A lawnmower

Abstract

The utility model discloses a mower, include: the chassis with main walking mechanism is used for making mower walking, the mower mechanism, including first mowing device and second mowing device, first mowing device is established on the front end of chassis, and first mowing device can adjust own attitude, and second mowing device is established on the middle bottom of chassis, and the auxiliary walking mechanism includes a plurality of universal wheel devices, and a plurality of universal wheel devices are respectively established on the left end and right end of chassis, and the universal wheel device includes universal wheel assembly, slewing subassembly and pitch adjusting subassembly, and universal wheel assembly includes universal wheel support, universal wheel motor and universal wheel, and the upper end of universal wheel support is established on slewing subassembly, and universal wheel motor is established on the lower end of universal wheel support and is connected with universal wheel, and slewing subassembly is established on the chassis through pitch adjusting subassembly. The setting of auxiliary walking mechanism effectively prevents the side slip of mower on the slope or uneven ground, and reduces the rollover accident caused by imbalance.

Description

Technical Field

[0001] This utility model relates to the field of garden tools, and in particular to a lawnmower. Background Technology

[0002] Lawn mowing is a crucial aspect of landscaping and environmental cleanliness, but traditional hand-mowing tools are inefficient, time-consuming, and labor-intensive. Therefore, lawnmowers, as a highly efficient and convenient lawn mowing device, have emerged. Their design stems from the pursuit of efficiency and quality in lawn mowing, aiming to provide users with a lightweight, efficient, and safe lawn mowing solution. Through continuous technological innovation and design optimization, lawnmowers have become an indispensable gardening tool in modern society, bringing convenience and beauty to public spaces, gardens, and private residences in urban and rural areas. However, existing lawnmowers are prone to tipping over on steep slopes due to a shift in their center of gravity. Utility Model Content

[0003] Therefore, there is a need to provide a lawnmower that can solve the problem of existing lawnmowers easily tipping over when the center of gravity shifts on steep terrain.

[0004] To achieve the above objectives, the inventor provides a lawnmower, comprising:

[0005] A chassis with a main walking mechanism for moving the lawnmower;

[0006] A lawn mowing mechanism includes a first mowing device and a second mowing device. The first mowing device is located on the front end of the chassis and its posture is adjustable. The second mowing device is located on the bottom center of the chassis.

[0007] The auxiliary walking mechanism includes multiple caster wheel devices, which are respectively mounted on the left and right ends of the chassis. Each caster wheel device includes a caster wheel assembly, a slewing assembly, and a pitch adjustment assembly. Each caster wheel assembly includes a caster wheel bracket, a caster wheel motor, and a caster wheel. The upper end of the caster wheel bracket is mounted on the slewing assembly, which drives the caster wheel bracket to rotate. The caster wheel motor is mounted on the lower end of the caster wheel bracket and connected to the caster wheel to drive the caster wheel to rotate. The slewing assembly is mounted on the chassis via the pitch adjustment assembly, which allows the caster wheel to contact the ground.

[0008] Furthermore: the slewing assembly includes a slewing bracket and a slewing motor. The slewing assembly is connected to the pitch adjustment assembly through the slewing bracket. The slewing motor is mounted on the slewing bracket. The axial direction of the output shaft of the slewing motor is parallel to the vertical direction. The output shaft of the slewing motor is connected to the upper end of the universal wheel bracket.

[0009] Furthermore: the pitch adjustment assembly includes a leg support, a leg, and an elastic structure. The pitch adjustment assembly is connected to the chassis via the leg support. The upper end of the leg is hinged to the leg support. The pitch adjustment assembly is connected to the slewing assembly via the lower end of the leg. The elastic structure is provided on the leg and the leg support to provide elastic force to make the leg rotate downward, thereby making the caster wheel contact the ground.

[0010] Furthermore: one of the pitch adjustment components has two legs arranged side by side, there are four pitch adjustment components, two of the four pitch adjustment components are located on the left end of the chassis and share one leg support, the other two of the four pitch adjustment components are located on the right end of the chassis and share one leg support.

[0011] Furthermore: the first mowing device includes a robotic arm, a first mowing motor, and a first mowing head. The first mowing device is mounted on the front end of the chassis via the lower end of the robotic arm, and the first mowing motor is mounted on the upper end of the robotic arm. The output shaft of the first mowing motor is connected to the first mowing head.

[0012] Furthermore, the first mowing device also includes a grass-blocking plate, which has a through hole for the output shaft of the first mowing motor to pass through, and a protruding arc-shaped grass-blocking wall on the side of the grass-blocking plate facing the first mowing head, with the inner side of the arc-shaped grass-blocking wall facing the first mowing head.

[0013] Furthermore: the first mowing head is a nylon rope mowing head.

[0014] Furthermore, the mowing mechanism also includes a third mowing device. The second mowing device includes a support base, a front shaft, a second mowing head, a rear shaft, a mowing auger blade, and a third mowing motor. The second mowing device is mounted on the rear end of the chassis via the support base. The front shaft is located within the support base. Multiple second mowing heads are mounted on the front shaft and rotate with the rotation of the front shaft. The second mowing heads are nylon cord mowing heads. The rear shaft is located within the support base but not behind the front shaft. The mowing auger blade is mounted on the rear shaft and rotates with the rotation of the rear shaft. The third mowing motor is mounted on the support base and connected to the front shaft and the rear shaft via a transmission assembly to drive the front shaft and the rear shaft to rotate.

[0015] Furthermore, it also includes a controller and a battery. The controller is connected to the first mowing device, the second mowing device, the caster assembly, the swivel assembly, and the pitch adjustment assembly, respectively. The battery supplies power to the controller, the first mowing device, the second mowing device, the caster assembly, the swivel assembly, and the pitch adjustment assembly.

[0016] Furthermore: the chassis with the main running gear is a four-wheel drive chassis.

[0017] Unlike existing technologies, the above technical solution has the following beneficial effects:

[0018] The main walking mechanism provides the primary driving force, enabling the lawnmower to move along a set path. The first mowing unit, located at the front, is adjustable to adapt to terrain undulations and provides coarse mowing of the lawn. The pitch adjustment assembly adjusts the pitch angle of the caster support according to terrain changes, ensuring the casters maintain good contact with the ground. The slewing assembly controls the horizontal rotation direction of the caster support, allowing the casters to steer flexibly and assisting the lawnmower in navigating complex paths. The caster motor drives the casters to rotate, providing additional walking power. The auxiliary walking mechanism effectively prevents the lawnmower from tipping over or slipping on slopes or uneven ground, reducing accidents caused by imbalance. Due to the more stable chassis, the mowing mechanism's operational accuracy and consistency are guaranteed.

[0019] The above description of the utility model is merely an overview of the technical solution of this application. In order to enable those skilled in the art to better understand the technical solution of this application and to implement it based on the description and drawings, and to make the above-mentioned objectives and other objectives, features and advantages of this application easier to understand, the following description is provided in conjunction with the specific embodiments and drawings of this application. Attached Figure Description

[0020] The accompanying drawings are only used to illustrate the principles, implementation methods, applications, features, and effects of specific embodiments of this utility model and other related contents, and should not be considered as limitations on this application.

[0021] Figure 1 This is one of the perspective views of the lawnmower in this embodiment;

[0022] Figure 2 This is the second perspective view of the lawnmower in this embodiment;

[0023] Figure 3 This is a perspective view of the second mowing head in this embodiment;

[0024] Figure 4 This is the third perspective view of the lawnmower in this embodiment;

[0025] Figure 5 Isometric view of the second mowing head and the mowing spiral blade in this embodiment;

[0026] Figure 6 Is the traditional path of a prior art lawn mower;

[0027] Figure 7 Is the "square frame" path of the lawn mower in this embodiment;

[0028] Figure 8 Is the "zigzag" path of the lawn mower in this embodiment;

[0029] Figure 9 Is the obstacle avoidance flowchart of the lawn mower in this embodiment.

[0030] Explanation of reference numerals:

[0031] 1, Chassis; 11, Main traveling mechanism;

[0032] 2, Multiple universal wheel devices; 21, Universal wheel assembly; 211, Universal wheel bracket; 212, Universal wheel motor; 213, Universal wheel; 22, Rotary assembly; 221, Rotary bracket; 23, Pitch adjustment assembly; 231, Leg bracket; 232, Leg; 233, Elastic structure;

[0033] 3, Mowing mechanism; 31, First mowing device; 311, Robot arm; 312, First mowing motor; 313, First mowing head; 314, Grass guard; 3141, Arc-shaped grass guard wall; 32, Second mowing device; 321, Mowing blade; 33, Third mowing device; 331, Support base; 332, Front rotating shaft; 333, Second mowing head; 334, Rear rotating shaft; 335, Mowing spiral blade. Detailed implementation manners

[0034] To illustrate in detail the possible application scenarios, technical principles, specific implementable solutions, achievable purposes and effects of this application, the following is described in detail with reference to the specific examples listed and in conjunction with the attached drawings. The examples described herein are only used to more clearly illustrate the technical solutions of this application, so they are only examples and cannot be used to limit the protection scope of this application.

[0035] Referring to "embodiment" in this context means that the specific features, structures or characteristics described in conjunction with the embodiment can be included in at least one embodiment of this application. The term "embodiment" appearing at various positions in the specification does not necessarily refer to the same embodiment, nor does it particularly limit its independence or relevance to other embodiments. In principle, in this application, as long as there is no technical contradiction or conflict, the technical features mentioned in each embodiment can be combined in any way to form the corresponding implementable technical solutions.

[0036] Unless otherwise defined, the technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the use of related terms herein is merely for the purpose of describing particular embodiments and is not intended to limit this application.

[0037] In the description of this application, the term "and / or" is used to describe the logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and A and B exist simultaneously. Additionally, the character " / " in this document generally indicates that the preceding and following objects have an "or" logical relationship.

[0038] In this application, terms such as “first” and “second” are used only to distinguish one entity or operation from another, and do not necessarily require or imply any actual quantity, hierarchy or order relationship between these entities or operations.

[0039] Without further limitations, the use of terms such as “comprising,” “including,” “having,” or other similar open-ended expressions in this application is intended to cover non-exclusive inclusion, which does not exclude the presence of additional elements in a process, method, or product that includes the stated elements, such that a process, method, or product that includes a list of elements may include not only those defined elements but also other elements not expressly listed, or elements inherent to such a process, method, or product.

[0040] Similar to the understanding in the Examination Guidelines, in this application, expressions such as "greater than," "less than," and "exceeding" are understood to exclude the stated number; expressions such as "above," "below," and "within" are understood to include the stated number. Furthermore, in the description of the embodiments in this application, "multiple" means two or more (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups" and "multiple times," unless otherwise explicitly specified.

[0041] In the description of the embodiments of this application, the space-related expressions used, such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," indicate the orientation or positional relationship based on the orientation or positional relationship shown in the specific embodiments or drawings. They are only for the purpose of describing the specific embodiments of this application or for the reader's understanding, and do not indicate or imply that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0042] Unless otherwise expressly specified or limited, the terms "installation," "connection," "linking," "fixing," and "setting," as used in the description of the embodiments of this application, should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral arrangement; it can be a direct connection or an indirect connection through an intermediate medium; it can be a relationship of two components combined together, an interaction relationship between two components, or a connection within two structures. Those skilled in the art to which this application pertains can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0043] Please see Figures 1 to 5 This embodiment provides a lawnmower, including:

[0044] The chassis 1, which has a main walking mechanism 11, is used to move the lawnmower.

[0045] The mowing mechanism 3 includes a first mowing device 31 and a second mowing device 32. The first mowing device 31 is located on the front end of the chassis 1 and its posture is adjustable. The second mowing device 32 is located on the rear end of the chassis 1.

[0046] The auxiliary walking mechanism includes multiple caster wheel devices 2, which are respectively located on the left and right ends of the chassis 1. The caster wheel device 213 includes a caster wheel assembly 21, a slewing assembly 22, and a pitch adjustment assembly 23. The caster wheel assembly 21 includes a caster wheel bracket 211, a caster wheel motor 212, and a caster wheel 213. The upper end of the caster wheel bracket 211 is located on the slewing assembly 22, which is used to drive the caster wheel bracket 211 to rotate. The caster wheel motor 212 is located on the lower end of the caster wheel bracket 211 and connected to the caster wheel 213, which is used to drive the caster wheel 213 to rotate. The slewing assembly 22 is located on the chassis 1 through the pitch adjustment assembly 23, which is used to make the caster wheel 213 contact the ground.

[0047] The main walking mechanism 11 provides the primary driving force, enabling the lawnmower to move along a set path. The first mowing device 31, located at the front, is adjustable to adapt to terrain undulations and can perform coarse mowing of the lawn. The pitch adjustment assembly 23 adjusts the pitch angle of the caster support 211 according to terrain changes, ensuring that the casters 213 always maintain good contact with the ground. The slewing assembly 22 controls the horizontal rotation direction of the caster support 211, allowing the casters 213 to steer flexibly and assisting the lawnmower in turning on complex paths. The caster motor 212 drives the casters 213 to rotate, providing additional walking power. The auxiliary walking mechanism effectively prevents the lawnmower from tipping over or slipping on slopes or uneven ground, reducing accidents caused by imbalance. Due to the more stable chassis 1, the operating accuracy and consistency of the mowing mechanism 3 are guaranteed.

[0048] Please see Figure 1 In some embodiments, the slewing assembly 22 includes a slewing bracket 221 and a slewing motor. The slewing assembly 22 is connected to the pitch adjustment assembly 23 through the slewing bracket 221. The slewing motor is mounted on the slewing bracket 221, and the axial direction of the output shaft of the slewing motor is parallel to the vertical direction. The output shaft of the slewing motor is connected to the upper end of the universal wheel bracket 211. The universal wheel bracket 211 is rotated around the vertical axis by the drive of the slewing motor. The universal wheel 213 device can turn in the horizontal plane. Together with the main walking mechanism 11 of the chassis 1, it improves the flexibility and stability of the lawnmower in complex paths and terrains.

[0049] Please see Figure 1 , Figure 2 and Figure 4 In some embodiments, the pitch adjustment assembly 23 includes a leg support 231, a leg 232, and an elastic structure 233. The pitch adjustment assembly 23 is connected to the chassis 1 via the leg support 231. The upper end of the leg 232 is hinged to the leg support 231. The pitch adjustment assembly 23 is connected to the slewing assembly 22 via the lower end of the leg 232. The elastic structure 233 is provided on the leg 232 and the leg support 231 to provide a spring force to rotate the leg 232 downwards, thereby causing the caster wheel 213 to contact the ground. The elastic structure 233, such as a spring, torsion spring, or elastic rubber, provides a downward spring force to automatically rotate the leg 232 downwards. When the lawnmower travels to a raised area, the caster wheel 213 is subjected to the lifting force of the ground, causing the outrigger 232 to swing upward. At this time, the elastic structure 233 is compressed to absorb the impact and store energy. When the lawnmower leaves the raised area, the elastic structure 233 releases energy, pushing the outrigger 232 to return to its original position, causing the caster wheel 213 to press against the ground again, achieving adaptive adjustment, with rapid response and reliable structure.

[0050] Please see Figure 1 , Figure 2 and Figure 4In a further embodiment, one pitch adjustment assembly 23 has two side-by-side outriggers 232. There are four pitch adjustment assemblies 23. Two of the four pitch adjustment assemblies 23 are located on the left end of the chassis 1 and share a common outrigger bracket 231. The other two pitch adjustment assemblies 23 are located on the right end of the chassis 1 and share a common outrigger bracket 231. There are two pitch adjustment assemblies 23 on each side, forming a symmetrical distribution structure. The two pitch adjustment assemblies on the same side are roughly V-shaped, which helps to maintain the stability of the lawnmower's center of gravity.

[0051] Please see Figure 1 and Figure 4 In some embodiments, the first mowing device 31 includes a robotic arm 311, a first mowing motor 312, and a first mowing head 313. The first mowing device 31 is mounted on the front end of the chassis 1 via the lower end of the robotic arm 311, and the first mowing motor 312 is mounted on the upper end of the robotic arm 311. The output shaft of the first mowing motor 312 is connected to the first mowing head 313. The robotic arm 311 can be adjusted according to terrain undulations or obstacles to regulate the height of the first mowing head 313. After the first mowing motor 312 starts, it drives the first mowing head 313 to rotate at high speed, generating cutting force to cut the ground vegetation and complete the initial weeding task. After the first mowing device 31 completes the initial trimming, the second mowing device 32 further refines the ground. This allows the mower to not only perform mowing but also aesthetically trim the lawn.

[0052] Please see Figure 1 , Figure 3 and Figure 4 In some embodiments, the first mowing device 31 further includes a grass baffle 314. The grass baffle 314 has a through hole through which the output shaft of the first mowing motor 312 passes. The side of the grass baffle 314 facing the first mowing head 313 has a protruding arc-shaped grass baffle wall 3141, and the inner side (concave surface) of the arc-shaped grass baffle wall 3141 faces the first mowing head 313. Grass clippings and debris thrown out by the mowing head impact the inner surface of the arc-shaped grass baffle wall 3141, reducing their dispersion towards the operator or other parts of the equipment.

[0053] Please see Figure 3In some embodiments, the first mowing head 313 is a nylon rope mowing head, made of high-strength nylon rope, which has good mechanical strength, heat resistance, wear resistance, and electrical insulation. As the cutting element, the nylon rope is safer than conventional blade cutting because it has sufficient strength to cut lignified grass, while also possessing a degree of flexibility to avoid breaking when encountering harder obstacles. In contrast, blades break upon contact with hard obstacles, causing them to fly out in the cutting direction and potentially causing unnecessary damage to surrounding objects. The intelligent lawnmower is primarily designed for lawn mowing, and the strength of the nylon rope is sufficient to meet the cutting requirements, resulting in lower operating costs.

[0054] In some embodiments, the grass barrier 314 can store nylon rope. After the original cutting rope ages and fails, the grass barrier 314 can be loosened slightly and a new section of the cutting rope can be pulled out for normal use, making operation and maintenance more convenient.

[0055] Please see Figure 4 In some embodiments, the second mowing device 32 includes a second mowing motor and mowing blades 321. The second mowing device 32 is mounted on the bottom center of the chassis 1 via the second mowing motor. The output shaft of the second mowing motor is parallel to the vertical direction and is connected to the mowing blades 321. The mowing blades 321 are typically circular in shape. This design better adapts to uneven ground, ensuring even mowing. Simultaneously, the circular mowing blades 321 generate a certain airflow during rotation, helping to blow the cut grass blades away from the blades and reduce clogging. The blades are made of high-hardness, wear-resistant metal materials, such as alloy steel or stainless steel. These materials have excellent cutting performance and durability, ensuring the blades remain sharp and reducing wear during prolonged use. The mowing blades 321 can be mounted on the blade disc with bolts or other fasteners, ensuring stable operation during high-speed rotation. When installing the mowing blades 321, care should be taken to maintain the blades' balance to reduce vibration and noise. Blade edges are typically cut with a suitable cutting angle, such as 30°, to improve cutting efficiency and reduce cutting resistance. A sharp cutting edge can easily cut grass stems, reducing bending and slippage of the grass, thus keeping the lawn neat and aesthetically pleasing.

[0056] Please see Figure 1 , Figure 4 and Figure 5In some embodiments, the mowing mechanism 3 further includes a third mowing device 33, which includes a support base 331, a front rotating shaft 332, second mowing heads 333, a rear rotating shaft 334, mowing spiral blades 335, and a third mowing motor. The third mowing device 33 is mounted on the rear end of the chassis 1 via the support base 331. The front rotating shaft 332 is located within the support base 331, and multiple second mowing heads 333 are mounted on the front rotating shaft 332 and follow the front rotating shaft 334. The second mowing head 333 is a nylon rope mowing head. The rear shaft 334 is located inside the support base 331 and is not located behind the front shaft 332. Multiple mowing spiral blades 335 are located on the rear shaft 334 and rotate with the rotation of the rear shaft 334. The third mowing motor is located on the support base 331 and is connected to the front shaft 332 and the rear shaft 334 through a transmission assembly to drive the front shaft 332 and the rear shaft 334 to rotate.

[0057] After the third mowing motor starts, it transmits power to the front shaft 332 and the rear shaft 334 through transmission components (such as gear pairs and belt drives). The front shaft 332 drives the nylon rope to rotate at high speed to cut the ground vegetation, while the rear shaft 334 drives the mowing auger blade 335 to rotate to cut the grass stems or harder plants that were not completely cut in the previous pass, ensuring the weeding effect.

[0058] In some embodiments, the lawnmower also includes a controller and a battery. The controller supplies power to the first mowing device 31, the third mowing device 33, the caster wheel assembly 21, the slewing assembly 22, and the pitch adjustment assembly 23. The battery provides power to the controller, the first mowing device 31, the second mowing device 32, the third mowing device 33, the caster wheel assembly 21, the slewing assembly 22, and the pitch adjustment assembly 23. The continuous power supply from the battery ensures the stable operation of the lawnmower. The controller, as the control center of the entire machine, can be an STM32F407 series microcontroller used to control the operation of the first mowing motor 312, the second mowing device 32, the third mowing motor, the caster wheel motor 212, the slewing motor, and the robotic arm 311.

[0059] In some embodiments, the lawnmower also includes a solar panel mounted on top of the chassis 1 and connected to a battery. This allows for full utilization of solar energy resources, providing a continuous power source for the lawnmower. The solar panel's design is simple and practical, not only improving energy conversion efficiency but also giving the lawnmower a more technologically advanced appearance.

[0060] Please see Figure 1 , Figure 2 and Figure 4, in some embodiments, the chassis 1 with the main traveling mechanism 11 is a four-wheel drive wheeled chassis 1. All four wheels of the chassis 1 are drive wheels and can be driven by four traveling motors. Compared with traditional two-wheel drive, four-wheel drive can provide better maneuverability, stability and efficiency, making the lawn mower easier to turn and steer and adapt to different terrains and complex environments. Especially when working on uneven terrain or slopes. Each wheel can independently adjust its speed and torque as needed to maintain the stability of the lawn mower. It can provide greater traction, enabling the lawn mower to have better passability and grip on slippery or rough terrain, reducing the situation of slipping or getting stuck. Four-motor drive can improve the working efficiency of the lawn mower. Each wheel can independently adjust its speed and steering, making the lawn mower complete the mowing task more flexibly and efficiently.

[0061] Please refer to Figure 1 , in some embodiments, the body part of the chassis 1 is usually made of sturdy and durable materials such as aluminum alloy or high-strength plastic. These materials have the characteristics of being lightweight, corrosion-resistant, impact-resistant, etc., and can ensure the long-term stable operation of the lawn mower in the outdoor environment.

[0062] In some embodiments, an operation panel is provided on the chassis 1, and the operation panel is equipped with multiple function buttons and adjustment levers, which facilitate the user to adjust parameters such as the mowing height and mowing speed as needed. At the same time, the lawn mower is also equipped with safety protection devices such as a blade guard and a touch-proof switch to ensure the safety of the user during use, and the vehicle is equipped with an antenna and monitoring, showing its strong sensing ability, which helps to accurately navigate and identify targets in various environments.

[0063] In some embodiments, certain planning is required for the intelligent lawn mower path. In the early days, the traditional path was relatively simple. The method of laying a guiding line was used to determine the working range of the lawn mower, enabling the lawn mower to freely mow within the determined range, such as Figure 6 shown. In this range, there is no fixed path for the working path of the lawn mower, and there will be phenomena such as long cutting time and missed cutting.

[0064] In order to improve the cutting efficiency of the lawn mower, a "return" - shaped cutting path as shown in Figure 7 and a "zigzag" - shaped cutting path as shown in Figure 8 can be adopted. These two cutting paths have improved the free and irregular cutting method. The "return" - shaped zigzag reciprocating cutting is suitable for terrains with relatively regular boundaries of the working area, and the "zigzag" - shaped zigzag reciprocating cutting is suitable for terrains with irregular boundaries of the working area. The zigzag reciprocating type can ensure that the lawn mower always travels along the maximum span direction of different areas during the working process, avoiding excessive turning which causes energy consumption and time waste, and maximizing the efficient and low - consumption mowing operation. The process design for the above "return" - shaped and "zigzag" - shaped path planning is as shown in Figure 9 The path planning flowchart enables the intelligent lawnmower to cut grass according to the established process. Equipped with an intelligent navigation system, the lawnmower automatically identifies lawn boundaries and obstacles, and autonomously plans its mowing path, achieving fully automated driving.

[0065] In some embodiments, sensors can be installed on the mowing baffle. These sensors are connected to the controller and the battery. When the mower is started, the sensing channel is activated. When no obstacle is encountered, the mower maintains its original speed and continues mowing. When an obstacle is encountered, the sensor in front of the mower's baffle 314 detects the obstacle, and the robotic arm 311 controls the first mowing head 313 to rise, thus achieving obstacle avoidance. When there is no obstacle in front, the sensor behind the mower's baffle 314 does not detect an obstacle, the robotic arm 311 lowers to the desired height, and the mower continues to move forward and mow the grass at its original speed. An obstacle avoidance flowchart can be found here. Figure 9 .

[0066] This application has the following beneficial effects:

[0067] Adaptable to complex terrain: The main walking mechanism, in conjunction with the auxiliary walking mechanism, can adaptively adjust, enabling it to walk and work on complex terrains such as high altitudes, steep slopes, water networks, swamps, and woodlands, and possesses strong off-road capabilities.

[0068] High flexibility: The omnidirectional wheels allow the lawnmower to move easily in all directions, including forward, backward, left, right, and diagonal, greatly improving its operational flexibility in complex terrain or confined spaces. The lawnmower can easily handle lawn boundaries and obstacles at different angles, reducing the possibility of damage to the lawn or machine due to improper operation.

[0069] Ease of operation: Thanks to its omnidirectional rotation, the operator can more easily control the lawnmower's direction of travel without frequently adjusting the machine's position or direction. This not only reduces operational difficulty but also improves work efficiency, making lawnmowing easier and faster.

[0070] High stability: The well-designed casters ensure the lawnmower's stability during movement, reducing damage to the lawn caused by machine shaking or vibration. Especially on uneven ground, the casters adapt better to terrain changes, maintaining the lawnmower's smooth operation.

[0071] High durability: Typically made of wear-resistant and durable materials such as rubber and nylon, these wheels can withstand prolonged use and frequent movement. This gives lawnmower casters a longer lifespan, reducing replacement frequency and maintenance costs.

[0072] Finally, it should be noted that although the above embodiments have been described in the text and drawings of this application, this should not limit the scope of patent protection of this application. Any technical solutions that are based on the essential concept of this application and utilize the content described in the text and drawings of this application, resulting in equivalent structural or procedural substitutions or modifications, as well as the direct or indirect application of the technical solutions of the above embodiments to other related technical fields, are all included within the scope of patent protection of this application.

Claims

1. A lawnmower, characterized in that, include: A chassis with a main walking mechanism for moving the lawnmower; The lawn mowing mechanism includes a first lawn mowing device and a second lawn mowing device. The first lawn mowing device is located on the front end of the chassis and its posture is adjustable. The second lawn mowing device is located on the bottom center of the chassis. as well as The auxiliary walking mechanism includes multiple caster wheel devices, which are respectively mounted on the left and right ends of the chassis. Each caster wheel device includes a caster wheel assembly, a slewing assembly, and a pitch adjustment assembly. Each caster wheel assembly includes a caster wheel bracket, a caster wheel motor, and a caster wheel. The upper end of the caster wheel bracket is mounted on the slewing assembly, which drives the caster wheel bracket to rotate. The caster wheel motor is mounted on the lower end of the caster wheel bracket and connected to the caster wheel to drive the caster wheel to rotate. The slewing assembly is mounted on the chassis via the pitch adjustment assembly, which allows the caster wheel to contact the ground.

2. The lawnmower according to claim 1, characterized in that: The slewing assembly includes a slewing bracket and a slewing motor. The slewing assembly is connected to the pitch adjustment assembly through the slewing bracket. The slewing motor is mounted on the slewing bracket, and the axial direction of the output shaft of the slewing motor is parallel to the vertical direction. The output shaft of the slewing motor is connected to the upper end of the universal wheel bracket.

3. The lawnmower according to claim 1 or 2, characterized in that: The pitch adjustment assembly includes a leg support, a leg, and an elastic structure. The pitch adjustment assembly is connected to the chassis via the leg support. The upper end of the leg is hinged to the leg support. The pitch adjustment assembly is connected to the slewing assembly via the lower end of the leg. The elastic structure is provided on the leg and the leg support to provide elastic force to make the leg rotate downward, thereby making the caster wheel contact the ground.

4. The lawnmower according to claim 3, characterized in that: One of the pitch adjustment components has two legs arranged side by side. There are four pitch adjustment components. Two of the four pitch adjustment components are located on the left end of the chassis and share one leg support. The other two of the four pitch adjustment components are located on the right end of the chassis and share one leg support.

5. The lawnmower according to claim 1, characterized in that: The first mowing device includes a robotic arm, a first mowing motor, and a first mowing head. The first mowing device is mounted on the front end of the chassis via the lower end of the robotic arm, and the first mowing motor is mounted on the upper end of the robotic arm. The output shaft of the first mowing motor is connected to the first mowing head.

6. The lawnmower according to claim 5, characterized in that: The first mowing device also includes a grass-blocking plate, which has a through hole for the output shaft of the first mowing motor to pass through. The grass-blocking plate has a protruding arc-shaped grass-blocking wall on the side facing the first mowing head, and the inner side of the arc-shaped grass-blocking wall faces the first mowing head.

7. The lawnmower according to claim 5 or 6, characterized in that: The first mowing head is a nylon rope mowing head.

8. The lawnmower according to claim 1, characterized in that: The mowing mechanism further includes a third mowing device. The second mowing device includes a support base, a front shaft, a second mowing head, a rear shaft, a mowing auger blade, and a third mowing motor. The second mowing device is mounted on the rear end of the chassis via the support base. The front shaft is located within the support base. Multiple second mowing heads are mounted on the front shaft and rotate with the rotation of the front shaft. The second mowing heads are nylon cord mowing heads. The rear shaft is located within the support base but not behind the front shaft. The mowing auger blade is mounted on the rear shaft and rotates with the rotation of the rear shaft. The third mowing motor is mounted on the support base and connected to the front and rear shafts via a transmission assembly to drive the front and rear shafts to rotate.

9. The lawnmower according to claim 1, characterized in that: It also includes a controller and a battery. The controller is connected to the first mowing device, the second mowing device, the caster assembly, the swivel assembly, and the pitch adjustment assembly, respectively. The battery supplies power to the controller, the first mowing device, the second mowing device, the caster assembly, the swivel assembly, and the pitch adjustment assembly.

10. The lawnmower according to claim 1, characterized in that: The chassis with the main walking mechanism is a four-wheel drive chassis.

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