Self-moving chassis and intelligent mower

Abstract

The application provides a self-moving chassis and an intelligent mower. The self-moving chassis comprises a vehicle frame and a first wheel set and a second wheel set. The first wheel set and the second wheel set are arranged at intervals along a longitudinal direction. The first wheel set comprises a first wheel shaft and a first driving wheel. The second wheel set comprises a second wheel shaft and a second driving wheel. The distance between the first wheel shaft and the second wheel shaft is a preset wheelbase. In the height direction, the height of the center of gravity of the self-moving chassis is greater than the reference height of the ground clearance of the vehicle frame. The difference between the height of the center of gravity and the reference height is greater than or equal to 10 mm and less than or equal to 110 mm. In the longitudinal direction, the distance between the center of gravity of the self-moving chassis and the first wheel shaft is greater than or equal to 0.4 times the preset wheelbase and less than or equal to 0.6 times the preset wheelbase. The self-moving chassis can reduce the center of gravity, enhance the anti-tilting ability, consider the passability of complex road conditions, and improve the stability, safety and scene adaptability of the equipment.

Description

Technical Field

[0001] This application relates to the field of autonomous working machine technology, and in particular to a self-moving chassis and intelligent lawnmower. Background Technology

[0002] A lawnmower is a mechanical tool used for trimming lawns, vegetation, etc.; with the development of technology, intelligent lawnmowers are being used more and more widely. Intelligent lawnmowers are usually equipped with a variety of control devices and sensors to help control the movement and operation of the lawnmower, and to help the lawnmower sense surrounding information or interact with the user during movement and operation.

[0003] Current smart lawnmowers have the problem of not being able to simultaneously guarantee dynamic stability and power distribution efficiency. Utility Model Content

[0004] In view of this, the purpose of this application is to propose a self-moving chassis and intelligent lawnmower that can improve stability, safety and scene adaptability, and achieve reasonable power distribution.

[0005] According to an embodiment of the first aspect of this application, a self-moving chassis is provided, comprising:

[0006] The frame has a longitudinal direction parallel to the direction of travel of the self-moving frame and a height direction perpendicular to the longitudinal direction;

[0007] The first wheel set and the second wheel set are mounted on the frame and used to drive the frame to move. The first wheel set and the second wheel set are arranged at intervals along the longitudinal direction. The first wheel set includes a first wheel axle and a first drive wheel. The first drive wheel is rotatably mounted on the first wheel axle. The second wheel set includes a second wheel axle and a second drive wheel. The second drive wheel is rotatably mounted on the second wheel axle. The distance between the first wheel axle and the second wheel axle in the longitudinal direction is a preset wheelbase.

[0008] In the height direction, the distance from the ground of the frame is taken as the reference height. The center of gravity height of the self-moving chassis is greater than the reference height. The difference between the center of gravity height and the reference height is greater than or equal to 10mm and less than or equal to 110mm.

[0009] In the longitudinal direction, the distance between the center of gravity of the self-moving chassis and the first wheel axle is greater than or equal to 0.4 times the preset wheelbase and less than or equal to 0.6 times the preset wheelbase.

[0010] In one embodiment, the first wheel set includes two first drive wheels, and the second wheel set includes two second drive wheels. Both the first drive wheel and the second drive wheel include a wheel body and a hub motor disposed in the wheel body to drive the wheel body to rotate.

[0011] In one embodiment, the self-moving chassis has a two-wheel drive mode and a four-wheel drive mode;

[0012] In two-wheel drive mode, only the hub motors in the first wheel set are activated; or, only the hub motors in the second wheel set are activated.

[0013] In four-wheel drive mode, both the hub motors in the first wheel group and the hub motors in the second wheel group are activated.

[0014] In one embodiment, the self-moving chassis further includes:

[0015] The control unit, which is electrically connected to the hub motor, is used to switch between two-wheel drive mode and four-wheel drive mode.

[0016] The control unit is configured to switch to four-wheel drive mode when the slope exceeds a first preset threshold, and switch to two-wheel drive mode when the slope is detected to be below a second preset threshold, wherein the second preset threshold is less than or equal to the first preset threshold.

[0017] In one embodiment, the self-moving chassis further includes:

[0018] Counterweights, which are detachably mounted on the chassis, are used to adjust the center of gravity of the self-propelled chassis.

[0019] In one embodiment, there are multiple counterweights, and the center of gravity of the self-moving chassis is adjusted by changing the number of counterweights.

[0020] In one embodiment, the self-moving chassis further includes a movable cavity for accommodating a counterweight, and the center of gravity of the self-moving chassis is adjusted by changing the position of the movable cavity relative to the frame.

[0021] In one embodiment, the self-moving chassis further includes:

[0022] The suspension assembly connects the vehicle frame to the first and second wheel sets and is used to adjust the position of the center of gravity of the self-moving chassis in the height direction by adjusting the suspension travel.

[0023] In one embodiment, the self-moving chassis further includes:

[0024] A steering assembly is disposed between the vehicle frame and the first drive wheel for controlling the steering angle of the first drive wheel; and / or, a steering assembly is disposed between the vehicle frame and the second drive wheel for controlling the steering angle of the second drive wheel.

[0025] According to an embodiment of the second aspect of this application, a smart lawnmower is also provided, the smart lawnmower including a mowing component and a self-moving chassis as described in any embodiment of the first aspect, the mowing component being disposed on the self-moving chassis.

[0026] The self-moving chassis provided in this application, by limiting the center of gravity in the longitudinal direction to between 0.4 and 0.6 times the preset wheelbase, can balance low energy consumption when driving on flat roads and balanced grip of the front and rear wheels when climbing hills; by limiting the difference between the center of gravity and the reference height in the vertical direction to between 10mm and 110mm, it can both lower the center of gravity to enhance anti-roll capability and ensure passability in complex road conditions, significantly improving the stability, safety and scene adaptability of the equipment, and achieving reasonable power distribution. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of the intelligent lawnmower in some embodiments of this application;

[0028] Figure 2 This is a side view of a self-moving chassis in some embodiments of this application;

[0029] Figure 3 This is a bottom view of a self-moving chassis in some embodiments of this application;

[0030] Figure 4 A bottom view of a self-moving chassis in some other embodiments of this application;

[0031] Figure 5 This is a top view of a self-moving chassis in some other embodiments of this application.

[0032] Reference numerals: 100, Intelligent lawnmower; 10, Self-propelled chassis; 11, Frame; 12, First wheel assembly; 121, First axle; 122, First drive wheel; 13, Second wheel assembly; 131, Second axle; 132, Second drive wheel; 101, Hub motor; 102, Wheel body; 14, Control unit; 15, Counterweight; 20, Mowing assembly. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0034] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in the embodiments of this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0035] Intelligent lawnmowers have automatic walking capabilities, enabling them to autonomously complete lawn mowing without direct human control or operation, significantly reducing manual labor. They are a suitable tool for lawn mowing and maintenance in home backyards, public green spaces, and other similar locations.

[0036] In related technologies, the commonly used drive methods for the self-moving chassis of intelligent lawnmowers are two-wheel drive and four-wheel drive. Among them, two-wheel drive lawnmowers have weaker ability to cross obstacles and climb slopes, and are prone to loss of traction. Although four-wheel drive lawnmowers have stronger ability to cross obstacles and climb slopes, there is still a contradiction between ground clearance and anti-tilt. A low center of gravity affects passability and increases the risk of collision, while a high center of gravity affects anti-rollover ability and may cause overturning problems when operating on slopes.

[0037] Although the construction of the actual working machine is not necessarily essential for understanding the embodiments of this application, Figure 1 The diagram illustrates a smart lawnmower (hereinafter also referred to as a "machine," "robot," or "lawnmower") comprising a housing (e.g., a frame or chassis with a cover) carrying various components. For example, the smart lawnmower includes a movement component comprising one or more rear wheels and one or more front wheels for supporting the housing on the ground (grass) surface. Specifically, the front wheels support the front portion of the housing, and the rear wheels support the rear portion of the housing.

[0038] like Figure 1 , Figure 2 As shown, the intelligent lawnmower 100 provided in this application embodiment includes a mowing component 20 and a self-moving chassis 10, with the mowing component 20 disposed on the self-moving chassis 10.

[0039] like Figure 2 , Figure 3As shown, in some embodiments, the self-moving chassis 10 includes a frame 11 and a first wheel set 12 and a second wheel set 13 mounted on the frame 11. The longitudinal direction of the frame (X direction in the figure) is parallel to the forward direction of the self-moving chassis 10, and the height direction of the frame (Z direction in the figure) is perpendicular to the longitudinal direction. The first wheel set 12 and the second wheel set 13 are used to drive the frame to move. The first wheel set 12 and the second wheel set 13 are arranged at intervals along the longitudinal direction. The first wheel set 12 includes a first axle 121 and a first drive wheel 122, with the first drive wheel rotatably mounted on the first axle. The second wheel set 13 includes a second axle 131 and a second drive wheel 132, with the second drive wheel 132 rotatably mounted on the second axle 131. The distance between the first axle 121 and the second axle 131 in the longitudinal direction is a preset wheelbase L. The center of gravity G of the self-moving chassis 10 needs to be controlled within a target range. Regarding the target range, in the longitudinal direction, the distance between the center of gravity G of the self-moving chassis 10 and the first wheel axle 121 is greater than or equal to 0.4 times the preset wheelbase L and less than or equal to 0.6 times the preset wheelbase L.

[0040] In the height direction, with the ground clearance of the frame 11 as the reference height H1, the center of gravity height of the self-moving chassis 10 is greater than the reference height H1, and the difference between the height of the center of gravity G and the reference height H1 is greater than or equal to 10mm and less than or equal to 110mm.

[0041] For example, in the longitudinal direction, the distance between the center of gravity G and the first wheel axle 121 is 0.4L, 0.5L, 0.6L, etc., while in the height direction, the difference between the center of gravity G and the reference height H1 is 10mm, 30mm, 50mm, 80mm, 100mm, 110mm, etc.

[0042] It should be noted that the ground clearance of the frame 11 refers to the distance from the lower edge of the frame 11 to the running plane (such as a horizontal ground) where the first wheel set 12 and the second wheel set 13 are located. The target range of the center of gravity G of the self-moving chassis 10 includes a distance of 0.4L to 0.6L from the first wheel axle 121 in the longitudinal direction, that is, the distance between the center of gravity G and the midpoint between the first wheel axle 121 and the second wheel axle 131 in the longitudinal direction is not greater than 0.1L; at the same time, the target range includes a ground clearance of H1+10mm to H1+110mm in the height direction, that is, the distance between the center of gravity G and the lower edge of the frame 11 in the height direction is not less than 10mm and not greater than 110mm.

[0043] With reference to the forward direction of the self-moving chassis 10, the first wheel group 12 is located in front of the second wheel group 13, that is, the first wheel group 12 corresponds to the front wheel and the second wheel group 13 corresponds to the rear wheel.

[0044] Limiting the height of the center of gravity G to H1+10mm to H1+110mm resolves the conflict between roll resistance and off-road capability. A lower limit ≥ H1+10mm prevents the chassis from scraping against ground obstacles (such as rocks or tree roots) due to an excessively low center of gravity, ensuring passability on complex terrain. An upper limit ≤ H1+110mm prevents rollovers caused by an excessively high center of gravity (especially during turns or slope operations). Furthermore, a longitudinal distance of 0.4 to 0.6 times the wheelbase from the front axle optimizes power distribution. If the center of gravity is too far forward, for example, less than 0.4L from the front axle, it leads to insufficient rear wheel traction and rear wheel slippage when climbing hills; if it is too far back, for example, greater than 0.6L from the front axle, it reduces front wheel traction and causes sluggish steering response. A centrally distributed center of gravity G ensures balanced pressure on the front and rear wheels, maximizing the efficiency of four-wheel drive power distribution.

[0045] Therefore, this embodiment constructs the center of gravity distribution range of the self-moving chassis 10 through dual constraints in the height and longitudinal directions, which can take into account both low energy consumption when driving on flat roads and balanced grip of the front and rear wheels when climbing hills. At the same time, it can lower the center of gravity to enhance anti-roll capability and take into account the passability of complex road conditions, significantly improving the stability, safety and scene adaptability of the equipment, and achieving reasonable power distribution.

[0046] In addition, the frame 11 also has a width direction (Y direction in the figure), which is perpendicular to the longitudinal and height directions. The frame 11 is symmetrically distributed in the width direction.

[0047] In some embodiments, the first wheel set 12 includes two first drive wheels 122, and the second wheel set 13 includes two second drive wheels 132. Each first drive wheel 122 and second drive wheel 132 includes a wheel body 102 and a hub motor 101 disposed within the wheel body 102. The hub motor 101 drives the wheel body 102 to rotate. The wheel body 102 of each drive wheel rotates under the drive of the hub motor 101 inside, thereby enabling the lawnmower to move.

[0048] Specifically, the torque of each wheel 102 is independently controlled by the hub motor 101, solving the problem of lag in power distribution of traditional central motors. For example, when climbing a hill, the torque of slipping wheels is increased in real time by the independent self-moving chassis 10, eliminating the need for differential adjustment, thus improving response speed and reducing energy consumption. In addition, the integration of the wheel 102 with the motor saves space in the middle of the chassis to accommodate a larger battery or mowing component, while reducing energy loss in mechanical transmission. Combined with a specific center of gravity distribution, precise power distribution is ensured while maintaining a compact layout.

[0049] For example, the first drive wheel 122 is a front drive wheel, the second drive wheel 132 is a rear drive wheel, and the front drive wheel can also be connected to a steering assembly to form a steering wheel.

[0050] The first and second wheel sets each contain two drive wheels with hub motors, allowing each drive wheel to be driven independently. This provides the hardware foundation for the chassis to switch between four-wheel drive and two-wheel drive modes in real time, making it easier to accurately control the power output of each wheel according to different road conditions, thus improving the flexibility and control precision of the drive.

[0051] In some embodiments, the self-moving chassis 10 has a two-wheel drive mode and a four-wheel drive mode.

[0052] In two-wheel drive mode, the hub motors 101 of the two first drive wheels 122 of the first wheel group 12 are activated, while the hub motors 101 of the two second drive wheels 132 of the second wheel group 13 are not activated; or, the hub motors 101 of the two second drive wheels 132 of the second wheel group 13 are activated, while the hub motors 101 of the two first drive wheels 122 of the first wheel group 12 are not activated.

[0053] In four-wheel drive mode, the hub motors 101 of the two first drive wheels 122 of the first wheel group 12 and the hub motors 101 of the two second drive wheels 132 of the second wheel group 13 are all activated.

[0054] Specifically, the self-propelled chassis 10 can switch between two-wheel drive mode (front-wheel or rear-wheel drive only) and four-wheel drive mode (all-wheel drive). For example, on flat roads, only the rear wheel motor is activated to save energy, while on slopes, four-wheel drive is switched to enhance traction.

[0055] The two-wheel drive mode reduces motor load and extends range, making it particularly suitable for long-term lawnmower operation. The four-wheel drive mode can be activated as needed, avoiding high energy consumption throughout the entire process. In addition, the longitudinal range of the center of gravity is limited to 0.4-0.6 times the wheelbase, ensuring that mode switching always takes place under stable operating conditions. By keeping the center of gravity in the center, the thrust direction in two-wheel drive mode is stabilized. If the center of gravity is extremely forward, the rear wheels will not be able to provide sufficient thrust in two-wheel drive mode; if the center of gravity is too high, turning in two-wheel drive mode is prone to tipping over.

[0056] For example, when driving on a flat road, only the hub motors of the first or second wheel group can be activated to reduce energy consumption; when driving on a slope, activating all hub motors to switch to four-wheel drive mode can enhance driving force and grip, allowing the chassis to automatically adjust the driving mode according to road conditions, thereby improving energy efficiency and the ability to pass through complex terrain.

[0057] like Figure 4 As shown, in some embodiments, the self-moving chassis 10 also includes a control unit 14, which is electrically connected to each wheel hub motor 101 to switch between two-wheel drive mode and four-wheel drive mode.

[0058] Specifically, the control unit can control the opening and closing of each wheel hub motor 101. The control unit is configured to switch to four-wheel drive mode when the slope exceeds a first preset threshold, and switch to two-wheel drive mode when the slope is lower than a second preset threshold, wherein the second preset threshold is less than the first preset threshold.

[0059] For example, the first preset threshold is 15°, and the second preset threshold is 5°. The control unit 14 includes a slope sensor, such as a gyroscope, to detect the ground tilt angle. When a slope > 15° is detected, the system switches to four-wheel drive mode; when a slope < 5° is detected, the system switches to two-wheel drive mode.

[0060] Among them, through the linkage design of slope threshold and center of gravity parameters, because the center of gravity height is ≤H1+110mm, the machine can safely cope with the first preset threshold slope without overturning; because the center of gravity position is horizontally centered, the front and rear wheels have balanced grip when in four-wheel drive, which can avoid single wheel slippage.

[0061] In addition, the second preset threshold is lower than the first preset threshold, forming a hysteresis range to prevent frequent switching. When the detected slope exceeds the first preset threshold, it switches to four-wheel drive mode to handle complex conditions such as climbing. When the slope is lower than the second preset threshold, it switches to two-wheel drive mode to save energy. This achieves intelligent automatic adjustment of the drive mode, reduces manual intervention, and improves the chassis's adaptability to different terrains.

[0062] like Figure 5 As shown, in some embodiments, the self-moving chassis 10 also includes a counterweight 15, which is detachably mounted on the frame 11 and used to adjust the center of gravity position of the self-moving chassis 10. By installing or removing the counterweight, the center of gravity position of the chassis can be flexibly adjusted to meet the preset center of gravity range requirements. The center of gravity can be adjusted by the counterweight when the chassis load changes, ensuring the stability of the chassis and the rationality of power distribution under different load conditions.

[0063] In one embodiment, there are multiple counterweights 15, and the center of gravity position of the self-moving chassis 10 is adjusted by changing the number of counterweights 15. By changing the number of counterweights, the center of gravity position can be adjusted more precisely, which has higher adjustment accuracy and flexibility than a single counterweight. It can more accurately control the center of gravity within the required range, further improving the stability and adaptability of the chassis.

[0064] In another embodiment, the self-moving chassis 10 also includes a movable cavity for accommodating the counterweight 15. By changing the position of the movable cavity relative to the frame 11, the center of gravity of the self-moving chassis 10 is adjusted. Specifically, after the intelligent lawnmower 100 detects the current slope, if the slope is higher than a third preset threshold, the control unit 14 moves the counterweight 15 towards the rear of the lawnmower, thereby increasing the driving force. If the current slope is lower than the third preset threshold, the control unit 14 moves the counterweight 15 towards the front of the lawnmower. That is, the lawnmower can change the position of the counterweight 15 according to the current working conditions. The third preset threshold can be greater than the first preset threshold. By accommodating the counterweight in the movable cavity and changing its position relative to the frame to adjust the center of gravity, this method can achieve dynamic and continuous adjustment of the center of gravity position. It can adjust the center of gravity in real time according to actual needs during chassis operation, enhancing the chassis's dynamic adaptability to different working scenarios and road conditions.

[0065] For example, a counterweight can be detachably installed on the frame 11. The counterweight is a metal block, and the center of gravity can be adjusted by increasing or decreasing the number of counterweights or moving the position of the cavity containing the counterweight. For example, the user can increase the rear counterweight according to the slope distribution of the lawn to shift the center of gravity backward, while still keeping it within the range of 0.4-0.6 times the wheelbase.

[0066] This design meets the different center of gravity requirements of various terrains. For example, steep slopes require a low and rearward center of gravity, while flat roads require a forward center of gravity for energy saving. The adjustment method of the counterweight allows for on-site optimization. For example, tool-free adjustment can be achieved through the cavity design, such as sliding the counterweight, thus improving the user experience.

[0067] In some embodiments, the self-moving chassis 10 further includes a suspension assembly that connects the frame 11 to the first wheel set 12 and the second wheel set 13, for adjusting the position of the center of gravity of the self-moving chassis 10 in the height direction by adjusting the suspension travel.

[0068] Specifically, this is achieved by adding suspension components that connect the wheels to the chassis, such as springs and shock absorbers. When the suspension compresses on bumpy roads, the chassis height decreases, and the center of gravity drops relative to the lower edge of the chassis, but the clearance remains greater than 10mm. This ensures sufficient ground clearance even when the suspension is fully compressed to avoid contact with the ground. Specifically, the center of gravity decreases during suspension compression, for example, from 100mm to 30mm, instantly enhancing anti-roll capability; when the suspension extends, ground clearance is restored.

[0069] For example, the suspension travel of the suspension components can be adjusted to change the position of the center of gravity in the height direction. When it is necessary to enhance anti-roll capability, the suspension travel can be reduced to lower the center of gravity. When it is necessary to improve the passability of complex road conditions, the suspension travel can be increased to appropriately raise the center of gravity. This achieves dynamic adjustment of the center of gravity height, enabling the chassis to maintain good stability and passability under different road conditions.

[0070] In some embodiments, the self-moving chassis 10 further includes a steering assembly disposed between the frame 11 and the first drive wheel 122 for controlling the steering angle of the first drive wheel 122.

[0071] In other embodiments, a steering assembly is disposed between the frame 11 and the second drive wheel 132 for controlling the steering angle of the second drive wheel 132.

[0072] For example, the steering assembly includes a servo and linkage to control the steering angle of the front and / or rear wheels, for example, a rotation angle within 90°. During steering, an upper limit on the center of gravity height ensures a short centrifugal arm, suppressing the risk of tipping over; a horizontally centered center of gravity balances the steering torque, preventing fishtailing or understeer. Adding a steering assembly to the rear wheels can be suitable for lawnmowers making U-turns in narrow areas; the upper limit on the center of gravity height ensures stability during rear wheel steering.

[0073] The steering component is located between the chassis and the drive wheels, which can precisely control the steering angle of the drive wheels, enabling the self-propelled chassis to achieve precise steering. It is especially suitable for equipment such as intelligent lawnmowers that need to operate according to a planned path, improving the chassis's maneuverability and operational precision, and ensuring the efficiency and quality of lawnmowing and other operations.

[0074] The self-moving chassis 10 provided in this application embodiment can also be applied to other self-moving devices besides the intelligent lawnmower 100, such as automatic snow sweepers, automatic leaf sweepers, multi-functional machines, etc.

[0075] The intelligent lawnmower 100 of this application embodiment includes the aforementioned self-moving chassis 10 and mowing assembly 20. With the advantages of the self-moving chassis 10 in center of gravity control and drive mode switching, the intelligent lawnmower 100 can drive stably and operate accurately under different terrain conditions. This ensures low energy consumption when the lawnmower is driving on flat roads, while also enhancing its ability to pass through complex road conditions such as slopes and its working reliability, thereby improving the overall operating performance.

[0076] It should be noted that some embodiments of this application have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in a different order than that shown in the above embodiments and still achieve the desired result. In addition, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown to achieve the desired result.

[0077] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this application (including the claims) is limited to these examples; within the framework of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this application as described above, which are not provided in the details for the sake of brevity.

[0078] The embodiments of this application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments of this application should be included within the protection scope of this application.

Claims

1. A self-moving chassis, characterized in that, include: The vehicle frame has a longitudinal direction parallel to the forward direction of the self-moving chassis and a height direction perpendicular to the longitudinal direction; A first wheel set and a second wheel set are disposed on the frame and used to drive the frame to move; the first wheel set and the second wheel set are arranged at intervals along the longitudinal direction; the first wheel set includes a first axle and a first drive wheel, the first drive wheel is rotatably disposed on the first axle; the second wheel set includes a second axle and a second drive wheel, the second drive wheel is rotatably disposed on the second axle; the distance between the first axle and the second axle in the longitudinal direction is a preset wheelbase. In the height direction, the distance from the ground of the vehicle frame is taken as the reference height, the center of gravity height of the self-moving chassis is greater than the reference height, and the difference between the center of gravity height and the reference height is greater than or equal to 10mm and less than or equal to 110mm. In the longitudinal direction, the distance between the center of gravity of the self-moving chassis and the first axle is greater than or equal to 0.4 times the preset wheelbase and less than or equal to 0.6 times the preset wheelbase.

2. The self-moving chassis of claim 1, wherein, The first wheel set includes two first drive wheels, and the second wheel set includes two second drive wheels. Both the first drive wheel and the second drive wheel include a wheel body and a hub motor disposed in the wheel body to drive the wheel body to rotate.

3. The self-moving chassis of claim 2, wherein, The self-moving chassis has a two-wheel drive mode and a four-wheel drive mode; In the two-wheel drive mode, only the hub motor in the first wheel set is activated; or, only the hub motor in the second wheel set is activated. In the four-wheel drive mode, both the hub motor in the first wheel set and the hub motor in the second wheel set are activated.

4. The self-moving chassis of claim 3, wherein, The self-moving chassis also includes: The control unit, wherein the hub motor is electrically connected to the control unit, is used to switch between the two-wheel drive mode and the four-wheel drive mode; The control unit is configured to switch to the four-wheel drive mode when the slope exceeds a first preset threshold, and switch to the two-wheel drive mode when the slope is detected to be below a second preset threshold, wherein the second preset threshold is less than or equal to the first preset threshold.

5. The self-moving chassis of claim 1, wherein, The self-moving chassis also includes: A counterweight, which is detachably mounted on the vehicle frame, is used to adjust the center of gravity of the self-moving chassis.

6. The self-moving chassis of claim 5, wherein, The number of counterweights is multiple, and the center of gravity of the self-moving chassis is adjusted by changing the number of counterweights.

7. The self-moving chassis of claim 5, wherein, The self-moving chassis also includes a movable cavity that houses the counterweight. By changing the position of the movable cavity relative to the vehicle frame, the center of gravity of the self-moving chassis can be adjusted.

8. The self-moving chassis of claim 1, wherein, The self-moving chassis also includes: A suspension assembly connecting the vehicle frame to the first and second wheel sets, for adjusting the position of the center of gravity of the self-moving chassis in the height direction by adjusting the suspension travel.

9. The self-moving chassis of claim 1, wherein, The self-moving chassis also includes: A steering assembly is arranged between the vehicle frame and the first driving wheel for controlling the steering angle of the first driving wheel; and / or, the steering assembly is arranged between the vehicle frame and the second driving wheel for controlling the steering angle of the second driving wheel.

10. A smart lawnmower, characterized in that, The intelligent mower comprises a mowing assembly and the self-moving chassis as claimed in any one of claims 1-9, and the mowing assembly is arranged on the self-moving chassis.

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