2 is 0.025. The minimum distance L1 between the cutting areas of the two cutter heads is small, but no grass jamming occurred in the experiment. At the same time, the two cutter heads are reasonably arranged on the machine body 11, which can make full use of the space of the machine body 11, and will not make the size of the machine body 11 too large, saving manufacturing costs and making it convenient to use. In actual work, the cutting resources of the second cutter head 312 are effectively utilized, ensuring the overall working efficiency of the two cutter heads.

[0102] Example 3:

[0103] The minimum distance L1 between the first and second cutting areas is controlled to be 30mm, and the projection distance L2 between the first center and the second center in the width direction Y is 300mm. At this time, the value of L1 / L2 is 0.1, and the minimum distance L1 between the cutting areas of the two cutter heads is appropriate. No grass jamming occurred in the experiment. At the same time, the two cutter heads are reasonably arranged on the machine body 11, which can make full use of the space of the machine body 11, and will not make the size of the machine body 11 too large, saving manufacturing costs and facilitating use. In actual work, the cutting resources of the second cutter head 312 are effectively utilized, ensuring the overall working efficiency of the two cutter heads.

[0104] Example 4:

[0105] The minimum distance L1 between the first and second cutting areas is controlled to be 50mm, and the projection distance L2 between the first center and the second center in the width direction Y is 350mm. At this time, the value of L1 / L2 is about 0.1429. The minimum distance L1 between the cutting areas of the two cutter heads is appropriate. No grass jamming occurred in the experiment. At the same time, the two cutter heads are reasonably arranged on the machine body 11, which can make full use of the space of the machine body 11 without making the size of the machine body 11 too large, saving manufacturing costs and facilitating use. In actual work, the cutting resources of the second cutter head 312 are effectively utilized, ensuring the overall working efficiency of the two cutter heads.

[0106] Example 5:

[0107] The minimum distance L1 between the first and second cutting areas is controlled to be 75mm, and the projection distance L2 between the first center and the second center in the width direction Y is 500mm. At this time, the value of L1 / L2 is 0.15, and the minimum distance L1 between the cutting areas of the two cutter heads is appropriate. No grass jamming occurred in the experiment. At the same time, the two cutter heads are reasonably arranged on the machine body 11, which can make full use of the space of the machine body 11 without making the size of the machine body 11 too large, saving manufacturing costs and facilitating use. In actual work, the cutting resources of the second cutter head 312 are effectively utilized, ensuring the overall working efficiency of the two cutter heads.

[0108] Example 6:

[0109] The minimum distance L1 between the first and second cutting areas is controlled to be 100mm, and the projection distance L2 between the first center and the second center in the width direction Y is 400mm. At this time, the value of L1 / L2 is 0.25, and the minimum distance L1 between the cutting areas of the two cutter heads is appropriate. No grass jamming occurred in the experiment. At the same time, the two cutter heads are reasonably arranged on the machine body 11, which can make full use of the space of the machine body 11, and will not make the size of the machine body 11 too large, saving manufacturing costs and facilitating use. In actual work, the cutting resources of the second cutter head 312 are effectively utilized, ensuring the overall working efficiency of the two cutter heads.

[0110] Example 7:

[0111] The minimum distance L1 between the first and second cutting areas is controlled to be 150mm, and the projection distance L2 between the first center and the second center in the width direction Y is 450mm. At this time, the value of L1 / L2 is about 0.33. The minimum distance L1 between the cutting areas of the two cutter heads is relatively large, but the layout of the two cutter heads on the machine body 11 is reasonable and can make full use of the space of the machine body 11. In actual work, the cutting resources of the second cutter head 312 are effectively utilized, ensuring the overall working efficiency of the two cutter heads. At the same time, no grass jamming phenomenon occurred in the experiment.

[0112] Example 8:

[0113] The minimum distance L1 between the first and second cutting areas is controlled to be 180mm, and the projection distance L2 between the first center and the second center in the width direction Y is 300mm. At this time, the value of L1 / L2 is 0.6. The minimum distance L1 between the cutting areas of the two cutter heads is relatively large, but the layout of the two cutter heads on the machine body 11 is reasonable and can make full use of the space of the machine body 11. In actual work, the cutting resources of the second cutter head 312 are effectively utilized, ensuring the overall working efficiency of the two cutter heads. At the same time, no grass jamming phenomenon occurred in the experiment.

[0114] Example 9:

[0115] The minimum distance L1 between the first and second cutting areas is controlled to be 200mm, and the projection distance L2 between the first center and the second center in the width direction Y is 400mm. At this time, the value of L1 / L2 is 0.5. The minimum distance L1 between the cutting areas of the two cutter heads is relatively large, but the layout of the two cutter heads on the machine body 11 is reasonable and can make full use of the space of the machine body 11. In actual work, the cutting resources of the second cutter head 312 are effectively utilized, ensuring the overall working efficiency of the two cutter heads. At the same time, no grass jamming phenomenon occurred in the experiment.

[0116] Example 10:

[0117] The minimum distance L1 between the first and second cutting areas is controlled to be 200mm, and the projection distance L2 between the first center and the second center in the width direction Y is 300mm. At this time, the value of L1 / L2 is about 0.6666. The minimum distance L1 between the cutting areas of the two cutter heads is relatively large, but the layout of the two cutter heads on the machine body 11 is reasonable and can make full use of the space of the machine body 11. In actual work, the cutting resources of the second cutter head 312 are effectively utilized, ensuring the overall working efficiency of the two cutter heads. At the same time, no grass jamming phenomenon occurred in the experiment.

[0118] Comparative Example 1:

[0119] The minimum distance L1 between the first and second cutting areas is controlled to be 3mm, and the projection distance L2 between the first center and the second center in the width direction Y is 500mm. At this time, the value of L1 / L2 is 0.006. Since the minimum distance L1 between the cutting areas of the two cutter discs is very close, the phenomenon of grass jamming occurs frequently in the experiment.

[0120] Comparative Example 2:

[0121] The minimum distance L1 between the first and second cutting areas is controlled to be 5mm, and the projection distance L2 between the first center and the second center in the width direction Y is 600mm. At this time, the value of L1 / L2 is about 0.0083. Since the projection distance L2 between the first center and the second center in the width direction Y is too large, the two cutter heads are not reasonably arranged on the machine body 11, resulting in wasted space. The size of the machine body 11 is forced to be very large, increasing the manufacturing cost.

[0122] Comparative Example 3:

[0123] The minimum distance L1 between the first and second cutting areas is controlled to be 2mm, and the projection distance L2 between the first center and the second center in the width direction Y is 500mm. At this time, the value of L1 / L2 is about 0.0036. Since the minimum distance L1 between the cutting areas of the two cutter discs is very close, the phenomenon of grass jamming occurs frequently in the experiment.

[0124] Comparative Example 4:

[0125] The minimum distance L1 between the first and second cutting areas is controlled to be 1 mm, and the projection distance L2 between the first center and the second center in the width direction Y is 500 mm. At this time, the value of L1 / L2 is 0.002. Since the minimum distance L1 between the cutting areas of the two cutter discs is very close, the phenomenon of grass jamming occurs frequently in the experiment.

[0126] Comparative Example 5:

[0127] The minimum distance L1 between the first and second cutting areas is controlled to be 10mm, and the projection distance L2 between the first center and the second center in the width direction Y is 650mm. At this time, the value of L1 / L2 is about 0.0154. Since the projection distance L2 between the first center and the second center in the width direction Y is too large, the two cutter heads are not reasonably arranged on the machine body 11, resulting in wasted space. The size of the machine body 11 is forced to be very large, increasing the manufacturing cost.

[0128] Comparative Example 6:

[0129] The minimum distance L1 between the first and second cutting areas is controlled to be 0.5mm, and the projection distance L2 between the first center and the second center in the width direction Y is 700mm. At this time, the value of L1 / L2 is about 0.0007. Since the minimum distance L1 between the cutting areas of the two cutter heads is relatively close, the phenomenon of grass jamming occurs frequently in the experiment. At the same time, the projection distance L2 between the first center and the second center in the width direction Y is too large, and the two cutter heads are not reasonably arranged on the machine body 11, resulting in wasted space. The size of the machine body 11 is forced to be very large, increasing the manufacturing cost.

[0130] Comparative Example 7:

[0131] The minimum distance L1 between the first and second cutting areas is controlled to be 200mm, and the projection distance L2 between the first center and the second center in the width direction Y is 280mm. At this time, the value of L1 / L2 is about 0.7143. Because the minimum distance L1 between the cutting areas of the two cutter heads is too large, the distance between the two cutter heads is too far, resulting in a waste of space in the machine body 11. At the same time, the projection distance L2 between the first center and the second center in the width direction Y is too small, the layout of the two cutter heads on the machine body 11 is unreasonable, and the overlapping area of ​​the cutting areas of the two cutter heads on the moving path is too large, resulting in a waste of cutting resources of the second cutter head 312.

[0132] Comparative Example 8:

[0133] The minimum distance L1 between the first and second cutting areas is controlled to be 220mm, and the projection distance L2 between the first center and the second center in the width direction Y is 290mm. At this time, the value of L1 / L2 is about 0.7586. Because the minimum distance L1 between the cutting areas of the two cutter heads is too large, the distance between the two cutter heads is too far, resulting in a waste of space in the machine body 11. At the same time, the projection distance L2 between the first center and the second center in the width direction Y is too small, the layout of the two cutter heads on the machine body 11 is unreasonable, and the overlapping area of ​​the cutting areas of the two cutter heads on the moving path is too large, resulting in a waste of cutting resources of the second cutter head 312.

[0134] Comparative Example 9:

[0135] The minimum distance L1 between the first and second cutting areas is controlled to be 250mm, and the projection distance L2 between the first center and the second center in the width direction Y is 300mm. At this time, the value of L1 / L2 is about 0.8333. Because the minimum distance L1 between the cutting areas of the two cutting discs is too large, the distance between the two cutting discs is too far, and the layout of the two cutting discs on the machine body 11 is unreasonable, resulting in wasted space.

[0136] Comparative Example 10:

[0137] The minimum distance L1 between the first and second cutting areas is controlled to be 300mm, and the projection distance L2 between the first center and the second center in the width direction Y is 250mm. At this time, the value of L1 / L2 is about 1.2. Because the minimum distance L1 between the cutting areas of the two cutter heads is too large, the distance between the two cutter heads is too far. At the same time, the projection distance L2 between the first center and the second center in the width direction Y is too small. The two cutter heads are not reasonably arranged on the machine body 11, resulting in wasted space. Moreover, the overlapping area of ​​the cutting areas of the two cutter heads on the moving path is too large, resulting in wasted cutting resources of the second cutter head 312.

[0138] The relevant parameters and test results from the above embodiments and comparative examples are recorded in Table 1.

[0139] Table 1. Parameters of Examples 1-10 and Comparative Examples 1-10

[0140] L1 / mm L2 / mm L1 / L2 Example 1 5 500 0.01 Example 2 10 400 0.025 Example 3 30 300 0.1 Example 4 50 350 0.1429 Example 5 75 500 0.15 Example 6 100 400 0.25 Example 7 150 450 0.3333 Example 8 180 300 0.6 Example 9 200 400 0.5 Example 10 200 300 0.6666 Comparative Example 1 3 500 0.006 Comparative Example 2 5 600 0.0083 Comparative Example 3 2 500 0.0036 Comparative Example 4 1 500 0.002 Comparative Example 5 10 650 0.0154 Comparative Example 6 0.5 700 0.0007 Comparative Example 7 200 280 0.7143 Comparative Example 8 220 290 0.7586 Comparative Example 9 250 300 0.8333 Comparative Example 10 300 250 1.2

[0141] In one embodiment, the lawnmower robot further includes an environmental perception module, which detects the relative positional relationship between the robot body 11 and obstacles or working areas. Specifically, this includes information such as distance and angle between the robot body 11 and the boundary of the obstacle or working area. The control module 41 is configured to control the second cutter head 312 to operate when the environmental perception module detects a preset condition. When the environmental perception module is able to collect distance information between the robot body 11 and the boundary of the obstacle or working area, the preset condition is a distance value or a range of values. When the environmental perception module detects that the distance between the robot body 11 and the boundary of the obstacle or working area reaches the preset distance value or range, the control module 41 controls the second cutter head 312 to operate. When the environmental perception module is able to collect angle information between the robot body 11 and the boundary of the obstacle or working area, the preset condition is an angle value or a range of values. When the environmental perception module detects that the angle between the robot body 11 and the obstacle reaches the preset angle value or range, the control module 41 controls the second cutter head 312 to operate. This embodiment enables the lawnmower robot to detect the relative position of its body 11 to obstacles or work areas by setting up an environmental perception module. When the lawnmower robot approaches the boundary of an obstacle or work area and the first blade 311 cannot perform the trimming operation well, the control module 41 can automatically control the second blade 312 to assist the first blade 311 in mowing, which helps to improve the cleaning effect of weeds near the boundary of obstacles or work areas and improves the practicality of the lawnmower robot.

[0142] In one embodiment, the preset conditions include the distance between the robot body 11 and the boundary of an obstacle or work area being less than a set threshold. When the robot body 11 moves to the vicinity of the boundary of an obstacle or work area, and the distance to the boundary is less than the set threshold, the environmental sensing module can promptly identify the signal within the set threshold. The control module 41 then controls the second cutter head 312 to work and assist the first cutter head 311 in mowing, ensuring the effective clearing of weeds near the boundary of the obstacle or work area. For example, when the environmental sensing module detects that the robot body 11 is approaching the boundary of an obstacle or work area and is less than 10cm away from the boundary, the control module 41 activates the second cutter head 312 to assist the first cutter head 311 in mowing, thereby improving the trimming effect of the mowing robot. When the environmental sensing module detects that the robot body 11 is moving away from the boundary of an obstacle or work area and is more than 10cm away from the boundary, the control module 41 deactivates the second cutter head 312.

[0143] It should be noted that, in this embodiment, the threshold value for setting the distance is not limited to 10cm. Specifically, the value can be adjusted according to the width of the machine body 11, the type of obstacle, and the boundary of the working area to ensure the mowing effect near the obstacle and the boundary of the working area. The threshold value can usually be set to any value or range within the range of 100mm-200mm. For example, it can be set to 110mm, 120mm, 130mm, 140mm, 150mm, 160mm, 170mm, 180mm, 190mm, 200mm, or any two of the above value ranges.

[0144] In one embodiment, the environment perception module includes at least one of a lidar, a vision component, and a physical perception component.

[0145] It should be noted that in practical applications, different lawnmowers may be equipped with different environmental perception modules. For example, some lawnmowers use LiDAR for ranging and positioning; others use vision components to perceive the environment; and still others use physical boundaries such as obstacles or work area boundaries to determine their location. Of course, multiple environmental perception modules can also be configured simultaneously to enhance environmental perception capabilities.

[0146] Specifically, LiDAR typically emits infrared light pulses to scan and construct spatial models of obstacles in real time, enabling accurate identification of lawn boundaries, obstacles such as flower beds, trees, pets, and terrain changes. The lawnmower robot can use the ranging method of LiDAR to sense when the body 11 approaches an obstacle or the boundary of the work area to a certain distance, such as 10cm, 15cm, or 20cm, and then automatically activate the second blade 312 to improve the trimming effect of the lawnmower robot on the boundary of the obstacle or work area. The vision component can typically include an image sensor to identify the color and texture features of the lawn, distinguishing between lawn and non-lawn areas, such as flower beds and pebble paths. It can also use a camera to capture moving obstacles such as pets, children, or low objects such as toys and water pipes. The lawnmower robot can use the visual perception function of the vision component to identify when the body 11 approaches an obstacle or the boundary of the work area to a certain distance, such as 10cm, 15cm, or 20cm, and then automatically activate the second blade 312 to improve the trimming effect of the lawnmower robot on the boundary of the obstacle or work area. In some lawnmowers, vision components can be combined with LiDAR to enhance robustness in perceiving dynamic environments and improve the robot's adaptability to changing lighting conditions such as tree shade or weather conditions such as morning fog.

[0147] In addition, the lawnmower can also detect the location information of obstacles or work areas through the physical sensing component. The physical sensing component will automatically activate the second blade 312 when the body 11 of the lawnmower touches an obstacle or walks to the physical boundary, thereby improving the trimming effect of the lawnmower on the boundary of the obstacle or work area. Physical sensing components typically include non-contact obstacle detection and contact obstacle detection. Non-contact obstacle detection generally uses infrared and ultrasonic sensors to scan the path ahead, detecting obstacles such as stones and water pipes in the lawn, enabling the robot to dynamically avoid obstacles and reduce the risk of collisions. Contact obstacle detection generally uses collision sensors mounted on the body 11. When the robot touches a low obstacle, such as the edge of a flowerpot, it immediately stops the blade rotation and retreats to avoid mechanical damage. In some lawnmower robots, a collision plate can also be set at the front of the body 11 shell. Each side of the collision plate is usually equipped with a photoelectric switch. The collision plate has special holes for the photoelectric switches to receive infrared light. When the collision plate touches the edge of a low obstacle, the holes are blocked, preventing the photoelectric switches from receiving infrared light, thereby controlling the robot to avoid obstacles. At the same time, setting a collision plate at the front of the robot body 11 not only avoids direct collisions between the robot and obstacles, protecting the robot body 11 from damage, but also ensures the smooth progress of the cleaning task. In practical applications, at least one of the following components can be selected for the lawnmower robot: LiDAR, vision components, and physical sensing components, depending on the application scenario. This ensures that the lawnmower robot can adapt to various working scenarios and maintain good practical performance.

[0148] In one embodiment, the lawnmower robot further includes a human-machine interaction module 51, which is configured to receive control commands. The control module 41 is configured to control the second cutter head 312 to operate or not operate based on the control commands. In this embodiment, the human-machine interaction module 51 can be based on an operating software app to enable the control module 41 to control the operating state of the second cutter head 312, or it can be based on an operating control panel to enable the control module 41 to control the operating state of the second cutter head 312. In the scenario where the human-computer interaction module 51 controls the second blade disc 312 based on the operating software app, the lawnmower robot is equipped with a wireless communication module to receive control signals generated by the user's operating software app. The control module 41 controls the second blade disc 312 to work or not work based on the control signals. Specifically, the working mode of the lawnmower robot can be set through the mobile app. For example, when the lawnmower robot body 11 is 10cm, 15cm, or 20cm away from the obstacle or the boundary of the working area, the second blade disc 312 is activated to improve the trimming effect of the robot. When the body 11 is more than 10cm, 15cm, or 20cm away from the obstacle or the boundary of the working area, the second blade disc 312 is controlled to not work. When the human-machine interaction module 51 controls the second blade disc 312 based on the control panel, the lawnmower robot is equipped with a control panel with touch or buttons. In this case, the control module 41 can be integrated into the control panel. Control signals are generated by operating the touch or buttons, and the control module 41 controls the second blade disc 312 to work or not work based on these signals. Specifically, the working mode of the lawnmower robot can be set via touch or buttons. For example, when the lawnmower robot body 11 is 10cm, 15cm, or 20cm away from an obstacle or the boundary of the working area, the second blade disc 312 is activated to improve the trimming effect. When the body 11 is more than 10cm, 15cm, or 20cm away from the obstacle or the boundary of the working area, the second blade disc 312 is deactivated. The human-machine interaction module 51 allows for setting and manual control of the second blade disc 312 to enter working or non-working mode according to the actual working scenario, facilitating the operation of the lawnmower robot and improving its practicality.

[0149] Of course, during normal mowing operations, the second cutter head 312 can work simultaneously with the first cutter head 311 to improve mowing efficiency; or the second cutter head 312 can only be activated when there are obstacles or the boundary of the work area to achieve a better trimming effect.

[0150] It should be noted that in other embodiments, in order to make the lawn mowing robot easier to operate, the methods of controlling the second blade 312 to work or not work based on the operating software app and the operating control panel can be configured on the lawn mowing robot. Users can choose the more convenient operation method according to the actual application scenario.

[0151] In one embodiment, reference is made to Figure 1 The lawnmower robot may also include a walking component 21, which may specifically include a first walking wheel 211 and a second walking wheel 212. The first walking wheel 211 may have steering and / or driving functions, and the second walking wheel 212 may also have steering and / or driving functions. In practical applications, the steering and driving functions of the first walking wheel 211 and the second walking wheel 212 can be combined according to the actual application scenario. Through these various combinations, the lawnmower robot can operate in front-wheel drive, rear-wheel drive, three-wheel drive, four-wheel drive, front-wheel steering, or rear-wheel steering modes, thereby improving the lawnmower robot's environmental adaptability. In this embodiment, the first walking wheel 211 can be configured as one or two. When the first walking wheel 211 is configured as one, it is preferably installed on the central axis extending along the length direction X of the lawnmower robot body 11. When the first walking wheel 211 is configured as two, it is preferably installed near the two corners at one end of the lawnmower robot body 11 along the length direction X. The second walking wheel 212 can be configured as two, and both are preferably installed near the two corners at one end of the lawnmower robot body 11 along the length direction X. It should be noted that when both the first walking wheel 211 and the second walking wheel 212 consist of two, the four walking wheels are preferably located near the four corners of the body 11.

[0152] In one embodiment, the lawnmower robot may further include an energy module disposed on the body 11. The energy module can supply power to one or more of the following components: the cutting component 31, the control module 41, the environmental perception module, the human-machine interaction module 51, and the walking component 21. Specifically, the energy module may be a rechargeable battery.

[0153] In one embodiment, the angle α between the line connecting the first center and the second center and the width direction Y of the fuselage 11 further satisfies: 30° ≤ α ≤ 60°. (Refer to...) Figure 4The line connecting the first center and the second center is the center line b, and the angle α between the center line b and the straight line a satisfies: 30°≤α≤60°. In this embodiment, α is controlled to satisfy 30°≤α≤60°, and the second center of the second blade disc 312 is offset relative to the first center of the first blade disc 311 towards both ends of the body 11 along the length direction X and the width direction Y by at least 30°. This effectively utilizes the space of the body 11 along the length direction X, reduces the size of the lawnmower robot in the width direction Y, and makes the relative positions of the two blade discs on the lawnmower robot more even. The layout is more compact and reasonable. The second center is offset by at least 30° relative to the first center on both sides of the body 11 along the width direction Y and the length direction X, so that the projections of the first center and the second center in the length direction X are further staggered. The degree of offset between the cutting area of ​​the second cutter head 312 and the cutting area of ​​the first cutter head 311 in the moving path is further increased, reducing the overlap between the second cutter head 312 and the first cutter head 311 in the width direction Y, making full use of the cutting resources of the second cutter head 312, and improving the overall cutting efficiency of the two cutter heads.

[0154] Reference Figure 4d When α = 30°, the center line b is relative to Figure 4a For the center line b where α = 0°, it will shift 30° towards the length direction X of the body 11. The second center can shift relative to the first center towards both ends of the body 11 along the length direction X, effectively utilizing the space of the body 11 along the length direction X, reducing the size of the lawnmower robot in the width direction Y, and making the relative position layout of the two blades on the lawnmower robot more compact and reasonable; while when 0° < α < 30°, the center line b is located at Figure 4a and Figure 4d The range between the center line b is such that, although the second cutter head 312 is offset from the first cutter head 311 to a certain extent in the length direction X, the degree of offset is limited. It cannot make full use of the dimensions of the body 11 in the length direction X, and it is necessary to increase the lateral dimension of the body 11 in the width direction Y, which increases the manufacturing cost and makes the structural space setting of the lawn mowing robot not compact and unreasonable.

[0155] Reference Figure 4e When α = 60°, the center line b is relative to Figure 4c For the center line b at α = 80°, it will shift 20° towards the side of the fuselage 11 along the width direction Y. The area cut by the second cutter head 312 on the moving path will be offset to a certain extent from the area cut by the first cutter head 311 on the moving path, reducing the overlap area between the second cutter head 312 and the first cutter head 311 on the moving path, and effectively utilizing the cutting resources of the second cutter head 312 to cut vegetation; while when 60° < α < 80°, the center line b is located at Figure 4c and Figure 4eWithin the range between the center line b, although the second cutter head 312 and the first cutter head 311 are offset to a certain extent in the width direction Y, the degree of offset is limited. The cutting area of ​​the second cutter head 312 on the moving path still overlaps with the cutting area of ​​the first cutter head 311 to a large extent, resulting in a large degree of waste of the cutting resources of the second cutter head 312.

[0156] In one embodiment, the angle α between the line connecting the first center and the second center and the width direction Y of the fuselage 11 is 45°. (Refer to...) Figure 4d The projection distance of the line b connecting the center of the first center and the center in the length direction X is equal to the projection distance in the width direction Y, both being L2. The offset distance of the second center relative to the first center in the length direction X and the width direction Y of the body 11 is equal, so that the second cutter head 312 can make full use of the space of the body 11 along the length direction X. The spatial arrangement of the two cutter heads on the mowing robot is reasonable. At the same time, the cutting area of ​​the second cutter head 312 on the moving path is appropriately offset from the cutting area of ​​the first cutter head 311 on the moving path. The mowing robot can make full use of the cutting resources of the second cutter head 312 to assist the first cutter head 311 in cutting vegetation.

[0157] It should be noted that when the dimensions of the lawnmower robot body 11 are the same along the length direction X and the width direction Y, that is, when the bottom of the body 11 is square, the spatial arrangement of the second cutter head 312 and the first cutter head 311 on the body 11 in this embodiment can not only adapt to the square shape of the bottom of the body 11, but also make full use of the cutting resources of the second cutter head 312 to assist the first cutter head 311 in cutting vegetation, which helps to make the structure of the body 11 more compact and reasonable.

[0158] In other embodiments, since the body 11 of existing commercially available lawnmower robots is typically rectangular or approximately rectangular in shape, refer to Figure 4g The length direction X of the fuselage 11 is the direction of the long side of the base of a cuboid or approximately cuboid, and the width direction Y of the fuselage 11 is the direction of the short side of the base of a cuboid or approximately cuboid. (Refer to...) Figure 4e The diagonal of the rectangular bottom of the lawnmower robot body 11 is e. Both the second center and the first center are located on the diagonal e. The arrangement of the second cutter head 312 and the first cutter head 311 on the body 11 can make full use of the cutting resources of the second cutter head 312 to assist the first cutter head 311 in cutting vegetation, and adapt to the rectangular shape of the bottom of the lawnmower robot body 11, which helps to make the structure of the body 11 more compact and reasonable.

[0159] In one embodiment, the orthographic projections of the first and second cutting regions onto the width direction Y of the fuselage 11 overlap, and the projection length of the overlapping portion onto the width direction Y of the fuselage 11 is L3, where L3 satisfies: 0 < L3 / R2 < 2. Figure 5 As shown, the first cutting region has a first tangent c and a fifth tangent g extending along the length direction X on both sides of the width direction Y, and the second cutting region has a second tangent d extending along the length direction X in the width direction Y and located between the first tangent c and the fifth tangent g. The distance between the first tangent c and the second tangent d is the orthographic projection length L3 of the overlapping part of the first cutting region and the second cutting region on the fuselage 11 in the width direction Y. In this embodiment, by controlling L3 to satisfy 0 < L3 / R2 < 2, the second cutting area of ​​the second cutter head 312 is kept to overlap with the first cutting area on the moving path of the body 11 to a certain extent. This avoids the second cutting area being completely offset from the first cutting area on the moving path or only overlapping at the edge. In such cases, not only can the second cutter head 312 not assist the first cutter head 311 in cutting vegetation, but the space of the body 11 along the length direction X cannot be reasonably utilized, resulting in an unreasonable layout of the two cutter heads on the body 11. Furthermore, it avoids the second cutting area being completely located inside the first cutting area on the moving path or only overlapping at the edge, thus wasting the cutting resources of the second cutter head 312.

[0160] Reference Figure 5a When the second cutting area is completely located on both sides of the orthographic projection of the first cutting area in the width direction Y, that is, when the second cutting area is completely located outside the first tangent c and the fifth tangent g, there is no overlap between the orthographic projections of the two blades in the width direction Y, that is, L3 = 0 and the value of L3 / R2 is 0. At this time, the arrangement of the two blades occupies too much space in the width direction Y of the body 11, increasing the size of the lawn mower robot in the width direction Y, resulting in the lawn mower robot's layout space being neither compact nor reasonable.

[0161] Reference Figure 5b When the second cutting area is located on both sides of the orthographic projection of the first cutting area in the width direction Y, and the second tangent d coincides with one of the tangents c and g, the orthographic projections of the two blades in the width direction Y coincide only at the edge, that is, L3 = 0, and the value of L3 / R2 is still 0. At this time, the arrangement of the two blades occupies too much space in the width direction Y of the body 11, increasing the size of the mowing robot in the width direction Y, resulting in the mowing robot's layout space being neither compact nor reasonable.

[0162] Reference Figure 5cWhen the second cutting area is located between the orthographic projections of the first cutting area in the width direction Y, and the second tangent d coincides with one of the tangents c and g, the orthographic projections of the two cutter heads in the width direction Y completely coincide, that is, L3 = 2R2, and the value of L3 / R2 is 2. At this time, the area that the second cutter head 312 can cut on the moving path is completely located within the area that the first cutter head 311 can cut on the moving path, which will result in the complete waste of the cutting resources of the second cutter head 312.

[0163] Reference Figure 5d When the second cutting area is completely located between the orthographic projections of the first cutting area in the width direction Y, the orthographic projections of the two cutter heads in the width direction Y completely overlap, that is, L3 = 2R2, and the value of L3 / R2 is 2. At this time, the area that the second cutter head 312 can cut on the moving path is completely located within the area that the first cutter head 311 can cut on the moving path, which will result in the complete waste of the cutting resources of the second cutter head 312.

[0164] In one embodiment, the minimum distance L1 between the first cutting area and the second cutting area also satisfies: 5mm ≤ L1 ≤ 200mm. When L1 = 5mm, the distance between the first cutting area and the second cutting area is very close, and the arrangement of the second blade 312 and the first blade 311 on the body 11 is very compact, which helps to design the lawnmower robot body 11 towards miniaturization and integration. When L1 = 200mm, the first cutting area and the second cutting area are separated by a certain distance, and the arrangement of the second blade 312 can make full use of the structural characteristics of the body 11 along the length direction X, which helps to make the lawnmower robot structure more reasonable, especially suitable for lawnmower robots with a rectangular or near-rectangular structure at the bottom of the body 11. When 5mm < L1 < 200mm, the lawnmower robot can be designed to be more compact or reasonable according to the needs, so as to be suitable for more lawnmower scenarios.

[0165] In one embodiment, the distance L2 between the first center and the second center in the width direction Y of the body 11 also satisfies: 300≤L2≤500mm. By limiting the size of L2 to satisfy 300≤L3≤500, the size of the body 11 of the lawnmower robot in the width direction Y can be limited, so that the body 11 has a suitable span distance in the movement path, maintaining the mowing efficiency of the lawnmower robot.

[0166] In one embodiment, the diameter of the first cutting area is D1, and D1 satisfies: 100≤D1≤350mm; the diameter of the second cutting area is D2, and D2 satisfies: 80≤D2≤180mm. In this embodiment, the lawnmower robot is designed according to the above size requirements to be applicable to most lawnmower scenarios, while also taking into account factors such as energy consumption and body size.

[0167] It should be noted that, in other embodiments, the diameter D1 of the first cutting area and the diameter D2 of the second cutting area can be set to sizes outside the above range to meet other lawn mowing scenarios.

[0168] In one embodiment, the orthographic projection of the second cutting area onto the body 11 is located inside the body 11. In this embodiment, the orthographic projection of the second cutting area onto the body 11 is located inside the body 11, that is, the edge of the second cutter head 312 is kept inside the edge of the body 11 when it is working, to prevent the second cutter head 312 from protruding outward relative to the body 11 when it is working, thus preventing safety hazards and ensuring the safety of the robot's operation.

[0169] In one embodiment, the rotational speed of the first cutter head 311 is V1, and V1 satisfies: 1800 r / min ≤ V1 ≤ 3800 r / min; the rotational speed of the second cutter head 312 is V2, and V2 satisfies: 2000 r / min ≤ V2 ≤ 6000 r / min. In this embodiment, the lawnmower robot has one or more sets of drive components for driving the first cutter head 311 and the second cutter head 312. The drive components can be motors equipped with gearboxes, and the rotational speed V1 of the first cutter head 311 and the rotational speed V2 of the second cutter head 312 can be adjusted by changing the gearbox gear. By controlling the rotational speed V1 of the first cutter head 311 to satisfy 1800r / min≤V1≤3800r / min and the rotational speed V2 of the second cutter head 312 to satisfy 2000r / min≤V2≤6000r / min, the first cutter head 311 and the second cutter head 312 of the lawnmower robot have a wide range of mowing power, which can meet the mowing requirements of most working conditions on the market and are suitable for most mowing scenarios.

[0170] In one embodiment, the first cutter head 311 includes a first base 3111 and a plurality of first blades 3112. The plurality of first blades 3112 are movably mounted on the periphery of the first base 3111, and the first blades 3112 are rotatable with the first base 3111. The first cutting area is the maximum cutting area formed by the first blades 3112 rotating with the first base 3111. The second cutter head 312 includes a second base 3121 and a plurality of second blades 3122. The plurality of second blades 3122 are movably mounted on the periphery of the second base 3121, and the second blades 3122 are rotatable with the second base 3121. The second cutting area is the maximum cutting area formed by the second blades 3122 rotating with the second base 3121.

[0171] In this embodiment, the first base 3111 is provided with a first mounting groove for mounting the first blade 3112. Specifically, the first mounting groove can be configured as a fan-shaped groove, with a first central shaft positioned at the center of the fan. One end of the first blade 3112 inserted into the fan-shaped groove has a first shaft hole, and the first central shaft is rotatably connected to the first shaft hole. When the first cutter head 311 rotates to cut vegetation along its moving path, the first blade 3112 can rotate to a certain extent relative to the first base 3111 within the fan-shaped groove. When encountering dense grass, the first blade 3112 experiences greater resistance to movement. It will rotate a certain angle to the side opposite to the rotation direction of the first base 3111, thereby providing a certain degree of protection for the drive assembly of the first cutter head 311 and preventing the drive assembly from being damaged due to overload; further, in other embodiments, a first arc-shaped guide groove is provided in the first mounting groove, which coincides with the center of the circle and the first central axis, and a first guide rod corresponding to the first arc-shaped guide groove is provided on the first blade 3112. Through the cooperation between the first arc-shaped guide groove and the first guide rod, the deflection direction of the first blade 3112 in the first mounting groove can be guided, which helps to keep the deflection process of the first blade 3112 stable. The second base 3121 is provided with a second mounting groove for mounting the second blade 3122. Specifically, the second mounting groove can be configured as a fan-shaped groove, with a second central shaft positioned at the center of the fan. One end of the second blade 3122 inserted into the fan-shaped groove has a second shaft hole, and the second central shaft is rotatably connected to the second shaft hole. When the second cutter head 312 rotates to cut vegetation along its moving path, the second blade 3122 can rotate relative to the second base 3121 within the fan-shaped groove to a certain extent. When encountering dense grass, the second blade 3122 experiences greater resistance to rotation and will move towards the second base 3121. The base 3121 rotates a certain angle on the side opposite to the rotation direction, thereby providing a certain degree of protection for the drive assembly of the second cutter head 312 and preventing damage to the drive assembly due to overload. Furthermore, in other embodiments, a second arc-shaped guide groove is provided in the second mounting groove, which coincides with the center of the circle and the first central axis. A second guide rod corresponding to the second arc-shaped guide groove is provided on the second blade 3122. Through the cooperation between the second arc-shaped guide groove and the second guide rod, the deflection direction of the second blade 3122 in the second mounting groove can be guided, which helps to keep the deflection process of the second blade 3122 stable.

[0172] It should be noted that the first cutting area is the maximum area size that the first blade 3112 can cut, and the second cutting area is the maximum area size that the second blade 3122 can cut.

[0173] The above provides a detailed description of the lawnmower robot provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A lawnmower robot, characterized in that, include: The fuselage (11) has a length direction and a width direction that are perpendicular to each other; A cutting assembly (31) is disposed at the bottom of the machine body (11) and is used to move with the machine body (11) to cut vegetation. The cutting assembly (31) includes a first cutter disc (311) and a second cutter disc (312). Control module (41), the control module (41) is configured to control the first cutter head (311) and the second cutter head (312) to work or not work; The first cutter head (311) has a first cutting area, which is circular in shape and has a first center and a first cutting radius. The second cutter head (312) has a second cutting area, which is circular in shape and has a second center and a second cutting radius. The first cutting radius is R1 and the second cutting radius is R2. The minimum distance between the first cutter head (311) and the second cutter head (312) is L1. The projection distance between the first center and the second center in the width direction of the body (11) is L2. The angle between the line connecting the first center and the second center and the width direction of the body (11) is α. Among them, the following conditions must be met: 0°<α≤80°, R1>R2 and R1-R2<L2, 0.01≤L1 / L2≤0.6666.

2. The lawnmower robot according to claim 1, characterized in that, It also includes an environment sensing module, and the control module (41) is configured to control the second cutter head (312) to work when the environment sensing module identifies a preset condition.

3. The lawnmower robot according to claim 2, characterized in that, The preset conditions include that the distance between the fuselage (11) and the boundary of the obstacle or work area is less than a set threshold.

4. The lawnmower robot according to claim 3, characterized in that, The environmental perception module includes at least one of lidar, vision components, and physical perception components.

5. The lawnmower robot according to claim 1, characterized in that, It also includes a human-machine interaction module (51), which is configured to receive control commands, and the control module (41) is configured to control the second cutter head (312) to work or not work based on the control commands.

6. The lawnmower robot according to claim 1, characterized in that, The angle α between the line connecting the first center and the second center and the width direction of the fuselage (11) also satisfies: 30°≤α≤60°.

7. The lawnmower robot according to claim 6, characterized in that, The angle α between the line connecting the first center and the second center and the width direction of the fuselage (11) is 45°.

8. The lawnmower robot according to claim 1, characterized in that, The first cutting area and the second cutting area overlap in the orthographic projection of the body (11) in the width direction. The projection length of the overlapping part in the width direction of the body (11) is L3, and L3 satisfies: 0 < L3 / R2 < 2.

9. The lawnmower robot according to claim 1, characterized in that, The minimum distance L1 between the first cutting area and the second cutting area also satisfies: 5mm≤L1≤200mm.

10. The lawnmower robot according to claim 1, characterized in that, The distance L2 between the first center and the second center in the width direction of the fuselage (11) also satisfies: 300≤L2≤500mm.

11. The lawnmower robot according to claim 1, characterized in that, The diameter of the first cutting area is D1, and D1 satisfies: 100≤D1≤350mm; The diameter of the second cutting area is D2, and D2 satisfies: 80≤D2≤180mm.

12. The lawnmower robot according to claim 1, characterized in that, The orthographic projection of the second cutting area onto the fuselage (11) is located within the fuselage (11).

13. The lawnmower robot according to claim 1, characterized in that, The rotational speed of the first cutter head (311) is V1, and V1 satisfies: 1800r / min≤V1≤3800r / min; The rotational speed of the second cutter head (312) is V2, and V2 satisfies: 2000r / min≤V2≤6000r / min.

14. The lawnmower robot according to claim 1, characterized in that, The first cutter head (311) includes a first base (3111) and a plurality of first blades (3112). The plurality of first blades (3112) are movably mounted on the periphery of the first base (3111), and the first blades (3112) are rotatable with the first base (3111). The first cutting area is the maximum cutting area formed by the first blades (3112) rotating with the first base (3111). The second cutter head (312) includes a second base (3121) and a plurality of second blades (3122). The plurality of second blades (3122) are movably mounted on the periphery of the second base (3121), and the second blades (3122) are rotatable with the second base (3121). The second cutting area is the maximum cutting area formed by the second blades (3122) rotating with the second base (3121).

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