Intelligent mower

Abstract

The intelligent mower comprises a mower body, a walking mechanism and a cutting mechanism, the mower body comprises a front end portion and a rear end portion in the advancing direction, and the rear end face is perpendicular to the advancing direction; the walking mechanism comprises walking wheels and a walking driving part; at least one first walking wheel is arranged close to the front end part, at least two second walking wheels are arranged close to the rear end part, the total weight of the first walking wheels is a first total weight, the total weight of the second walking wheels is a second total weight, and the second total weight is greater than the first total weight; the walking driving part is correspondingly connected with the first walking wheel and the second walking wheel so as to drive the intelligent mower to move. The cutting mechanism is connected to the machine body and comprises a first cutter head and a second cutter head, the weight of the first cutter head is larger than that of the second cutter head, the minimum distance between the center of the first cutter head and the rear end face is a first distance, the minimum distance between the center of the second cutter head and the rear end face is a second distance, and the second distance is smaller than the first distance.

Description

Technical Field

[0001] This application relates to, but is not limited to, the field of lawn mowing equipment technology, and in particular to intelligent lawn mowers. Background Technology

[0002] Intelligent lawnmowers are used for trimming and maintaining lawns. They consist of a main body, a walking mechanism, and a cutting mechanism. The relative positions of the walking and cutting mechanisms to the main body significantly affect the lawnmower's weight distribution. An improper weight distribution can lead to various problems during operation. If the weight distribution at the front of the lawnmower is greater than at the rear, it is prone to slipping and drifting. Furthermore, since most existing intelligent lawnmowers use differential steering, slippage can cause the mower to continuously crush the grass during turning, affecting the trimming effect. Conversely, if the weight distribution at the rear is too large, it can increase drag, affecting the mower's climbing ability and even causing it to tip over while climbing. Utility Model Content

[0003] To solve the aforementioned technical problems, the intelligent lawnmower provided in this application has a reasonable weight distribution, resulting in stable movement and reducing the likelihood of slipping or tipping over. This application achieves this through the following technical solution:

[0004] In a first aspect, embodiments of this application provide an intelligent lawnmower, including a body, a walking mechanism, and a cutting mechanism. The body includes a front end and a rear end along the direction of travel. The rear end has a rearmost point on its rear end, which is located on the rear end face and is perpendicular to the direction of travel. The walking mechanism includes walking wheels and a walking drive component. The walking wheels include a first walking wheel and a second walking wheel. At least one first walking wheel is provided near the front end, and at least two second walking wheels are provided near the rear end. The total weight of the first walking wheels is a first total weight, and the total weight of the second walking wheels is a second total weight. The second total weight is greater than the first total weight. The walking drive component is connected to the first walking wheel and the second walking wheel respectively to drive the intelligent lawnmower to move. The cutting mechanism is connected to the body and includes a first cutter disc and a second cutter disc. The weight of the first cutter disc is greater than the weight of the second cutter disc. The minimum distance between the center of the first cutter disc and the rear end face is a first distance L1, and the minimum distance between the center of the second cutter disc and the rear end face is a second distance L2. The second distance L2 is less than the first distance L1.

[0005] The technical solution provided in this application provides a mounting base for the walking mechanism and the cutting mechanism. The walking mechanism includes multiple wheels, some of which are positioned near the front end and some near the rear end. These wheels are driven by a driving component, enabling the walking mechanism to move the intelligent lawnmower. The cutting mechanism includes a first blade disc and a second blade disc, through which the cutting blades on the lawn can be cut and trimmed. Furthermore, the walking mechanism includes at least one first walking wheel positioned near the front end and at least one second walking wheel positioned near the rear end. The second total weight of the second walking wheel is greater than the first total weight of the first walking wheel, meaning the center of gravity of the walking mechanism is closer to the rear end. The cutting mechanism includes a first cutter disc and a second cutter disc. The second distance between the center of the second cutter disc and the rear end face is smaller than the first distance between the center of the first cutter disc and the rear end face. The weight of the first cutter disc is greater than the weight of the second cutter disc. That is, the center of gravity of the cutting mechanism is closer to the front end (when the installation position is determined, compared with the setting method where the first distance is smaller than the second distance, the second distance is smaller than the first distance, which makes the center of gravity of the cutting mechanism closer to the front end). The centers of gravity of the walking mechanism and the cutting mechanism are located at different ends of the machine body, which helps the center of gravity of the intelligent lawnmower to be closer to the middle, optimizes the weight distribution of the intelligent lawnmower, thereby reducing the possibility of the intelligent lawnmower slipping or tipping over during climbing or traveling, and improving the movement stability and climbing performance of the intelligent lawnmower. Furthermore, the first cutter head is closer to the front end of the machine body, and the second cutter head is closer to the rear end of the machine body. The first and second cutter heads are staggered along the direction of travel. In other words, when projected along the direction of travel, the projections of the first and second cutter heads partially overlap. When the distance between the two cutter heads is the same, the staggered arrangement, compared to the side-by-side arrangement, can effectively reduce the missed area between the first and second cutter heads, thereby improving the mowing area coverage of the intelligent lawnmower and improving mowing efficiency.

[0006] Secondly, this application provides an intelligent lawnmower, including a body, a positioning sensor, a walking mechanism, and a cutting mechanism. Along the direction of travel, it includes a front end and a rear end. The rearmost point on the rear end is the rear endpoint, located on the rear end face, which is perpendicular to the direction of travel. The foremost point on the front end is the front point, located on the front end face, which is perpendicular to the direction of travel. The distance between the positioning sensor and the front end face is less than the distance between the positioning sensor and the rear end face. The walking mechanism includes walking wheels and a driving component. The walking wheels include a first walking wheel and a second walking wheel, with at least one wheel positioned near the front end. The first traveling wheel has at least two second traveling wheels near its rear end. The total weight of the first traveling wheels is the first total weight, and the total weight of the second traveling wheels is the second total weight. The second total weight is greater than the first total weight. The traveling drive components are respectively connected to the first traveling wheels and the second traveling wheels to drive the intelligent lawnmower to move. The cutting mechanism is connected to the machine body and includes a first cutter disc and a second cutter disc. The weight of the first cutter disc is greater than the weight of the second cutter disc. The minimum distance between the center of the first cutter disc and its rear end face is the first distance L1, and the minimum distance between the center of the second cutter disc and its rear end face is the second distance L2. The second distance L2 is less than the first distance L1.

[0007] The technical solution provided in this application addresses the need for a balanced approach to the installation of positioning sensors in intelligent lawnmowers, considering factors such as signal coverage and physical protection. For example, LiDAR and cameras are typically positioned at the top front of the machine to obtain a wider field of view, ensuring accurate sensing and operation in complex environments. During operation, intelligent lawnmowers experience vibrations due to the rotation of the blades and road bumps. To ensure the accuracy of the positioning sensors, shock-absorbing mechanisms are generally installed around them. However, these mechanisms can interfere with surrounding components or obstruct the sensor's field of view.

[0008] In this application, the weight of the second traveling wheel of the intelligent lawnmower is set to be greater than that of the first traveling wheel, while the weight of the first traveling wheel is set to be smaller. The second traveling wheel bears more weight, and the impact force from the ground is mainly concentrated near the second traveling wheel. The area around the second traveling wheel can absorb more bumps, thereby reducing the vibration amplitude transmitted to the positioning sensor at the front of the machine. Furthermore, according to the law of inertia, objects with greater mass have a stronger ability to resist changes in motion. When the second traveling wheel encounters a bump or depression in the ground, its greater inertia makes it less likely to bounce up or sink instantly, thus converting more impact energy into its own slow displacement rather than rapid transmission to the machine body.

[0009] The fact that the weight of the second walking wheel is greater than that of the first walking wheel can solve the problem of vibration of the positioning sensor to some extent. However, when the smart lawnmower is climbing a slope, the component of gravity and the driving force of the smart lawnmower are in opposition. If the center of gravity of the smart lawnmower is too close to the rear end, when the slope angle increases, the smart lawnmower is prone to sliding downhill or even tipping over due to insufficient driving force or decreased adhesion to the traveling surface. Therefore, in order to ensure the stability of the smart lawnmower when climbing a slope, it is necessary to consider moving the center of gravity of the smart lawnmower towards the middle of the smart lawnmower.

[0010] In this application, the weight of the first cutter head is set to be greater than that of the second cutter head. The center of the first cutter head is closer to the front end of the machine body, and the center of the second cutter head is closer to the rear end of the machine body. When the installation points of the cutter heads are the same, the center of the second cutter head is closer to the front end of the machine body than the rear end of the first cutter head. This is more conducive to shifting the center of gravity of the intelligent lawnmower from the rear end to the center of the intelligent lawnmower, which can reduce the vibration of the positioning sensor while ensuring the climbing performance of the intelligent lawnmower. In addition, the first cutter head is closer to the front end of the machine body, and the second cutter head is closer to the rear end of the machine body. That is, the first cutter head and the second cutter head are staggered. When the distance between the two cutter heads is the same, the staggered arrangement, compared with the side-by-side arrangement, can avoid missed areas between the two cutter heads.

[0011] Thirdly, this application provides an intelligent lawnmower, including a body, a walking mechanism, and a cutting mechanism. The body includes a front end and a rear end along the direction of travel. The rear end has a rear endpoint at its furthest point, which is located on the rear end face and is perpendicular to the direction of travel. The walking mechanism includes walking wheels and a driving component. The walking wheels include a first walking wheel and a second walking wheel. At least one first walking wheel is provided near the front end, and at least two second walking wheels are provided near the rear end. The total weight of the first walking wheels is a first total weight, and the total weight of the second walking wheels is a second total weight. The second total weight is greater than the first total weight. The driving component is connected to the first walking wheel and the second walking wheel respectively to drive the intelligent lawnmower to move. The cutting mechanism is connected to the body and includes a first cutter disc and a second cutter disc. The weight of the first cutter disc is greater than the weight of the second cutter disc. The maximum distance between the first cutter disc and the rear end face is a third distance L3, and the maximum distance between the second cutter disc and the rear end face is a fourth distance L4. The third distance L3 is greater than the fourth distance L4. When the intelligent lawnmower performs lawnmowing, the rotation speed of the second cutter disc is greater than the rotation speed of the first cutter disc.

[0012] The technical solution provided in this application provides a mounting base for the walking mechanism and the cutting mechanism. The walking mechanism includes multiple wheels, some of which are positioned near the front and some near the rear. These wheels are driven by a driving component, enabling the walking mechanism to move the intelligent lawnmower. The cutting mechanism includes a first blade disc and a second blade disc, through which the cutting blades on the lawn can be cut and trimmed. Furthermore, the walking mechanism includes at least one first walking wheel positioned near the front and at least one second walking wheel positioned near the rear. The second total weight of the second walking wheel is greater than the first total weight of the first walking wheel, meaning the center of gravity of the walking mechanism is closer to the rear. This allows the rear of the walking mechanism to absorb more bumps and vibrations, reducing the transmission of vibrations to the front and thus minimizing vibration at the front end of the intelligent lawnmower. Additionally, according to the law of inertia, heavier objects resist changes in motion more effectively. When the second walking wheel encounters a bump or depression in the ground, its greater inertia makes it less likely to bounce up or sink instantly, resulting in a smoother movement of the intelligent lawnmower. In addition, the cutting mechanism includes a first cutter disc and a second cutter disc. The third distance between the first cutter disc and the rear end face is greater than the fourth distance between the second cutter disc and the rear end face. The weight of the first cutter disc is greater than the weight of the second cutter disc. The first cutter disc rotates at a lower speed, so the grass is thrown a shorter distance and the grass density is higher during the cutting process, which makes it easier to gather the cut grass near the smart lawnmower. The second cutter disc rotates at a higher speed, so the grass is thrown a longer distance and the grass distribution is looser during the cutting process. The second cutter disc can perform secondary cutting on the cut grass and form grass clippings. The grass clippings are thrown away from the smart lawnmower and loosely distributed under the action of high-speed centrifugal force, which helps the grass clippings to degrade and be reused evenly.

[0013] Intelligent lawnmowers based on the first, second, or third aspect:

[0014] In some implementations of this application, the walking mechanism further includes a steering drive component, with the first walking wheel correspondingly connected to the steering drive component, and the steering drive component is used to drive the first walking wheel to turn.

[0015] The technical solution provided in this application allows the steering drive component to steer the corresponding first traveling wheel, thereby adjusting the direction of travel of the intelligent lawnmower. The first traveling wheel is connected to the steering drive component; in other words, the steering drive component is located at the front end of the machine body, which helps to bring the center of gravity of the intelligent lawnmower closer to its center, optimizing the weight distribution and reducing the possibility of slipping or tipping over during climbing or travel, thus improving the stability of the intelligent lawnmower's movement. Furthermore, since the total weight of the first traveling wheel is less than that of the second traveling wheel, less kinetic energy is required to steer the first traveling wheel. Therefore, connecting the steering drive component to the first traveling wheel saves energy, allowing more of the intelligent lawnmower's power to be supplied to the cutting mechanism, improving the lawnmower's mowing performance.

[0016] In some implementations of this application, the steering drive is disposed on the side of the corresponding first traveling wheel away from the traveling surface; when projected along the height direction of the fuselage, the projection of the steering drive overlaps at least partially with the projection of the corresponding first traveling wheel.

[0017] The technical solution provided in this application has a steering drive component located on the side of the corresponding first traveling wheel away from the traveling surface. The steering drive component has a large distance from the traveling surface, making it less likely to collide with obstacles on the traveling surface, thus improving the obstacle-crossing ability of the intelligent lawnmower. When projected along the height direction of the machine body, the projection of the steering drive component and the projection of the corresponding first traveling wheel overlap at least partially, which helps to distribute the center of gravity of the two along the direction perpendicular to the traveling surface, thereby optimizing the weight distribution effect of the steering drive component and the first traveling wheel on the intelligent lawnmower.

[0018] In some implementations of this application, the intelligent lawnmower also includes a detection mechanism, and each first walking wheel is also connected to the detection mechanism, which is used to detect the steering angle of the corresponding first walking wheel; when projected along the height direction of the machine body, at least a portion of the projection of the detection mechanism overlaps with the projection of the steering drive component.

[0019] The technical solution provided in this application, by setting up a detection mechanism, can detect the steering angle of the first walking wheel, so as to provide a reference for the path planning of the intelligent lawnmower. In addition, the detection of the steering angle can also serve as a basis for judging whether the first walking wheel is slipping or swaying. Projecting along the height direction of the machine body, at least part of the projection of the detection mechanism overlaps with the projection of the steering drive component, which helps to distribute the center of gravity of the two along the direction perpendicular to the traveling plane, thereby optimizing the weight distribution effect of the steering drive component and the first walking wheel on the intelligent lawnmower.

[0020] In some implementations of this application, the detection mechanism includes a detector and a marker. The marker is connected to the output shaft of the steering drive, and the detector is used to obtain the position of the marker. The steering drive outputs rotational power, and the axis of the output shaft of the steering drive passes through the axle of the corresponding first traveling wheel and the detector.

[0021] The technical solution provided in this application has an identification element of the detection mechanism set on the output shaft of the steering drive component. That is, the identification element will rotate with the output shaft of the steering drive component. The detector of the detection mechanism can obtain the position of the identification element so as to determine the steering angle of the first traveling wheel by the rotation angle of the identification element. The axis of the output shaft of the steering drive component passes through the wheel axle of the corresponding first traveling wheel and the detector. On the one hand, this optimizes the weight distribution of the steering drive component, the first traveling wheel and the detector. On the other hand, it facilitates the detector to obtain the position of the identification element on the output shaft of the steering drive component.

[0022] In some implementations of this application, the walking mechanism further includes a support frame, which is disposed between the steering drive member and the corresponding first walking wheel; the first end of the support frame is connected to the axle of the corresponding walking wheel, and the support frame is bent so that the second end of the support frame extends between the corresponding first walking wheel and the corresponding steering drive member, and the second end is connected to the corresponding steering drive member.

[0023] The technical solution provided in this application includes a support frame between the steering drive component and the corresponding first traveling wheel. The support frame can transmit the driving force of the steering drive component to the corresponding first traveling wheel to enable the intelligent lawnmower to steer. The support frame can also transmit the slippage and swaying of the first traveling wheel to the output shaft of the steering drive component, so as to drive the marker on the output shaft of the steering drive component to change position. The support frame includes a first end and a second end that are bent relative to each other. The bending setting facilitates the adaptation of the positional relationship between the steering drive component and the corresponding first traveling wheel, and also facilitates the matching of the steering axis of the first steering wheel with the axis of the output shaft of the steering drive component.

[0024] In some implementations of this application, the cutting mechanism further includes an electric adjustment component and a manual adjustment component. The electric adjustment component is disposed between the first cutter head and the machine body, and is used to adjust the height of the first cutter head relative to the machine body. The manual adjustment component is disposed between the second cutter head and the machine body, and is used to adjust the height of the second cutter head relative to the machine body. The weight of the electric adjustment component is greater than the weight of the manual adjustment component.

[0025] The technical solution provided in this application includes an electric adjustment component between the machine body and the first blade disc, used to adjust the height of the first blade disc relative to the machine body so that the first blade disc can adapt to different mowing needs. The electric adjustment component has a high degree of electronic control and is more convenient to adjust. A manual adjustment component is also provided between the machine body and the second blade disc, used to adjust the height of the second blade disc relative to the machine body so that the second blade disc can adapt to different mowing needs. The manual adjustment component has a simple structure and good reliability. Furthermore, the electric adjustment component is heavier than the manual adjustment component; in other words, the electric adjustment component closer to the front of the machine body is heavier, which helps to bring the center of gravity of the intelligent lawnmower closer to the middle, optimizing the weight distribution of the intelligent lawnmower. This reduces the possibility of the intelligent lawnmower slipping or tipping over during climbing or movement, and improves the stability of the intelligent lawnmower's movement.

[0026] In some implementations of this application, the minimum distance between the projection of the first cutter head and the projection of the edge of the fuselage along the height direction is the fifth distance L5, and the minimum distance between the projection of the second cutter head and the projection of the edge of the fuselage is the sixth distance L6. The fifth distance L5 is greater than the sixth distance L6.

[0027] The technical solution provided in this application, when projected along the height direction of the machine body, has a fifth distance between the projection of the first blade disc and the projection of the edge of the machine body, which is greater than the sixth distance between the projection of the second blade disc and the projection of the edge of the machine body. The second blade disc is set closer to the edge of the machine body, which can cover a larger mowing area, improve mowing efficiency, and is more conducive to throwing grass clippings to the periphery of the machine body. In addition, the second blade disc is set closer to the edge of the machine body than the first blade disc, which is more conducive to the balance of the center of gravity in the width direction of the machine body, preventing the intelligent lawnmower from tipping over due to excessive weight on one side.

[0028] In some implementations of this application, the cutting mechanism further includes a bottom protective member disposed in the area below the second cutter head.

[0029] The technical solution provided in this application includes a protective component located in the area below the second cutter head, which can protect the second cutter head and reduce the possibility of the second cutter head being damaged by obstacles. Furthermore, the protective component on the lighter second cutter head helps to increase the combined weight of the two cutters, so as to achieve weight balance with the heavier first cutter head, and facilitates the placement of the first and second cutter heads in different positions on the machine body as needed.

[0030] In some implementations of this application, the center of the first cutter head and the center of the second cutter head are located on opposite sides of the centerline of the machine body along the direction of travel.

[0031] The technical solution provided in this application has the center of the first cutter head and the center of the second cutter head located on both sides of the machine body. The weight of the first cutter head is greater than that of the second cutter head. The second cutter head is set closer to the edge of the machine body than the first cutter head. This ensures that the center of the intelligent lawnmower is closer to the centerline of the intelligent lawnmower in the width direction, thereby improving the stability of the intelligent lawnmower's movement.

[0032] In some implementations of this application, the center of the first cutter head is located on the centerline of the machine body along the direction of travel.

[0033] The technical solution provided in this application has the center of the first blade disc located on the centerline of the machine body in the length direction. While ensuring the stability of the center of gravity of the intelligent lawnmower in the width direction, it is beneficial to increase the overlap rate of the first blade disc and the second blade disc in the width direction of the machine body, thereby reducing the missed cutting rate of the intelligent lawnmower.

[0034] In some implementations of this application, the walking drive component located at the front end is a first walking drive component, which is integrated with the hub of the corresponding first walking wheel; the walking drive component located at the rear end is a second walking drive component, which is separately located from the corresponding second walking wheel.

[0035] The technical solution provided in this application integrates the first driving component and the hub of the first driving wheel into one unit, which has a relatively compact structure, occupies less space, facilitates the steering of the first driving wheel, and has high driving efficiency; the second driving component and the second driving wheel are set separately, which makes the structural design more flexible, and the space around the second driving component is relatively open, which helps to dissipate heat.

[0036] In some implementations of this application, the second traveling wheel includes a first side, which is close to the middle of the fuselage; the second traveling drive is located on the first side corresponding to the second traveling wheel.

[0037] The technical solution provided in this application has a second walking drive component located on the first side of the second walking wheel. In other words, the second walking drive component is located inside the second walking wheel. The second walking drive component is not easily collided with by obstacles. Furthermore, the second walking drive component located near the middle of the machine body helps to bring the center of gravity of the intelligent lawnmower closer to the middle, optimizes the weight distribution of the intelligent lawnmower, thereby reducing the possibility of the intelligent lawnmower slipping or tipping over during climbing or traveling, and improving the stability of the intelligent lawnmower's movement.

[0038] In some implementations of this application, there are two first wheels and two second wheels. Each first wheel has a first weight and a first diameter, and each second wheel has a second weight and a second diameter. The second weight is greater than the first weight and the second diameter is greater than the first diameter.

[0039] The technical solution provided in this application allows for symmetrical arrangement of two first walking wheels and two second walking wheels relative to the machine body. The first weight of each first walking wheel is less than the second weight of each second walking wheel, facilitating optimized weight distribution on the intelligent lawnmower and helping to shift the center of gravity of the walking mechanism forward relative to the machine body, thus bringing the intelligent lawnmower's center of gravity closer to its center. Furthermore, the second diameter is larger than the first diameter. The smaller diameter of the first walking wheels facilitates steering, while the larger diameter of the second walking wheels provides better obstacle-crossing ability and better rear-drive force, enhancing the intelligent lawnmower's climbing ability. The larger diameter of the second walking wheels also results in a lower rotational speed, reducing the possibility of slippage.

[0040] In some implementations of this application, the intelligent lawnmower also includes a first cutter head cover and a second cutter head cover. The first cutter head cover and the second cutter head cover are set independently. The first cutter head cover is connected to the first cutter head to provide protection for the first cutter head, and the second cutter head cover is connected to the second cutter head to provide protection for the second cutter head.

[0041] The technical solution provided in this application includes a first cutter head cover and a second cutter head cover. The first cutter head cover can provide protection for the first cutter head and reduce the possibility of the first cutter head being damaged by obstacles; the second cutter head cover can provide protection for the second cutter head and reduce the possibility of the second cutter head being damaged by obstacles.

[0042] In some implementations of this application, the intelligent lawnmower also includes a grass collection box for collecting the cut grass, and the grass collection box is detachably connected to the rear end.

[0043] The technical solution provided in this application sets up a grass collection box to facilitate the collection of grass clippings after cutting, reducing the difficulty of grass clipping collection and improving the functionality of the intelligent lawnmower; the grass collection box is set at the rear end of the machine body, which helps to shift the center of gravity of the intelligent lawnmower to the rear, optimize the weight distribution of the intelligent lawnmower, improve its weight balance, and thus improve the stability of the intelligent lawnmower during movement.

[0044] In some implementations of this application, the point on the first cutter head furthest from the rear end face is located in the area in front of the second traveling wheel.

[0045] The technical solution provided in this application has the point farthest from the rear end face of the first cutter disc located in the area in front of the second traveling wheel. In other words, at least part of the first cutter disc is located in the area in front of the second traveling wheel. The second traveling wheel provides less lateral obstruction to the first cutter disc, which helps the first cutter disc to throw out the cut grass clippings. Furthermore, the center of gravity of the first cutter disc is closer to the front end of the machine body, which helps to shift the center of gravity of the intelligent lawnmower forward, optimize the weight distribution of the intelligent lawnmower, improve its weight balance, and thus improve the stability of the intelligent lawnmower's movement.

[0046] In some implementations of this application, the center of the first cutter head is located in the area in front of the second traveling wheel.

[0047] The technical solution provided in this application has the center of the first cutter head located in the area in front of the second traveling wheel. In other words, a large part of the first cutter head is located in the area in front of the second traveling wheel. The second traveling wheel provides less lateral obstruction to the first cutter head, which helps the first cutter head throw out the cut grass clippings. Furthermore, the center of gravity of the first cutter head is closer to the front end of the machine body, which helps to shift the center of gravity of the intelligent lawnmower forward, optimize the weight distribution of the intelligent lawnmower, improve its weight balance, and thus improve the stability of the intelligent lawnmower's movement.

[0048] In some implementations of this application, the point on the first cutter head closest to the rear end face is located in the area in front of the second traveling wheel.

[0049] The technical solution provided in this application has the first cutter disc's closest point to its rear end face located in the area in front of the second traveling wheel. In other words, the entire first cutter disc is located in the area in front of the second traveling wheel, and the second traveling wheel provides less lateral obstruction to the first cutter disc, which helps the first cutter disc to throw out the cut grass clippings. Furthermore, the center of gravity of the first cutter disc is closer to the front end of the machine body, which helps to shift the center of gravity of the intelligent lawnmower forward, optimize the weight distribution of the intelligent lawnmower, improve its weight balance, and thus improve the stability of the intelligent lawnmower's movement. Attached Figure Description

[0050] Figure 1 This is a front view of the intelligent lawnmower provided in an embodiment of this application;

[0051] Figure 2 A bottom view of the intelligent lawnmower provided in the embodiments of this application;

[0052] Figure 3 Provided for the embodiments of this application Figure 2 A schematic diagram of the cross-sectional structure of AA in the middle section;

[0053] Figure 4 Provided for the embodiments of this application Figure 2 A schematic diagram of the cross-sectional structure of BB.

[0054] Figure label:

[0055] 100 - Body; 110 - Front end; 111 - Front end face; 120 - Rear end; 121 - Rear end face; 200 - Walking mechanism; 210 - Walking wheel; 210a - First walking wheel; 210b - Second walking wheel; 220 - Walking drive component; 220a - First walking drive component; 220b - Second walking drive component; 230 - Steering drive component; 240 - Support frame; 241 - First end; 242 - Second end; 300 - Cutting mechanism; 310 - First cutter head; 320 - Second cutter head; 330 - Bottom protection component; 340 - First cutter head cover; 350 - Second Cutter head cover; 400-Detection mechanism; 410-Detector; 420-Identifier; 500-Electric adjustment assembly; 600-Manual adjustment assembly; 700-Positioning sensing sensor; X-Travel direction; Y-Width direction; M-Travel surface; L1-First spacing; L2-Second spacing; L3-Third spacing; L4-Fourth spacing; L5-Fifth spacing; L6-Sixth spacing; P1-Center of the first cutter head; P2-Center of the second cutter head; P3-Point on the first cutter head furthest from the rear end face; P4-Point on the first cutter head closest to the rear end face; R1-First diameter; R2-Second diameter. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the specific technical solutions of this application will be further described in detail below with reference to the accompanying drawings of the embodiments of this application. The following embodiments are used to illustrate this application, but are not intended to limit the scope of this application.

[0057] In the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more.

[0058] Furthermore, in the embodiments of this application, directional terms such as "upper," "lower," "left," and "right" are defined relative to the positions in which the components are schematically placed in the accompanying drawings. It should be understood that these directional terms are relative concepts, used for relative description and clarification, and can change accordingly depending on the position of the components in the accompanying drawings.

[0059] In the embodiments of this application, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a direct connection or an indirect connection through an intermediate medium.

[0060] In embodiments of this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0061] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0062] This application provides an intelligent lawnmower that can be applied to various lawn maintenance locations such as home gardens, parks, and golf courses for mowing and tidying up lawns. The intelligent lawnmower can be driven by an internal combustion engine, electric, or hybrid power.

[0063] In some technical solutions, intelligent lawnmowers include a body, a walking mechanism, and a cutting mechanism. The placement of the walking and cutting mechanisms relative to the body significantly affects the lawnmower's weight distribution. An improper weight distribution can lead to various problems during operation. If the weight distribution at the front of the lawnmower is greater than that at the rear, it is prone to slipping and drifting during operation. Furthermore, since most existing intelligent lawnmowers use differential steering, slippage can cause the lawnmower to continuously crush the grass during turning, affecting the mowing effect. Conversely, if the weight distribution at the rear is too large, it can increase drag, affecting the lawnmower's climbing ability and even causing it to tip over while climbing.

[0064] Before providing a further detailed description of the embodiments of this application, the nouns and terms involved in the embodiments of this application will be explained, and the nouns and terms involved in the embodiments of this application shall be interpreted as follows.

[0065] 1) Direction of Movement: The direction of movement of the intelligent lawnmower along the ground during mowing operations. This can also be understood as the direction from the rear end of the intelligent lawnmower towards the front end (the end equipped with the positioning sensor). During mowing, the front end passes over the lawn before the rear end. The direction of movement is usually the length direction of the intelligent lawnmower. The width direction is usually parallel to the ground and perpendicular to the direction of movement. The height direction refers to the direction perpendicular to the plane containing both the direction of movement and the width direction.

[0066] 2) Traveling surface: The surface used to support and guide the movement of the smart lawnmower and in contact with its walking mechanism. For example, when the smart lawnmower is operating on a lawn, the lawn surface can be considered the traveling surface. It should be noted that the traveling surface can be a horizontal surface or an inclined surface relative to a horizontal surface (e.g., a slope).

[0067] 3) Orientation Explanation: The upper and lower sides are related to the position of the component relative to the travel surface. The upper side refers to the side of the component away from the travel surface; the lower side refers to the side of the component facing the travel surface. The front and rear sides are related to the travel direction of the smart lawnmower. The front side refers to the side of the component closer to the front end and away from the rear end; the rear side refers to the side of the component closer to the rear end and away from the front end. The side refers to the edge position of the smart lawnmower parallel to the travel direction, which can also be understood as the left or right side of the smart lawnmower.

[0068] 4) Front / Rear Face: The front face is located at the front end of the smart lawnmower and faces away from the rear end; the rear face is located at the rear end of the smart lawnmower and faces away from the front end. In some examples, the point with the largest distance between the rear end of the smart lawnmower and the front face is the rear endpoint, which is a point contained within the rear face. It is understood that the rear face can include one or more rear endpoints. Similarly, the point with the largest distance between the front end of the smart lawnmower and the rear face is the front point, which is a point contained within the front face. It is understood that the front face can include one or more front points. Furthermore, the front and rear faces can be planar or curved surfaces. In some examples, the rear face is a plane perpendicular to the direction of travel.

[0069] 5) Center of gravity shifts forward / backward: A forward shift in the center of gravity means that after adding a component, the center of gravity of the intelligent lawnmower is closer to the front end compared to when the component is not added. For example, adding a steering drive component to the front end will shift the center of gravity of the intelligent lawnmower forward. A backward shift in the center of gravity means that after adding a component, the center of gravity of the intelligent lawnmower is closer to the rear end compared to when the component is not added. For example, adding a grass collection box to the rear end will shift the center of gravity of the intelligent lawnmower backward.

[0070] 6) Front area: The area extending along the direction of travel with the side of the component facing the front end as a reference is the front area of ​​the component. For example, the front area of ​​the smart lawnmower is the area on the side of the front end facing away from the rear end, with the front end as a reference.

[0071] 7) Obstacles: Obstacles refer to objects located in the path of the smart lawnmower that can hinder or interfere with it. Obstacles can be fixed, such as buildings, rocks, fences, etc.; obstacles can also be movable or flexible, such as branches, bushes, ropes, objects placed on the ground, etc.

[0072] Reference Figure 1 and Figure 2The intelligent lawnmower provided in this application includes a body 100, a walking mechanism 200, and a cutting mechanism 300. The body 100 includes a front end 110 and a rear end 120 along the traveling direction X. The rear end 120 has a rear endpoint, which is located on a rear end face 121 perpendicular to the traveling direction X. The walking mechanism 200 includes walking wheels 210 and a walking drive component 220. The walking wheels 210 include first walking wheels 210a and second walking wheels 210b. At least one first walking wheel 210a is provided near the front end 110, and at least two second walking wheels 210b are provided near the rear end 120. The total weight of the first walking wheels 210a is... The sum of the weights of the first and second wheels 210b is the first total weight, and the sum of the weights of the first and second wheels 210b is the second total weight. The second total weight is greater than the first total weight. The walking drive component 220 is connected to the first and second wheels 210a and 210b respectively to drive the intelligent lawnmower to move. The cutting mechanism 300 is connected to the body 100. The cutting mechanism 300 includes a first cutter disc 310 and a second cutter disc 320. The weight of the first cutter disc 310 is greater than the weight of the second cutter disc 320. The minimum distance between the center of the first cutter disc 310 and the rear end face 121 is the first distance L1, and the minimum distance between the center of the second cutter disc 320 and the rear end face 121 is the second distance L2. The second distance L2 is less than the first distance L1.

[0073] In this embodiment, the machine body 100 may include a housing, a power supply mechanism, an electronic control component, etc. The cutting mechanism 300 and the walking mechanism 200 are connected to the housing of the machine body 100 and are located on the lower side of the housing. The power supply mechanism and the electronic control component are disposed inside the housing and protected by the housing. The power supply mechanism provides energy to the cutting mechanism 300, the walking mechanism 200, etc. The electronic control component is used to control the operation of the cutting mechanism 300, the walking mechanism 200, etc. The electronic control component can also interact with the user and communicate with external terminals, etc.

[0074] In this embodiment of the application, the walking mechanism 200 includes a walking wheel 210. The walking wheel 210 is a wheel-shaped component that can contact the traveling surface M and drive the intelligent lawnmower to move by rotation. The walking wheel 210 usually includes a hub made of metal or plastic and a tire made of rubber.

[0075] In this embodiment, the walking drive component 220 is used to drive the walking wheel 210 to rotate. The walking drive component 220 can be a drive component that outputs rotational power, such as a motor or rotary cylinder, or a drive component that outputs linear power, such as an electric telescopic rod or a pneumatic / hydraulic telescopic cylinder. In some examples, the walking drive component 220 is a motor, which has advantages such as high precision and fast response.

[0076] In this embodiment, the first traveling wheel 210a is positioned near the front end 110, meaning that when projected along the direction perpendicular to the travel plane M, the projection of the first traveling wheel 210a at least partially overlaps with the projection of the front end 110; and / or, when projected along the width direction Y of the smart lawnmower, the projection of the first traveling wheel 210a at least partially overlaps with the projection of the front end 110. The second traveling wheel 210b is positioned near the rear end 120, meaning that when projected along the direction perpendicular to the travel plane M, the projection of the second traveling wheel 210b at least partially overlaps with the projection of the rear end 120; and / or, when projected along the width direction Y of the smart lawnmower, the projection of the second traveling wheel 210b at least partially overlaps with the projection of the rear end 120.

[0077] In this embodiment, the front end portion 110 may be provided with one or more first traveling wheels 210a. When the front end portion 110 is provided with one first traveling wheel 210a, the first total weight refers to the weight of a single first traveling wheel 210a; when the front end portion 110 is provided with multiple first traveling wheels 210a, the first total weight refers to the sum of the weights of the multiple first traveling wheels 210a. Correspondingly, the rear end portion 120 is provided with at least a plurality of (including two) second traveling wheels 210b, and the second total weight refers to the sum of the weights of the multiple second traveling wheels 210b.

[0078] In this embodiment of the application, the second total weight is greater than the first total weight, which means that the number of second traveling wheels 210b is greater than the number of first traveling wheels 210a, and the weight of a single second traveling wheel 210b is greater than, less than or equal to the weight of a single first traveling wheel 210a; or, the weight of a single second traveling wheel 210b is greater than the weight of a single first traveling wheel 210a, and the number of second traveling wheels 210b is greater than, less than or equal to the number of first traveling wheels 210a.

[0079] In this embodiment, the walking drive component 220 is respectively connected to the first walking wheel 210a and the second walking wheel 210b, meaning that the number of walking drive components 220 corresponds one-to-one with the number of walking wheels 210, and each walking wheel 210 is connected to a corresponding walking drive component 220. The walking drive components 220 corresponding to the first walking wheel 210a and the second walking wheel 210b can adopt the same or different structural forms.

[0080] In this embodiment, the cutting mechanism 300 is used to cut grass on a lawn. The cutting mechanism 300 may include a blade disc or a grass cutting rope. The blade disc has a rotating cutting blade. The multiple blade discs included in the cutting mechanism 300 may have similar or different structures.

[0081] In some examples, the cutting mechanism 300 includes two cutter discs: a first cutter disc 310 and a second cutter disc 320. The first cutter disc 310 is the main cutter disc, and the second cutter disc 320 is the auxiliary cutter disc. During the lawn mowing operation, the first cutter disc 310 performs an initial cut on the grass in the lawn, and the second cutter disc 320 further cuts the cut grass into grass clippings. Alternatively, the second cutter disc 320 is used to trim the grass in areas that are difficult for the first cutter disc 310 to trim.

[0082] In this embodiment of the application, the center of the first cutter head 310 can be referred to as point P1. Point P1 can be the geometric center of the first cutter head 310. In some examples, point P1 is the point through which the rotation axis of the cutting blade in the first cutter head 310 passes. There can be one or more points P1. The minimum distance between the center of the first cutter head 310 and the rear end face 121 refers to the vertical distance between point P1 and the rear end face 121. In other words, the rear end face 121 is perpendicular to the travel direction X. The first distance L1 is the distance between point P1 and the rear end face 121 along the travel direction X.

[0083] In this embodiment of the application, the center of the second cutter head 320 can be referred to as point P2. Point P2 can be the geometric center of the second cutter head 320. In some examples, point P2 is the point through which the rotation axis of the cutting blade in the second cutter head 320 passes. There can be one or more points P2. The minimum distance between the center of the second cutter head 320 and the rear end face 121 refers to the vertical distance between point P2 and the rear end face 121. In other words, the rear end face 121 is perpendicular to the travel direction X. The second distance L2 is the distance between point P2 and the rear end face 121 along the travel direction X.

[0084] In the technical solution of this application embodiment, the body 100 provides an installation base for the walking mechanism 200 and the cutting mechanism 300. The walking mechanism 200 includes multiple walking wheels 210. Some of the walking wheels 210 are arranged near the front end 110 and some are arranged near the rear end 120. The walking wheels 210 are driven by the walking drive component 220 so that the walking mechanism 200 can drive the intelligent lawnmower to move. The cutting mechanism 300 includes a first cutter head 310 and a second cutter head 320. The cutting blades in the first cutter head 310 and the second cutter head 320 can cut and trim the grass on the lawn.

[0085] Based on this, the walking mechanism 200 includes at least one first walking wheel 210a disposed near the front end 110 and at least one second walking wheel 210b disposed near the rear end 120. The second total weight of the second walking wheel 210b is greater than the first total weight of the first walking wheel 210a, that is, the center of gravity of the walking mechanism 200 is closer to the rear end 120. The cutting mechanism 300 includes a first cutter head 310 and a second cutter head 320. The second distance L2 between the center of the second cutter head 320 and the rear end face 121 is smaller than the first distance L1 between the center of the first cutter head 310 and the rear end face 121. The weight of the first cutter head 310 is greater than the weight of the second cutter head 320. That is, the center of gravity of the cutting mechanism 300 is close to the front end 110. The centers of gravity of the walking mechanism 200 and the cutting mechanism 300 are located at different ends of the body 100, which helps to bring the center of gravity of the intelligent lawnmower closer to the middle, optimizes the weight distribution of the intelligent lawnmower, and reduces the possibility of the intelligent lawnmower slipping or tipping over during climbing or traveling, thereby improving the stability of the intelligent lawnmower's movement and its climbing performance.

[0086] Furthermore, the first cutter head 310 is closer to the front end 110 of the body 100, and the second cutter head 320 is closer to the rear end 120 of the body 100. The first cutter head 310 and the second cutter head 320 are offset along the travel direction X. In other words, when projected along the travel direction X, the projection of the first cutter head 310 and the projection of the second cutter head 320 partially overlap. When the distance between the two first cutter heads 310 and the second cutter head 320 is the same, the offset arrangement, compared to the side-by-side arrangement, can effectively reduce the missed cutting area between the first cutter head 310 and the second cutter head 320, thereby improving the mowing area coverage of the intelligent lawnmower and improving the mowing efficiency.

[0087] In some embodiments of this application, the intelligent lawnmower also includes a positioning sensor 700, which is used to acquire the location information and environmental information of the intelligent lawnmower. The positioning sensor 700 may include a lidar, a camera, etc. The lidar and camera are usually set at the front end 110 of the body 100 to obtain a larger field of view, which is beneficial to the accurate perception and operation of the intelligent lawnmower in complex environments.

[0088] The installation location of the positioning sensor 700 in the smart lawnmower needs to take into account multiple requirements such as signal coverage and physical protection. In order to improve the operating accuracy of the positioning sensor 700, some technical solutions also include a shock absorption mechanism in the smart lawnmower. The shock absorption mechanism is set around the positioning sensor 700 to reduce the vibration of the positioning sensor 700 during operation. However, the shock absorption mechanism may interfere with the components around the positioning sensor 700 or interfere with the field of view of the positioning sensor 700.

[0089] In the technical solution of this application embodiment, the total weight of the second traveling wheels 210b of the intelligent lawnmower is set to be greater than the total weight of the first traveling wheels 210a. That is, the total weight of the first traveling wheels 210a at the front end 110 is set to be smaller, while the total weight of the second traveling wheels 210b at the rear end 120 is larger. The ground impact force is mainly concentrated near the second traveling wheels 210b, which can absorb more bumps and vibrations, thereby reducing the amplitude of vibration transmitted to the positioning sensor 700 at the front end 110. Furthermore, according to the law of inertia, heavier objects have a stronger ability to resist changes in motion. When the second traveling wheels 210b encounter ground bumps or depressions, the greater inertia makes it more difficult for them to bounce up or sink instantly, thus converting more impact energy into their own slow displacement rather than rapidly transmitting it to the machine body 100, thereby alleviating the vibration problem of the positioning sensor 700.

[0090] In addition, setting the weight of the first cutter head 310 to be greater than that of the second cutter head 320, with the first cutter head 310 positioned closer to the front end 110 and the second cutter head 320 positioned closer to the rear end 120, helps to balance the weight distribution of the cutting mechanism 300 and the walking mechanism 200, thereby helping to shift the center of gravity of the intelligent lawnmower to the center. This also reduces the impact of vibration on the positioning sensor 700 and improves the climbing performance of the intelligent lawnmower.

[0091] In some embodiments of this application, since the arrangement of the walking wheels 210 can alleviate vibration, a shock-absorbing mechanism may not be required, or a shock-absorbing mechanism with a simpler structure and smaller size may be provided, thereby reducing the interference of the vibration mechanism on other components or the field of view of the positioning sensing sensor 700.

[0092] Reference Figure 1 and Figure 2The intelligent lawnmower provided in this application embodiment includes a body 100, a positioning sensor 700, a walking mechanism 200, and a cutting mechanism 300. Along the travel direction X, it includes a front end 110 and a rear end 120. The last point on the rear end 120 is the rear endpoint, located on the rear end face 121, which is perpendicular to the travel direction X. The foremost point on the front end 110 is the front point, located on the front end face 111, which is perpendicular to the travel direction X. The distance between the positioning sensor 700 and the front end face 111 is less than the distance between the positioning sensor 700 and the rear end face 121. The walking mechanism 200 includes walking wheels 210 and a walking drive component 220. The walking wheels 210 include a first walking wheel 210a and a second walking wheel 210b, with at least one walking wheel 210a positioned near the front end 110. A first traveling wheel 210a is provided, and at least two second traveling wheels 210b are provided near the rear end 120. The total weight of the first traveling wheels 210a is the first total weight, and the total weight of the second traveling wheels 210b is the second total weight. The second total weight is greater than the first total weight. The traveling drive component 220 is respectively connected to the first traveling wheel 210a and the second traveling wheel 210b to drive the intelligent lawnmower to move. The cutting mechanism 300 is connected to the body 100. The cutting mechanism 300 includes a first cutter disc 310 and a second cutter disc 320. The weight of the first cutter disc 310 is greater than the weight of the second cutter disc 320. The minimum distance between the center of the first cutter disc 310 and the rear end face 121 is the first distance L1, and the minimum distance between the center of the second cutter disc 320 and the rear end face 121 is the second distance L2. The second distance L2 is less than the first distance L1.

[0093] In this embodiment, the machine body 100 may include a housing, a power supply mechanism, an electronic control component, etc. The cutting mechanism 300 and the walking mechanism 200 are connected to the housing of the machine body 100 and are located on the lower side of the housing. The power supply mechanism and the electronic control component are disposed inside the housing and protected by the housing. The power supply mechanism provides energy to the cutting mechanism 300, the walking mechanism 200, etc. The electronic control component is used to control the operation of the cutting mechanism 300, the walking mechanism 200, etc. The electronic control component can also interact with the user and communicate with external terminals, etc.

[0094] In this embodiment, the intelligent lawnmower also includes a positioning sensor 700, which is used to acquire the location information and environmental information of the intelligent lawnmower. The positioning sensor 700 may include a lidar, a camera, etc. The lidar and camera are usually set at the front end 110 of the body 100 to obtain a larger field of view, which is beneficial for the intelligent lawnmower to accurately perceive and operate in complex environments.

[0095] In some examples, the distance between the positioning sensor 700 and the front end face 111 is less than the distance between the positioning sensor 700 and the rear end face 121. For example, along the travel direction X, the distance between the geometric center of the positioning sensor 700 and the front end face 111 is less than the distance between the positioning sensor 700 and the rear end face 121. Alternatively, when projected along a direction perpendicular to the travel plane M, the projection of the positioning sensor component at least partially overlaps with the projection of the front end face 110.

[0096] In this embodiment of the application, the walking mechanism 200 includes a walking wheel 210. The walking wheel 210 is a wheel-shaped component that can contact the traveling surface M and drive the intelligent lawnmower to move by rotation. The walking wheel 210 usually includes a hub made of metal or plastic and a tire made of rubber.

[0097] In this embodiment, the walking drive component 220 is used to drive the walking wheel 210 to rotate. The walking drive component 220 can be a drive component that outputs rotational power, such as a motor or rotary cylinder, or a drive component that outputs linear power, such as an electric telescopic rod or a pneumatic / hydraulic telescopic cylinder. In some examples, the walking drive component 220 is a motor, which has advantages such as high precision and fast response.

[0098] In this embodiment, the first traveling wheel 210a is positioned near the front end 110, meaning that when projected along the direction perpendicular to the travel plane M, the projection of the first traveling wheel 210a at least partially overlaps with the projection of the front end 110; and / or, when projected along the width direction Y of the smart lawnmower, the projection of the first traveling wheel 210a at least partially overlaps with the projection of the front end 110. The second traveling wheel 210b is positioned near the rear end 120, meaning that when projected along the direction perpendicular to the travel plane M, the projection of the second traveling wheel 210b at least partially overlaps with the projection of the rear end 120; and / or, when projected along the width direction Y of the smart lawnmower, the projection of the second traveling wheel 210b at least partially overlaps with the projection of the rear end 120.

[0099] In this embodiment, the front end portion 110 may be provided with one or more first traveling wheels 210a. When the front end portion 110 is provided with one first traveling wheel 210a, the first total weight refers to the weight of a single first traveling wheel 210a; when the front end portion 110 is provided with multiple first traveling wheels 210a, the first total weight refers to the sum of the weights of the multiple first traveling wheels 210a. Correspondingly, the rear end portion 120 is provided with at least a plurality of (including two) second traveling wheels 210b, and the second total weight refers to the sum of the weights of the multiple second traveling wheels 210b.

[0100] In this embodiment of the application, the second total weight is greater than the first total weight, which means that the number of second traveling wheels 210b is greater than the number of first traveling wheels 210a, and the weight of a single second traveling wheel 210b is greater than, less than or equal to the weight of a single first traveling wheel 210a; or, the weight of a single second traveling wheel 210b is greater than the weight of a single first traveling wheel 210a, and the number of second traveling wheels 210b is greater than, less than or equal to the number of first traveling wheels 210a.

[0101] In this embodiment, the walking drive component 220 is respectively connected to the first walking wheel 210a and the second walking wheel 210b, meaning that the number of walking drive components 220 corresponds one-to-one with the number of walking wheels 210, and each walking wheel 210 is connected to a corresponding walking drive component 220. The walking drive components 220 corresponding to the first walking wheel 210a and the second walking wheel 210b can adopt the same or different structural forms.

[0102] In this embodiment, the cutting mechanism 300 is used to cut grass on a lawn. The cutting mechanism 300 may include a blade disc or a grass cutting rope. The blade disc has a rotating cutting blade. The multiple blade discs included in the cutting mechanism 300 may have similar or different structures.

[0103] In some examples, the cutting mechanism 300 includes two cutter discs: a first cutter disc 310 and a second cutter disc 320. The first cutter disc 310 is the main cutter disc, and the second cutter disc 320 is the auxiliary cutter disc. During lawn mowing, the first cutter disc 310 performs an initial cut on the grass in the lawn, and the second cutter disc 320 further cuts the cut grass into grass clippings. Alternatively, the second cutter disc 320 is used to trim grass in areas that are difficult for the first cutter disc 310 to trim; or, the second cutter disc 320 is used to mow the lawn simultaneously with the first cutter disc 310 to improve work efficiency.

[0104] In this embodiment of the application, the center of the first cutter head 310 can be referred to as point P1. Point P1 can be the geometric center of the first cutter head 310. In some examples, point P1 is the point through which the rotation axis of the cutting blade in the first cutter head 310 passes. There can be one or more points P1. The minimum distance between the center of the first cutter head 310 and the rear end face 121 refers to the vertical distance between point P1 and the rear end face 121. In other words, the rear end face 121 is perpendicular to the travel direction X. The first distance L1 is the distance between point P1 and the rear end face 121 along the travel direction X.

[0105] In this embodiment of the application, the center of the second cutter head 320 can be referred to as point P2. Point P2 can be the geometric center of the second cutter head 320. In some examples, point P2 is the point through which the rotation axis of the cutting blade in the second cutter head 320 passes. There can be one or more points P2. The minimum distance between the center of the second cutter head 320 and the rear end face 121 refers to the vertical distance between point P2 and the rear end face 121. In other words, the rear end face 121 is perpendicular to the travel direction X. The second distance L2 is the distance between point P2 and the rear end face 121 along the travel direction X.

[0106] In the technical solution of this application embodiment, the installation position of the positioning sensor 700 of the intelligent lawnmower needs to take into account multiple requirements such as signal coverage and physical protection. For example, lidar and cameras are generally set at the top of the front end of the body 100 to obtain a larger field of view, thereby ensuring the accurate perception and operation of the intelligent lawnmower in complex environments. During operation, the intelligent lawnmower will vibrate due to the rotation of the blade and the bumps of the road. In order to ensure the operating accuracy of the positioning sensor 700, it is generally considered to install a shock-absorbing mechanism around the positioning sensor 700. However, the shock-absorbing mechanism may interfere with the components around the positioning sensor 700 or interfere with the field of view of the positioning sensor 700.

[0107] In this application, the weight of the second traveling wheel 210b of the intelligent lawnmower is set to be greater than the weight of the first traveling wheel 210a, while the weight of the first traveling wheel 210a is set to be smaller. The second traveling wheel 210b bears more weight, and the impact force from the ground is mainly concentrated near the second traveling wheel 210b. The area around the second traveling wheel 210b can absorb more bumps, thereby reducing the vibration amplitude transmitted to the positioning sensor 700 at the front end 110 of the machine body 100. Furthermore, according to the law of inertia, objects with greater mass have a stronger ability to resist changes in motion. When the second traveling wheel 210b encounters a bump or depression in the ground, its greater inertia makes it more difficult for it to bounce up or sink instantly, thus converting more impact energy into its own slow displacement rather than rapidly transmitting it to the machine body 100.

[0108] The weight of the second walking wheel 210b is greater than that of the first walking wheel 210a, which can solve the problem of vibration of the positioning sensor 700 to a certain extent. However, when the lawnmower is climbing a slope, the component of gravity and the driving force of the intelligent lawnmower are in opposition. If the center of gravity of the intelligent lawnmower is too close to the rear end 120, when the slope angle increases, the intelligent lawnmower is prone to sliding down or even tipping over due to insufficient driving force or decreased adhesion with the traveling surface M. Therefore, in order to ensure the stability of the intelligent lawnmower when climbing a slope, it is necessary to consider moving the center of gravity of the intelligent lawnmower towards the middle of the intelligent lawnmower.

[0109] In this application, the weight of the first cutter head 310 is set to be greater than the weight of the second cutter head 320. The center of the first cutter head 310 is closer to the front end 110 of the body 100, and the center of the second cutter head 320 is closer to the rear end 120 of the body 100. When the installation points of the cutter heads are the same, compared with the center of the first cutter head 310 being closer to the rear end 120 of the body 100, the center of the second cutter head 320 being closer to the front end 110 of the body 100 is more conducive to shifting the center of gravity of the intelligent lawnmower from the rear end 120 of the intelligent lawnmower to the center of the intelligent lawnmower. This can reduce the vibration of the positioning sensor 700 while ensuring the climbing performance of the intelligent lawnmower. In addition, the first cutter head 310 is closer to the front end 110 of the machine body 100, and the second cutter head 320 is closer to the rear end 120 of the machine body 100. That is, the first cutter head 310 and the second cutter head 320 are staggered. When the distance between the two cutter heads is the same, the staggered arrangement can avoid the presence of missed areas between the two cutter heads compared to the side-by-side arrangement.

[0110] Reference Figure 1 and Figure 2 The intelligent lawnmower provided in this application includes a body 100, a walking mechanism 200, and a cutting mechanism 300. The body 100 includes a front end 110 and a rear end 120 along the traveling direction X. The rear end 120 has a rear endpoint, which is located on a rear end face 121 perpendicular to the traveling direction X. The walking mechanism 200 includes walking wheels 210 and a walking drive component 220. The walking wheels 210 include first walking wheels 210a and second walking wheels 210b. At least one first walking wheel 210a is provided near the front end 110, and at least two second walking wheels 210b are provided near the rear end 120. The total weight of the first walking wheels 210a is the first total weight, and the weight of the second walking wheels 210b is... The total weight is the second total weight, which is greater than the first total weight. The walking drive component 220 is connected to the first walking wheel 210a and the second walking wheel 210b respectively to drive the intelligent lawnmower to move. The cutting mechanism 300 is connected to the body 100. The cutting mechanism 300 includes a first cutter disc 310 and a second cutter disc 320. The weight of the first cutter disc 310 is greater than the weight of the second cutter disc 320. The maximum distance between the first cutter disc 310 and the rear end face 121 is the third distance L3. The maximum distance between the second cutter disc 320 and the rear end face 121 is the third distance L3 and L4. The third distance L3 is greater than the fourth distance L4. When the intelligent lawnmower is performing lawnmowing, the rotation speed of the second cutter disc 320 is greater than the rotation speed of the first cutter disc 310.

[0111] In this embodiment, the machine body 100 may include a housing, a power supply mechanism, an electronic control component, etc. The cutting mechanism 300 and the walking mechanism 200 are connected to the housing of the machine body 100 and are located on the lower side of the housing. The power supply mechanism and the electronic control component are disposed inside the housing and protected by the housing. The power supply mechanism provides energy to the cutting mechanism 300, the walking mechanism 200, etc. The electronic control component is used to control the operation of the cutting mechanism 300, the walking mechanism 200, etc. The electronic control component can also interact with the user and communicate with external terminals, etc.

[0112] In this embodiment of the application, the walking mechanism 200 includes a walking wheel 210. The walking wheel 210 is a wheel-shaped component that can contact the traveling surface M and drive the intelligent lawnmower to move by rotation. The walking wheel 210 usually includes a hub made of metal or plastic and a tire made of rubber.

[0113] In this embodiment, the walking drive component 220 is used to drive the walking wheel 210 to rotate. The walking drive component 220 can be a drive component that outputs rotational power, such as a motor or rotary cylinder, or a drive component that outputs linear power, such as an electric telescopic rod or a pneumatic / hydraulic telescopic cylinder. In some examples, the walking drive component 220 is a motor, which has advantages such as high precision and fast response.

[0114] In this embodiment, the first traveling wheel 210a is positioned near the front end 110, meaning that when projected along the direction perpendicular to the travel plane M, the projection of the first traveling wheel 210a at least partially overlaps with the projection of the front end 110; and / or, when projected along the width direction Y of the smart lawnmower, the projection of the first traveling wheel 210a at least partially overlaps with the projection of the front end 110. The second traveling wheel 210b is positioned near the rear end 120, meaning that when projected along the direction perpendicular to the travel plane M, the projection of the second traveling wheel 210b at least partially overlaps with the projection of the rear end 120; and / or, when projected along the width direction Y of the smart lawnmower, the projection of the second traveling wheel 210b at least partially overlaps with the projection of the rear end 120.

[0115] In this embodiment, the front end portion 110 may be provided with one or more first traveling wheels 210a. When the front end portion 110 is provided with one first traveling wheel 210a, the first total weight refers to the weight of a single first traveling wheel 210a; when the front end portion 110 is provided with multiple first traveling wheels 210a, the first total weight refers to the sum of the weights of the multiple first traveling wheels 210a. Correspondingly, the rear end portion 120 is provided with at least a plurality of (including two) second traveling wheels 210b, and the second total weight refers to the sum of the weights of the multiple second traveling wheels 210b.

[0116] In this embodiment of the application, the second total weight is greater than the first total weight, which means that the number of second traveling wheels 210b is greater than the number of first traveling wheels 210a, and the weight of a single second traveling wheel 210b is greater than, less than or equal to the weight of a single first traveling wheel 210a; or, the weight of a single second traveling wheel 210b is greater than the weight of a single first traveling wheel 210a, and the number of second traveling wheels 210b is greater than, less than or equal to the number of first traveling wheels 210a.

[0117] In this embodiment, the walking drive component 220 is respectively connected to the first walking wheel 210a and the second walking wheel 210b, meaning that the number of walking drive components 220 corresponds one-to-one with the number of walking wheels 210, and each walking wheel 210 is connected to a corresponding walking drive component 220. The walking drive components 220 corresponding to the first walking wheel 210a and the second walking wheel 210b can adopt the same or different structural forms.

[0118] In this embodiment, the cutting mechanism 300 is used to cut grass on a lawn. The cutting mechanism 300 may include a blade disc or a grass cutting rope. The blade disc has a rotating cutting blade. The multiple blade discs included in the cutting mechanism 300 may have similar or different structures.

[0119] In some examples, the cutting mechanism 300 includes two cutter discs: a first cutter disc 310 and a second cutter disc 320. The first cutter disc 310 is the main cutter disc, and the second cutter disc 320 is the auxiliary cutter disc. During the lawn mowing operation, the first cutter disc 310 performs an initial cut on the grass in the lawn, and the second cutter disc 320 further cuts the cut grass into grass clippings. Alternatively, the second cutter disc 320 is used to trim the grass in areas that are difficult for the first cutter disc 310 to trim.

[0120] In this embodiment, the maximum distance between the first cutter head 310 and the rear end face 121 refers to the distance between the point of the first cutter head 310 closest to the front end 110 and the rear end face 121 along the travel direction X; correspondingly, the maximum distance between the second cutter head 320 and the rear end face 121 refers to the distance between the point of the second cutter head 320 closest to the front end 110 and the rear end face 121 along the travel direction X.

[0121] In this embodiment of the application, the rotational speed of the cutter disc refers to the number of full revolutions of the cutting blade per unit time. It can be understood that the first cutter disc 310 has a lower rotational speed and generates a smaller centrifugal force; the second cutter disc 320 has a higher rotational speed and generates a larger centrifugal force.

[0122] In the technical solution of this application embodiment, the body 100 provides an installation base for the walking mechanism 200 and the cutting mechanism 300. The walking mechanism 200 includes multiple walking wheels 210. Some of the multiple walking wheels 210 are located near the front end 110, and some of the walking wheels are located near the rear end 120. The walking wheels 210 are driven by the walking drive component 220 so that the walking mechanism 200 can drive the intelligent lawnmower to move. The cutting mechanism 300 includes a first cutter head 310 and a second cutter head 320. The cutting blades in the first cutter head 310 and the second cutter head 320 can cut and trim the grass on the lawn.

[0123] Based on this, the walking mechanism 200 includes at least one first walking wheel 210a disposed near the front end 110 and at least one second walking wheel 210b disposed near the rear end 120. The second total weight of the second walking wheel 210b is greater than the first total weight of the first walking wheel 210a. That is, the center of gravity of the walking mechanism 200 is closer to the rear end 120. The rear end 120 of the walking mechanism 200 can absorb more bumps and vibrations, thereby reducing the transmission of vibrations to the front end 110 and reducing the vibration of the front end 110 of the smart lawnmower. In addition, according to the law of inertia, a heavier object has a stronger ability to resist changes in motion. When the second walking wheel 210b encounters a bump or depression in the ground, the greater inertia makes it more difficult for it to bounce up or sink instantly, making the movement of the smart lawnmower more stable.

[0124] In addition, the cutting mechanism 300 includes a first cutter disc 310 and a second cutter disc 320. The third distance L3 between the first cutter disc 310 and the rear end face 121 is greater than the fourth distance L4 between the second cutter disc 320 and the rear end face 121. The weight of the first cutter disc 310 is greater than the weight of the second cutter disc 320. The first cutter disc 310 has a lower rotation speed, so the grass is thrown a shorter distance and the grass density is higher during the mowing process, which makes it easier to gather the cut grass near the smart lawnmower. The second cutter disc 320 has a higher rotation speed, so the grass is thrown a longer distance and the grass distribution is looser during the mowing process. The second cutter disc 320 can perform secondary cutting on the cut grass and form grass clippings. The grass clippings are thrown away from the smart lawnmower and loosely distributed under the action of high-speed centrifugal force, which helps the grass clippings to degrade and be reused evenly.

[0125] Reference Figure 2 and Figure 3 In some embodiments of this application, the walking mechanism 200 further includes a steering drive 230, and the first walking wheel 210a is correspondingly connected to the steering drive 230. The steering drive 230 is used to drive the first walking wheel 210a to turn.

[0126] In this embodiment, the steering drive component 230 is used to drive the first traveling wheel 210a to steer. The steering drive component 230 can be a drive component that outputs rotational power, such as a motor or a rotary cylinder, or a drive component that outputs linear power, such as an electric telescopic rod or a pneumatic / hydraulic telescopic cylinder. In some examples, the steering drive component 230 is a motor, which has advantages such as high precision and fast response.

[0127] In this embodiment, the steering of the first traveling wheel 210a refers to the change in the angle between the axle axis of the first traveling wheel 210a and the direction of travel X. That is, during the movement of the intelligent lawnmower along the direction of travel X, the axle axis of the first traveling wheel 210a is perpendicular to the direction of travel X. During the steering process, the axle axis of the first traveling wheel 210a forms an acute or obtuse angle with the direction of travel X, thereby changing the direction of movement of the intelligent lawnmower.

[0128] In the technical solution of this application embodiment, the steering drive component 230 can drive the corresponding first walking wheel 210a to turn, so as to adjust the traveling direction X of the intelligent lawnmower; and the first walking wheel 210a is connected to the steering drive component 230. In other words, the steering drive component 230 is located at the front end 110 of the body 100, which helps to bring the center of gravity of the intelligent lawnmower closer to the middle, optimizes the weight distribution of the intelligent lawnmower, thereby reducing the possibility of the intelligent lawnmower slipping or tipping over during climbing or traveling, and improving the stability of the intelligent lawnmower's movement. In addition, since the total weight of the first walking wheel 210a is less than the total weight of the second walking wheel 210b, the kinetic energy required to drive the first walking wheel 210a to turn is smaller. Therefore, connecting the steering drive component 230 to the first walking wheel 210a can save energy, so that more of the intelligent lawnmower's power is provided to the cutting mechanism 300, improving the lawnmower's mowing performance.

[0129] Reference Figure 3 In some embodiments of this application, the steering drive 230 is disposed on the side of the corresponding first traveling wheel 210a away from the traveling surface M; when projected along the height direction of the fuselage 100, the projection of the steering drive 230 at least partially overlaps with the projection of the corresponding first traveling wheel 210a.

[0130] In this embodiment, the steering drive 230 is disposed on the side of the corresponding first traveling wheel 210a away from the traveling surface M. In other words, the steering drive 230 is located on the upper side of the corresponding first traveling wheel 210a. The steering drive 230 is located between the corresponding first traveling wheel 210a and the housing of the body 100.

[0131] In this embodiment, the projection of the steering drive component 230 along the height direction of the fuselage 100 overlaps with a portion of the projection of the corresponding first traveling wheel 210a; or, the projection of the steering drive component 230 overlaps with the entire projection of the corresponding first traveling wheel 210a.

[0132] In the technical solution of this application embodiment, the steering drive component 230 is disposed on the side of the corresponding first walking wheel 210a away from the traveling surface M. The distance between the steering drive component 230 and the traveling surface M is large, making it less likely to collide with obstacles on the traveling surface M, thereby improving the obstacle-crossing ability of the intelligent lawnmower. When projected along the height direction of the body 100, the projection of the steering drive component 230 and the projection of the corresponding first walking wheel 210a overlap at least partially, which helps the center of gravity of the two to be distributed along the direction perpendicular to the traveling surface M, thereby optimizing the weight distribution effect of the steering drive component 230 and the first walking wheel 210a on the intelligent lawnmower.

[0133] Reference Figure 3 In some embodiments of this application, the intelligent lawnmower also includes a detection mechanism 400, and each first walking wheel 210a is also connected to the detection mechanism 400. The detection mechanism 400 is used to detect the turning angle of the corresponding first walking wheel 210a. When projected along the height direction of the body 100, at least part of the projection of the detection mechanism 400 overlaps with the projection of the steering drive 230.

[0134] In this embodiment, the detection mechanism 400 can be contact or non-contact depending on the connection relationship, and can be resistive, voltage-based, magneto-electric, photoelectric, etc., depending on the principle. Examples include Hall effect sensors, magneto-electric encoders, and photoelectric encoders. In some examples, the detection mechanism 400 is a magneto-electric encoder.

[0135] In this embodiment of the application, the detection mechanism 400 can detect the angle between the axle axis of the first traveling wheel 210a and the direction of travel X, i.e., the steering angle, and can also detect parameters such as the amplitude or frequency of the change in the angle between the axle axis of the first traveling wheel and the direction of travel X.

[0136] In this embodiment, when projected along the height direction of the fuselage 100, part of the projection of the detection mechanism 400 overlaps with the projection of the steering drive component 230; or, all of the projections of the detection mechanism 400 overlap with the projection of the steering drive component 230.

[0137] In the technical solution of this application embodiment, by setting a detection mechanism 400, the detection mechanism 400 can detect the steering angle of the first walking wheel 210a, so as to provide a reference for the path planning of the intelligent lawnmower. In addition, the detection of the steering angle can also be used as a basis for judging whether the first walking wheel is slipping or swaying. Projecting along the height direction of the body 100, at least part of the projection of the detection mechanism 400 overlaps with the projection of the steering drive 230, which helps the center of gravity of the two to be distributed along the direction of the vertical travel plane M, thereby optimizing the weight distribution effect of the steering drive 230 and the first walking wheel 210a on the intelligent lawnmower.

[0138] Reference Figure 3In some embodiments of this application, the detection mechanism 400 includes a detector 410 and an identifier 420. The identifier 420 is connected to the output shaft of the steering drive 230. The detector 410 is used to obtain the position of the identifier 420. The steering drive 230 outputs rotational power, and the axis of the output shaft of the steering drive 230 passes through the axle of the corresponding first traveling wheel 210a and the detector 410.

[0139] In this embodiment, the detection mechanism 400 is a magnetoelectric type, the detector 410 is a magnetic sensor, and the marker 420 is a magnetic component, such as a magnet; the detection mechanism 400 is a photoelectric type, the detector 410 is a photoelectric sensor, and the marker 420 is a reflective component.

[0140] In some examples, the first walking wheel 210a, the steering drive 230, and the detector 410 are arranged sequentially along the height direction of the smart lawnmower, and the output shaft axis of the steering drive 230 is parallel to the height direction of the smart lawnmower.

[0141] In some examples, the steering drive 230 is a dual-axis motor. The output shaft of one end of the steering drive 230 is connected to the corresponding first travel wheel 210a, and the output shaft of the other end of the steering drive 230 is provided with an identifier 420. The detector 410 is located on the side of the steering drive 230 away from the corresponding first travel wheel 210a.

[0142] In the technical solution of this application embodiment, the marker 420 of the detection mechanism 400 is disposed on the output shaft of the steering drive 230, that is, the marker 420 will rotate with the output shaft of the steering drive 230. The detector 410 of the detection mechanism 400 can obtain the position of the marker 420 so as to determine the steering angle of the first traveling wheel 210a by the rotation angle of the marker 420. The axis of the output shaft of the steering drive 230 passes through the wheel axle of the corresponding first traveling wheel 210a and the detector 410. On the one hand, it optimizes the counterweight of the steering drive 230, the first traveling wheel 210a and the detector 410. On the other hand, it facilitates the detector 410 to obtain the position of the marker 420 on the output shaft of the steering drive 230.

[0143] Reference Figure 3 In some embodiments of this application, the walking mechanism 200 further includes a support frame 240, which is disposed between the steering drive member 230 and the corresponding first walking wheel 210a; the first end 241 of the support frame 240 is connected to the axle of the corresponding walking wheel 210, and the support frame 240 is bent so that the second end 242 of the support frame 240 extends between the corresponding first walking wheel 210a and the corresponding steering drive member 230, and the second end 242 is connected to the corresponding steering drive member 230.

[0144] In this embodiment, the support frame 240 can be a plate-like structure, a rod-like structure, or a combination of plate-like components and rod-like structures. In some examples, the support frame 240 is a plate-like structure, which is easy to bend and connect. The support frame 240 can also be provided with protruding ribs to improve structural strength.

[0145] In this embodiment, the support frame 240 is rotatably connected to the axle of the corresponding walking wheel 210 so that the walking wheel 210 can rotate under the drive of the walking drive component 220; the support frame 240 and the output shaft of the corresponding steering drive component 230 are fixedly connected by means of snap-fit, bonding, welding or other methods to facilitate power transmission.

[0146] In the technical solution of this application embodiment, a support frame 240 is provided between the steering drive component 230 and the corresponding first traveling wheel 210a. The support frame 240 can transmit the driving force of the steering drive component 230 to the corresponding first traveling wheel 210a so as to realize the steering of the intelligent lawnmower. The support frame 240 can also transmit the slippage and swaying of the first traveling wheel 210a to the output shaft of the steering drive component 230 so as to drive the marker 420 on the output shaft of the steering drive component 230 to change position. The support frame 240 includes a first end 241 and a second end 242 that are bent relative to each other. The bending setting is convenient for adapting the positional relationship between the steering drive component 230 and the corresponding first traveling wheel 210a. It is also convenient for matching the steering axis of the first steering wheel with the axis of the output shaft of the steering drive component 230.

[0147] Reference Figure 4 In some embodiments of this application, the cutting mechanism further includes an electric adjustment component 500 and a manual adjustment component 600. The electric adjustment component 500 is disposed between the first cutter head 310 and the machine body 100, and is used to adjust the height of the first cutter head 310 relative to the machine body 100. The manual adjustment component 600 is disposed between the second cutter head 320 and the machine body 100, and is used to adjust the height of the second cutter head 320 relative to the machine body 100. The weight of the electric adjustment component 500 is greater than the weight of the manual adjustment component 600.

[0148] In this embodiment, the height of the first cutter head 310 relative to the body 100 refers to the distance between the first cutter head 310 and the travel surface M along the height direction of the intelligent lawnmower; correspondingly, the height of the second cutter head 320 relative to the body 100 refers to the distance between the second cutter head 320 and the travel surface M along the height direction of the intelligent lawnmower.

[0149] In this embodiment, the electric adjustment component 500 may include a motor, an electric telescopic rod, a pneumatic / hydraulic cylinder, and other height adjustment drive components. The electric adjustment component 500 can use the self-locking of the height adjustment drive components to lock or unlock the position of the first cutter head 310 and the machine body 100, so that an independent locking structure can be set. The electric adjustment component 500 is controlled by an electronic control component.

[0150] In this embodiment, the manual adjustment component 600 may include a guide structure, a locking structure, etc. The guide structure guides the movement of the second cutter head 320, and the locking structure is used to lock or unlock the position of the second cutter head 320 relative to the machine body 100. The manual adjustment component 600 is manually adjusted by the operator.

[0151] In the technical solution of this application embodiment, an electric adjustment component 500 is provided between the body 100 and the first blade 310 to adjust the height of the first blade 310 relative to the body 100, so that the first blade 310 can adapt to different mowing needs. The electric adjustment component 500 has a high degree of electronic control and is more convenient to adjust. A manual adjustment component 600 is also provided between the body 100 and the second blade 320 to adjust the height of the second blade 320 relative to the body 100, so that the second blade 320 can adapt to different mowing needs. The manual adjustment component 600 has a simple structure and good reliability. In addition, the weight of the electric adjustment component 500 is greater than the weight of the manual adjustment component 600. In other words, the electric adjustment component 500 near the front end 110 of the body 100 is heavier, which helps the center of gravity of the intelligent lawnmower to be closer to the middle, optimizes the weight distribution of the intelligent lawnmower, thereby reducing the possibility of the intelligent lawnmower slipping or tipping over when climbing or moving, and improving the stability of the intelligent lawnmower's movement.

[0152] Reference Figure 2 In some embodiments of this application, the minimum distance between the projection of the first cutter head 310 and the projection of the edge of the machine body 100 along the height direction is the fifth distance L5, and the minimum distance between the projection of the second cutter head 320 and the projection of the edge of the machine body 100 is the sixth distance L6. The fifth distance L5 is greater than the sixth distance L6.

[0153] In this embodiment of the application, the edge of the body 100 refers to the surface or edge that defines the outline of the body 100. It can be understood that in the projection plane, the edge projection of the body 100 is a closed area. The projection of the first cutter head 310 and the projection of the second cutter head 320 are both located within this closed area. The projection of the first cutter head 310 or the second cutter head 320 and the projection of the edge of the body 100 are spaced apart in multiple directions. The directions corresponding to the fifth spacing L5 and the sixth spacing L6 can be any direction of the projection plane, and the directions corresponding to the fifth spacing L5 and the second spacing L2 can be the same or different.

[0154] In this embodiment, the minimum distance between the projection of the first cutter head 310 and the projection of the edge of the body 100 is specifically the smallest of the multiple distances that the outer contour of the projection of the first cutter head 310 has with the edge of the body 100 along multiple different directions; for example, the direction corresponding to the fifth distance L5 is parallel to the width direction Y of the smart lawnmower.

[0155] In this embodiment, the minimum distance between the projection of the second cutter head 320 and the projection of the edge of the body 100 is specifically the smallest of the multiple distances that the outer contour of the projection of the second cutter head 320 has with the edge of the body 100 along multiple different directions; for example, the direction corresponding to the sixth distance L6 is parallel to the width direction Y of the smart lawnmower.

[0156] In the technical solution of this application embodiment, the fifth distance L5 between the projection of the first cutter head 310 and the projection of the edge of the body 100 along the height direction of the machine body 100 is greater than the sixth distance L6 between the projection of the second cutter head 320 and the projection of the edge of the body 100. The second cutter head 320 is set close to the edge of the body 100, which can cover a larger mowing area and improve mowing efficiency; and it is more conducive to throwing grass clippings to the periphery of the body 100; in addition, the second cutter head 320 is set closer to the edge of the body 100 than the first cutter head 310, which is more conducive to the balance of the center of gravity of the body 100 in the width direction Y, and prevents the body 100 of the intelligent lawnmower from tipping over due to excessive weight on one side.

[0157] Reference Figure 4 In some embodiments of this application, the cutting mechanism 300 further includes a bottom protective member 330, which is disposed in the area below the second cutter head 320.

[0158] In this embodiment, the bottom protective member 330 is located on the side of the second cutter head 320 facing the traveling surface M. The bottom protective member 330 is connected to the housing of the machine body 100. The bottom protective member 330 can be a plate-like structure, a mesh structure, etc., and can be made of materials such as metal and plastic.

[0159] In the technical solution of this application embodiment, the protective component provided in the area below the second cutter head 320 can provide protection for the second cutter head 320 and reduce the possibility of the second cutter head 320 being damaged by obstacles; and the protective component provided for the lighter second cutter head 320 helps to increase the combined weight of the two, so as to achieve weight balance with the heavier first cutter head 310, and facilitate the first cutter head 310 and the second cutter head 320 to be arranged in different positions of the machine body 100 as required.

[0160] In some embodiments of this application, the center of the first cutter head 310 and the center of the second cutter head 320 are located on opposite sides of the centerline of the machine body 100 along the travel direction X.

[0161] In this embodiment, the centerline of the machine body 100 along the travel direction X is an axis that passes through the machine body 100, is parallel to the travel direction X, and can symmetrically divide the shell of the machine body 100 into two parts along the width direction Y. Along the width direction Y of the machine body 100, the distance between the center of the first cutter head 310 and the centerline of the machine body 100 can be the same as or different from the distance between the center of the second cutter head 320 and the centerline of the machine body 100.

[0162] In the technical solution of this application embodiment, the center of the first cutter head 310 and the center of the second cutter head 320 are located on both sides of the body 100. The weight of the first cutter head 310 is greater than the weight of the second cutter head. The second cutter head 320 is set closer to the edge of the body 100 than the first cutter head 310, which ensures that in the width direction Y of the intelligent lawnmower, the center of the intelligent lawnmower is closer to the centerline in the length direction of the intelligent lawnmower, thereby improving the stability of the intelligent lawnmower's movement.

[0163] In some embodiments of this application, the center of the first cutter head 310 is located on the centerline of the machine body 100 along the travel direction X.

[0164] In this embodiment, the centerline of the fuselage 100 along the travel direction X can be an axis passing through the geometric center of the fuselage 100, or any axis on the plane of symmetry of the fuselage 100 along the width direction Y, wherein the plane of symmetry is perpendicular to the travel plane M and parallel to the travel direction X.

[0165] In the technical solution of this application embodiment, the center of the first blade 310 is located on the centerline of the length direction of the body 100. While ensuring the stability of the center of gravity of the intelligent lawnmower in the width direction Y, it is beneficial to increase the overlap rate of the first blade 310 and the second blade 320 in the width direction Y of the body 100, thereby reducing the missed cutting rate of the intelligent lawnmower.

[0166] Reference Figure 2 and Figure 3 In some embodiments of this application, the walking drive 220 disposed at the front end 110 is a first walking drive 220a, and the first walking drive 220a is integrated with the hub of the corresponding first walking wheel 210a; the walking drive 220 disposed at the rear end 120 is a second walking drive 220b, and the second walking drive 220b is separately disposed from the corresponding second walking wheel 210b.

[0167] In this embodiment, the first driving component 220a can be a hub motor, and the output shaft of the first driving component 220a serves as the axle of the first driving wheel 210a; the second driving component 220b can be a wheel-side motor, and a reduction gearbox, transmission assembly, or other structure can be provided between the second driving component 220b and the second driving wheel 210b.

[0168] In the technical solution of this application embodiment, the first walking drive component 220a and the hub of the first walking wheel 210a are integrated into one piece, which has a relatively compact structure, occupies less space, facilitates the steering of the first walking wheel 210a, and has high driving efficiency; the second walking drive component 220b and the second walking wheel 210b are set separately, which makes the structural design more flexible, and the surrounding space of the second walking drive component 220b is relatively open, which helps to dissipate heat.

[0169] Reference Figure 2 In some embodiments of this application, the second walking wheel 210b includes a first side, which is close to the middle of the fuselage 100; the second walking drive member 220b is located on the first side corresponding to the second walking wheel 210b.

[0170] In some examples, there are two second walking wheels 210b, which are arranged sequentially along the width direction Y of the smart lawnmower, and the corresponding two second walking drive components 220b are located between the two second walking wheels 210b.

[0171] In the technical solution of this application embodiment, the second walking drive component 220b is disposed on the first side of the second walking wheel 210b. In other words, the second walking drive component 220b is located inside the second walking wheel 210b. The second walking drive component 220b is not easily collided with by obstacles. Moreover, the second walking drive component 220b disposed near the middle of the body 100 helps the center of gravity of the intelligent lawnmower to be closer to the middle, optimizes the weight distribution of the intelligent lawnmower, thereby reducing the possibility of the intelligent lawnmower slipping or tipping over during climbing or traveling, and improving the stability of the intelligent lawnmower's movement.

[0172] Reference Figure 1 and Figure 2 In some embodiments of this application, the first traveling wheel 210a and the second traveling wheel 210b are both provided as two. Each first traveling wheel 210a has a first weight and a first diameter R1, and each second traveling wheel 210b has a second weight and a second diameter R2. The second weight is greater than the first weight and the second diameter R2 is greater than the first diameter R1.

[0173] In this embodiment, the first diameter R1 of the first traveling wheel 210a refers to the maximum size of the first traveling wheel 210a in the direction perpendicular to its axle axis; the second diameter R2 of the second traveling wheel 210b refers to the maximum size of the second traveling wheel 210b in the direction perpendicular to its axle axis.

[0174] In this embodiment of the application, two first traveling wheels 210a and two second traveling wheels 210b are evenly distributed on the fuselage 100. In some examples, the two first traveling wheels 210a are symmetrically distributed about the central axis of the fuselage 100 parallel to the direction of travel X; the two second traveling wheels 210b are also symmetrically distributed about the central axis of the fuselage 100 parallel to the direction of travel X.

[0175] In the technical solution of this application embodiment, the two first walking wheels 210a and the two second walking wheels 210b are conveniently arranged symmetrically relative to the body 100. The first weight of each first walking wheel 210a is less than the second weight of each second walking wheel 210b, which facilitates optimizing the weight distribution of the multiple walking wheels 210 on the intelligent lawnmower. This helps to shift the center of gravity of the walking mechanism 200 forward relative to the body 100, so that the center of gravity of the intelligent lawnmower is closer to its center. Furthermore, the second diameter R2 is larger than the first diameter R1. The smaller diameter of the first walking wheels 210a makes steering easier, while the larger diameter of the second walking wheels 210b provides better obstacle-crossing ability and better rear-drive force, helping to improve the climbing ability of the intelligent lawnmower. The larger second diameter R2 of the second walking wheels 210b also reduces the possibility of slippage.

[0176] Reference Figure 2 and Figure 4 In some embodiments of this application, the intelligent lawnmower also includes a first blade cover 340 and a second blade cover 350. The first blade cover 340 and the second blade cover 350 are independently configured. The first blade cover 340 is connected to the first blade 310 to provide protection for the first blade 310, and the second blade cover 350 is connected to the second blade 320 to provide protection for the second blade 320.

[0177] In this embodiment, the protective cover is used to protect the corresponding cutter head, reducing the possibility of obstacles damaging the cutter blade and also reducing the possibility of the cutter blade injuring the operator. The protective cover can be set on the upper side and the periphery of the corresponding cutter head. It is understood that the protective cover is provided with an opening for grass to pass through and an opening for grass clippings to be thrown out.

[0178] In this embodiment, the cutter head may include a base and a cutting blade. The base is connected to the housing of the machine body 100, and the cutting blade is rotatably connected to the base. The first cutter head cover 340 is connected to the first cutter head 310, meaning the first cutter head cover 340 is connected to the base of the first cutter head 310, and the cutting blade of the first cutter head 310 is disposed on the inner side of the first cutter head cover 340. The second cutter head cover 350 is connected to the second cutter head 320, meaning the second cutter head cover 350 is connected to the base of the second cutter head 320, and the cutting blade of the second cutter head 320 is disposed on the inner side of the second cutter head cover 350.

[0179] In the technical solution of this application embodiment, a first cutter head cover 340 and a second cutter head cover 350 are respectively provided. The first cutter head cover 340 can provide protection for the first cutter head 310 and reduce the possibility of the first cutter head 310 being damaged by obstacles; the second cutter head cover 350 can provide protection for the second cutter head 320 and reduce the possibility of the second cutter head 320 being damaged by obstacles.

[0180] In some embodiments of this application, the intelligent lawnmower also includes a grass collection box for collecting the cut grass, and the grass collection box is detachably connected to the rear end 120.

[0181] In this embodiment, the grass collection box can collect the cut grass using the centrifugal force of the cutter disc, or it can be collected by adsorption, mechanical grippers, or other methods. The grass collection box can be made of metal, plastic, or a light-transmitting material to allow operators to observe the contents of the box.

[0182] In this embodiment, the detachable connection between the grass collection box and the rear end 120 can be in the form of snap-fit, locking connection, threaded connection, fastener connection, etc. In some examples, the grass collection box and the rear end 120 are connected by a quick-release structure such as snap-fit ​​or locking.

[0183] In the technical solution of this application embodiment, the grass collection box is set to facilitate the collection of grass clippings after cutting, reduce the difficulty of grass clipping collection, and improve the functionality of the smart lawnmower; the grass collection box is set at the rear end 120 of the body 100, which helps to shift the center of gravity of the smart lawnmower to the rear, optimize the weight distribution of the smart lawnmower, improve the balance of its weight distribution, and thus improve the stability of the smart lawnmower's movement process.

[0184] Reference Figure 2 In some embodiments of this application, the point on the first cutter head 310 furthest from the rear end face 121 is located in the area in front of the second traveling wheel 210b.

[0185] In this embodiment, the point furthest from the rear end face 121 on the first cutter head 310 can be referred to as point P3. Point P3 refers to the point corresponding to the largest distance among multiple distances between multiple points on the first cutter head 310 and the rear end face 121 along the travel direction X. It can be understood that point P3 is located on the side of the first cutter head 310 closer to the front end face 111, and there can be one or more points P3.

[0186] In this embodiment of the application, point P3 is located in the front area of ​​the second traveling wheel 210b, which means that point P3 is located in the front area for each second traveling wheel 210b. When projected along the traveling direction X, the projection of point P3 may overlap with the projection of one or more of the second traveling wheels 210b, or it may not overlap with the projection of any of the second traveling wheels 210b.

[0187] In the technical solution of this application embodiment, the point farthest from the rear end face 121 of the first cutter disc 310 is located in the area in front of the second travel wheel 210b. In other words, at least a part of the first cutter disc 310 is located in the area in front of the second travel wheel 210b. The second travel wheel 210b provides less lateral obstruction to the first cutter disc 310, which helps the first cutter disc 310 to throw out the cut grass clippings. Furthermore, the center of gravity of the first cutter disc 310 is closer to the front end 110 of the body 100, which helps to shift the center of gravity of the intelligent lawnmower forward, optimize the weight distribution of the intelligent lawnmower, improve its weight balance, and thus improve the stability of the intelligent lawnmower's movement.

[0188] Reference Figure 2 In some embodiments of this application, the center of the first cutter head 310 is located in the area in front of the second traveling wheel 210b.

[0189] In this embodiment, point P1 is located in the front region of the second traveling wheel 210b, meaning that point P1 corresponds to each second traveling wheel 210b being located in the front region. Projecting along the traveling direction X, the projection of point P1 may overlap with the projections of one or more second traveling wheels 210b, or it may not overlap with the projections of any of the second traveling wheels 210b. In some examples, point P1 is located in the middle of the intelligent lawnmower.

[0190] In the technical solution of this application embodiment, the center of the first cutter head 310 is located in the area in front of the second traveling wheel 210b. In other words, a large part of the first cutter head 310 is located in the area in front of the second traveling wheel 210b. The second traveling wheel 210b provides less lateral obstruction to the first cutter head 310, which helps the first cutter head 310 to throw out the cut grass clippings. Furthermore, the center of gravity of the first cutter head 310 is closer to the front end 110 of the machine body 100, which helps to shift the center of gravity of the intelligent lawnmower forward, optimize the weight distribution of the intelligent lawnmower, improve its weight balance, and thus improve the stability of the intelligent lawnmower's movement.

[0191] Reference Figure 2 In some embodiments of this application, the point on the first cutter head 310 closest to the rear end face 121 is located in the area in front of the second traveling wheel 210b.

[0192] In this embodiment, the point on the first cutter head 310 closest to the rear end face 121 can be referred to as point P4. Point P4 refers to the point corresponding to the smallest distance among multiple distances between multiple points on the first cutter head 310 and the rear end face 121 along the travel direction X. It can be understood that point P4 is located on the side of the first cutter head 310 closest to the rear end face 121, and there can be one or more points P4.

[0193] In this embodiment of the application, point P4 is located in the front area of ​​the second traveling wheel 210b, which means that point P4 is located in the front area for each second traveling wheel 210b. When projected along the traveling direction X, the projection of point P4 may overlap with the projection of one or more of the second traveling wheels 210b, or it may not overlap with the projection of any of the second traveling wheels 210b.

[0194] In the technical solution of this application embodiment, the point closest to the rear end face 121 of the first cutter disc 310 is located in the area in front of the second travel wheel 210b. In other words, the entire first cutter disc 310 is located in the area in front of the second travel wheel 210b. The second travel wheel 210b provides less lateral obstruction to the first cutter disc 310, which helps the first cutter disc 310 to throw out the cut grass clippings. Furthermore, the center of gravity of the first cutter disc 310 is closer to the front end 110 of the body 100, which helps to shift the center of gravity of the intelligent lawnmower forward, optimize the weight distribution of the intelligent lawnmower, improve its weight balance, and thus improve the stability of the intelligent lawnmower's movement.

[0195] In one possible embodiment of this application, the intelligent lawnmower includes a body 100, which includes a front end 110 and a rear end 120 arranged along the travel direction X. A walking mechanism 200 is connected to the body 100. The walking mechanism 200 includes two steering drive members 230 arranged near the front end 110, sequentially arranged along the width direction Y of the intelligent lawnmower. Each steering drive member 230 is a motor. The output shaft of each steering drive member 230 is connected to a support frame 240, which is bent and extends towards the travel surface M. Each support frame 240 is connected to a first traveling wheel 210a, which is driven to steer by the corresponding steering drive member 230. The hub of the first traveling wheel 210a also integrates a first traveling drive member 220a, which is a hub motor used to drive the corresponding first traveling wheel 210a to roll relative to the travel surface M. Each steering drive component 230 is also equipped with a corresponding detection mechanism 400, which is used to detect the steering angle of the corresponding first traveling wheel 210a. The detection mechanism 400 is a magneto-electric encoder. The traveling mechanism 200 also includes two second traveling wheels 210b located near the rear end 120. The two second traveling wheels 210b are arranged sequentially along the width direction Y of the intelligent lawnmower. Each second traveling wheel 210b is connected to a second traveling drive component 220b, which is a motor. The second traveling drive component 220b is used to drive the corresponding second traveling wheel 210b to roll relative to the traveling surface M. The weight of the first traveling wheel 210a is less than the weight of the second traveling wheel 210b, and the first diameter R1 of the first traveling wheel 210a is less than the second diameter R2 of the second traveling wheel 210b.

[0196] The machine body 100 is also connected to a cutting mechanism 300, which includes a first cutter head 310 and a second cutter head 320. The first cutter head 310 and the second cutter head 320 cut grass on the lawn using cutting blades. The weight of the first cutter head 310 is greater than that of the second cutter head 320, and the rotational speed of the first cutter head 310 is less than that of the second cutter head 320. The minimum distance (first distance L1) between the center of the first cutter head 310 and the rear end face 121 is greater than the minimum distance (second distance L2) between the center of the second cutter head 320 and the rear end face 121. The maximum distance (third distance L3) between the first cutter head 310 and the rear end face 121 is greater than the maximum distance (fourth distance L4) between the second cutter head 320 and the rear end face 121. Projected along the height direction of the machine body 100, the minimum distance (fifth distance L5) between the projection of the first cutter head 310 and the projection of the edge of the machine body 100 is less than the minimum distance (sixth distance L6) between the projection of the second cutter head 320 and the projection of the edge of the machine body 100. Point P3, the furthest point from the rear end face 121 on the first cutter head 310, point P1, the center of the first cutter head 310, and point P4, the closest point to the rear end face 121 on the first cutter head 310, are all located in the area in front of the second traveling wheel 210b.

[0197] In addition, a positioning sensor 700 is connected to the front end 110 of the body 100. The positioning sensor 700 is used to acquire the location information and environmental information of the intelligent lawnmower. The first cutter head 310 is connected to a first cutter head cover 340, and the second cutter head 320 is connected to a second cutter head cover 350 and a bottom protective member 330. An electric adjustment component 500 is provided between the first cutter head 310 and the body 100. The electric adjustment component 500 is used to adjust the height of the first cutter head 310 relative to the body 100. A manual adjustment component 600 is provided between the second cutter head 320 and the body 100. The manual adjustment component 600 is used to adjust the height of the second cutter head 320 relative to the body 100. The weight of the electric adjustment component 500 is greater than the weight of the manual adjustment component 600.

[0198] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made based on the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A smart lawnmower, characterized in that, Comprising: a machine body, comprising a front end and a rear end along a direction of travel, a last point on the rear end being a rear end point, the rear end point being located on a rear end surface, the rear end surface being perpendicular to the direction of travel; a walking mechanism, comprising walking wheels and walking driving members; the walking wheels comprise first walking wheels and second walking wheels, at least one first walking wheel being arranged close to the front end, at least two second walking wheels being arranged close to the rear end, a total weight of the first walking wheels being a first total weight, a total weight of the second walking wheels being a second total weight, the second total weight being greater than the first total weight, the walking driving members being respectively connected to the first walking wheels and the second walking wheels to drive the intelligent mower to move; a cutting mechanism connected to the machine body, the cutting mechanism comprising first cutter heads and second cutter heads, a weight of the first cutter heads being greater than a weight of the second cutter heads, a minimum distance between a center of the first cutter heads and the rear end surface being a first distance L1, a minimum distance between a center of the second cutter heads and the rear end surface being a second distance L2, the second distance L2 being less than the first distance L1.

2. A smart lawnmower, characterized in that, Comprising: a machine body, comprising a front end and a rear end along a direction of travel, a last point on the rear end being a rear end point, the rear end point being located on a rear end surface, the rear end surface being perpendicular to the direction of travel, a first point on the front end being a front end point, the front end point being located on a front end surface, the front end surface being perpendicular to the direction of travel; a positioning and sensing sensor, a distance between the positioning and sensing sensor and the front end surface being less than a distance between the positioning and sensing sensor and the rear end surface; a walking mechanism, comprising walking wheels and walking driving members; the walking wheels comprise first walking wheels and second walking wheels, at least one first walking wheel being arranged close to the front end, at least two second walking wheels being arranged close to the rear end, a total weight of the first walking wheels being a first total weight, a total weight of the second walking wheels being a second total weight, the second total weight being greater than the first total weight, the walking driving members being respectively connected to the first walking wheels and the second walking wheels to drive the intelligent mower to move; a cutting mechanism connected to the machine body, the cutting mechanism comprising first cutter heads and second cutter heads, a weight of the first cutter heads being greater than a weight of the second cutter heads, a minimum distance between a center of the first cutter heads and the rear end surface being a first distance L1, a minimum distance between a center of the second cutter heads and the rear end surface being a second distance L2, the second distance L2 being less than the first distance L1.

3. A smart lawnmower, characterized in that, Comprising: a machine body, comprising a front end and a rear end along a direction of travel, a last point on the rear end being a rear end point, the rear end point being located on a rear end surface, the rear end surface being perpendicular to the direction of travel; The walking mechanism comprises walking wheels and a walking driving member; the walking wheels comprise first walking wheels and second walking wheels, at least one first walking wheel is arranged close to the front end, at least two second walking wheels are arranged close to the rear end, the total weight of the first walking wheels is a first total weight, the total weight of the second walking wheels is a second total weight, the second total weight is greater than the first total weight, and the walking driving member is respectively connected to the first walking wheels and the second walking wheels to drive the intelligent mower to move; The cutting mechanism is connected to the machine body, and comprises a first cutter head and a second cutter head; the weight of the first cutter head is greater than that of the second cutter head; the maximum distance between the first cutter head and the rear end face is a third distance L3; the maximum distance between the second cutter head and the rear end face is a fourth distance L4; the third distance L3 is greater than the fourth distance L4; and the rotation speed of the second cutter head is greater than that of the first cutter head when the intelligent mower performs the mowing work.

4. The intelligent lawnmower as claimed in any one of claims 1 to 3, characterized in that, The walking mechanism further comprises a steering driving member, the first walking wheels are connected to the steering driving member, and the steering driving member is used to drive the first walking wheels to steer.

5. The intelligent lawnmower as claimed in claim 4, wherein, The steering driving member is arranged on the side of the first walking wheels away from the moving surface of the intelligent mower. The projection of the steering driving member overlaps at least partially with the projection of the first walking wheels in the height direction of the machine body.

6. The intelligent lawnmower as claimed in claim 5, wherein, The detection mechanism is further arranged on each first walking wheel, and is used to detect the steering angle of the corresponding first walking wheel. The projection of the detection mechanism overlaps at least partially with the projection of the steering driving member in the height direction of the machine body.

7. The intelligent lawnmower as claimed in claim 6, characterized in that, The detection mechanism comprises a detector and an identification element, the identification element is connected to the output shaft of the steering driving member, and the detector is used to obtain the position of the identification element. The steering driving member outputs rotary power, and the output shaft axis of the steering driving member passes through the wheel shaft of the corresponding first walking wheel and the detector.

8. The intelligent lawnmower as claimed in claim 4, wherein, The walking mechanism further comprises a support frame arranged between the steering driving member and the corresponding first walking wheel. The first end of the support frame is connected to the wheel shaft of the corresponding walking wheel, the support frame is bent so that the second end of the support frame extends to between the corresponding first walking wheel and the corresponding steering driving member, and the second end is connected to the corresponding steering driving member.

9. The intelligent lawnmower as claimed in any one of claims 1 to 3, characterized in that, The cutting mechanism further comprises: An electric adjustment assembly arranged between the first cutter head and the machine body, and used to adjust the height of the first cutter head relative to the machine body; A manual adjustment assembly arranged between the second cutter head and the machine body, and used to adjust the height of the second cutter head relative to the machine body; and The weight of the electric adjustment assembly is greater than that of the manual adjustment assembly.

10. The intelligent lawnmower as claimed in claim 9, wherein, The minimum distance between the projection of the first cutter and the projection of the fuselage edge is a fifth distance L5, and the minimum distance between the projection of the second cutter and the projection of the fuselage edge is a sixth distance L6, wherein the fifth distance L5 is greater than the sixth distance L6.

11. The intelligent lawnmower as claimed in claim 10, wherein, The cutting mechanism further comprises a bottom guard arranged below the second cutter.

12. The intelligent lawnmower as claimed in claim 10, wherein, The center of the first cutter and the center of the second cutter are located on both sides of the centerline of the fuselage along the travel direction.

13. The intelligent lawnmower as claimed in claim 10, wherein, The center of the first cutter is located on the centerline of the fuselage along the travel direction.

14. The intelligent lawnmower as claimed in any one of claims 1 to 3, characterized in that, The walking driving element arranged at the front end is a first walking driving element, which is integrated with the hub corresponding to the first walking wheel; The walking driving element arranged at the rear end is a second walking driving element, which is arranged separately from the hub corresponding to the second walking wheel.

15. The intelligent lawnmower as claimed in claim 14, characterized in that, The second walking wheel comprises a first side close to the middle part of the fuselage. The second walking driving element is located on the first side corresponding to the second walking wheel.

16. The intelligent lawnmower as claimed in any one of claims 1 to 3, characterized in that, The first walking wheel and the second walking wheel are both arranged as two, each first walking wheel has a first weight and a first diameter, and each second walking wheel has a second weight and a second diameter, wherein the second weight is greater than the first weight and the second diameter is greater than the first diameter.

17. The intelligent lawnmower as claimed in any one of claims 1 to 3, wherein, Further comprising a first cutter cover and a second cutter cover, the first cutter cover and the second cutter cover are arranged independently, the first cutter cover is connected to the first cutter to provide protection for the first cutter, and the second cutter cover is connected to the second cutter to provide protection for the second cutter.

18. The intelligent lawnmower as claimed in any one of claims 1 to 3, characterized in that, Further comprising a grass collecting box for collecting cut grass, and the grass collecting box is detachably connected to the rear end.

19. The intelligent lawnmower as claimed in any one of claims 1 to 3, characterized in that, The point on the first cutter farthest from the rear end surface is located in the front area of the second walking wheel.

20. The intelligent lawnmower as claimed in claim 19, characterized in that, The center of the first cutter is located in the front area of the second walking wheel.

21. The intelligent lawnmower as claimed in claim 20, wherein, The point on the first cutter closest to the rear end surface is located in the front area of the second walking wheel.

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