Smart lawnmower

Abstract

This application provides an intelligent lawnmower, belonging to the technical field of intelligent lawnmowers, including a complete machine; a crash barrier disposed on the periphery of at least a portion of the machine; a rotating shaft assembly, the crash barrier being rotatably connected to the machine via the rotating shaft assembly, the rotating shaft assembly rotating around a rotation axis; and a detection component for detecting whether the crash barrier has been impacted, the detection component including a first detection element and a second detection element that cooperates with the first detection element to sense the impact, the first detection element being disposed on the crash barrier, and the second detection element being disposed on the machine; wherein, when the crash barrier is impacted, the crash barrier rotates relative to the machine around the rotation axis, and the first end point of the crash barrier rotates a first stroke, the first detection element rotates a second stroke, the first stroke being greater than the second stroke; the first end point is the point where the orthographic projection of the crash barrier on the travel surface is farthest from the orthographic projection of the rotation axis on the travel surface along the forward direction of the intelligent lawnmower. This application ensures both uniform triggering of the crash barrier and high detection sensitivity and reliability.

Description

Technical Field

[0001] This application relates to the field of intelligent lawnmower technology, and more particularly to an intelligent lawnmower. Background Technology

[0002] Intelligent lawnmowers, as a type of intelligent gardening equipment widely used in recent years, typically have anti-collision devices around their circumference. These devices sense obstacles and transmit trigger signals to the main controller, thus achieving obstacle avoidance. In existing technology, common anti-collision devices often employ a front-to-back sensing method. This involves a spring that extends and retracts along the front-to-back direction between the impact plate and the lawnmower itself. The basic principle is that when the impact plate is subjected to an external force, it displaces along the front-to-back direction, pressing an internal microswitch to output a trigger signal.

[0003] However, this type of impact plate solution has several shortcomings. First, the impact plate's return relies on a spring positioned along the front-to-back direction. Over time, this spring is prone to fatigue or breakage, leading to false triggering even with slight vibrations or obstructions from grass, affecting the overall stability of the machine. Second, in existing solutions, the impact plate's trigger sensitivity varies depending on the location of the force applied, resulting in unstable impact detection results and affecting the lawnmower's continuous operation performance in complex garden environments. Furthermore, the front-to-back sensing method is problematic. When the distance between the impact plate and the machine body is large, it hinders a compact design; conversely, if the distance is too close, insufficient detection space increases the likelihood of false triggering.

[0004] In summary, existing intelligent lawnmower collision detection solutions generally suffer from problems such as inflexible return, uneven force distribution, high false trigger rate, poor reliability, and insufficient structural compactness, making it difficult to meet the requirements for long-term stable operation in complex garden environments. Utility Model Content

[0005] To overcome the problems existing in related technologies, this specification provides an intelligent lawnmower that ensures both uniform triggering of the anti-collision plate and sensitive and reliable detection.

[0006] According to a first aspect of this application, a smart lawnmower is provided, capable of traveling on a surface, comprising:

[0007] Complete machine;

[0008] Anti-collision plates are installed on the periphery of at least a portion of the entire machine;

[0009] A rotating shaft assembly is connected between the entire machine and the anti-collision plate. The anti-collision plate is rotatably connected to the entire machine through the rotating shaft assembly, and the rotating shaft assembly rotates around a rotation axis.

[0010] A detection component is used to detect whether the anti-collision plate has been impacted. The detection component includes a first detection element and a second detection element that cooperates with the first detection element to sense the impact. The first detection element is disposed on the anti-collision plate, and the second detection element is disposed on the whole machine.

[0011] When the anti-collision plate is impacted, it rotates relative to the whole machine around the rotation axis, and the first end point of the anti-collision plate rotates for a first stroke, while the first detection element rotates for a second stroke, with the first stroke being greater than the second stroke.

[0012] The first endpoint is the point where the orthographic projection of the anti-collision plate on the travel surface is farthest from the orthographic projection of the rotation axis on the travel surface along the forward direction of the intelligent lawnmower.

[0013] This application replaces the linear displacement mode in the prior art by setting a rotating shaft assembly between the whole machine and the anti-collision plate, enabling the anti-collision plate to swing around the rotation axis relative to the whole machine. When the anti-collision plate is impacted by an external force, it rotates around the rotation axis as a whole, and the first detection element rotates with the anti-collision plate and undergoes a displacement change relative to the second detection element to achieve sensing detection.

[0014] By limiting the rotational stroke of the first end of the anti-collision plate to be greater than that of the first detection element, the anti-collision plate has a larger swing margin when impacted. This maintains detection sensitivity while avoiding false triggering caused by slight vibrations or grass interference, thus significantly improving the stability and accuracy of detection. Furthermore, this application employs a rotating shaft assembly structure, ensuring that the anti-collision plate's movement trajectory primarily unfolds along an arc, with the stroke concentrated in the circumferential area of ​​the rotation axis. This reduces structural footprint in the front-rear direction of the machine, making the front end more compact and enhancing the overall compactness and aesthetics of the intelligent lawnmower.

[0015] In addition, the solution achieves the overall swing of the crash barrier through the rotating shaft assembly structure, changing the force from linear compression in the front-to-back direction to rotation around the axis, which significantly improves the trigger uniformity of the crash barrier when subjected to force at different positions.

[0016] Overall, the intelligent lawnmower provided in this application enables the anti-collision plate to achieve axial swing detection through the rotating shaft assembly, and limits the stroke of the anti-collision plate to be greater than the stroke of the detection component, thereby ensuring both uniform triggering and detection sensitivity and reliability, and achieving the compact structure of the whole machine through arc swing.

[0017] In some exemplary embodiments of this application, the pivot assembly includes a pivot shaft, and the anti-collision plate includes a left connecting area and a right connecting area spaced apart along the axial direction of the pivot shaft. The orthographic projections of the left connecting area and the right connecting area on the travel surface are respectively located on both sides of the orthographic projection of the first central axis of the whole machine on the travel surface. The first central axis of the whole machine is parallel to the forward direction of the intelligent lawnmower.

[0018] Both the left connecting area and the right connecting area are rotatably connected to the whole machine through the rotating shaft assembly.

[0019] In this type of embodiment, the anti-collision plate has left and right connecting areas spaced apart along the axial direction of the rotation axis, and their projections on the travel surface are located on both sides of the central axis of the whole machine, making the anti-collision plate structurally symmetrical with respect to the whole machine. This arrangement ensures that the force distribution around the rotation axis is more uniform when the anti-collision plate is impacted from different directions or different parts, thereby maintaining balance and stability in the anti-collision triggering process and avoiding the problem of inconsistent sensitivity caused by biased rotation. In addition, the left and right connecting areas are rotatably connected to the whole machine through the rotating shaft assembly, making the rotation of the anti-collision plate smoother, the support rigidity higher, and improving the reliability and repeatability of the detection action.

[0020] In some exemplary embodiments of this application, the anti-collision plate further includes a main anti-collision area located between the left connecting area and the right connecting area, wherein the left connecting area, the right connecting area and the main anti-collision area are integrally formed.

[0021] In this type of embodiment, the left connecting area, right connecting area, and main anti-collision area of ​​the crash barrier are integrally molded. This design allows the crash barrier to transmit force as a whole when subjected to external impact, avoiding detection delays or signal deviations caused by loose connections or gaps between components in the assembled structure. Simultaneously, the integral molding structure reduces assembly steps, minimizes precision errors caused by accumulated manufacturing tolerances, makes the crash barrier's rotation trajectory more stable, and ensures more consistent detection actions, thus improving the sensitivity and reliability of crash detection.

[0022] In some exemplary embodiments of this application, the rotating shaft assembly further includes a left reset member and a right reset member. The left connecting area is rotatably connected to the whole machine through the rotating shaft and the left reset member, and the right connecting area is rotatably connected to the whole machine through the rotating shaft and the right reset member.

[0023] The left and right reset components are used to automatically reset the anti-collision plate to its initial position after the anti-collision plate is detached from external impact.

[0024] In this type of embodiment, by providing a left reset component and a right reset component at each end of the rotating shaft assembly, the anti-collision plate can automatically reset to its initial position under the action of the two reset components after being impacted. This design makes the return action of the anti-collision plate more balanced and smooth, not only enabling it to quickly return to the initial detection state after the external force is removed, but also avoiding the return offset problem caused by unilateral force. The two reset components work together to provide a structural basis for maintaining consistent return torque on both sides of the anti-collision plate, thereby maintaining detection accuracy and stability during multiple reciprocating actions, significantly improving the long-term reliability and service life of the device.

[0025] In some exemplary embodiments of this application, the intelligent lawnmower further includes a swing bracket, the anti-collision plate is rotatably connected to the rotating shaft assembly through the swing bracket, and the first detection element is fixed to the swing bracket.

[0026] In this type of embodiment, a swing bracket is provided between the crash barrier and the rotating shaft assembly, allowing the crash barrier to rotate around the axis of rotation via the swing bracket, and the first detection component is mounted on the swing bracket. This design makes the installation position of the first detection component more reasonable, enabling it to directly follow the rotation of the crash barrier, thereby ensuring the synchronicity and accuracy of the detection response. As a transitional structure between the crash barrier and the rotating shaft assembly, the swing bracket also plays a role in force transmission and positioning, making the rotation of the crash barrier more stable and providing greater flexibility in arrangement under different installation space conditions, thus improving the compactness and assembly reliability of the overall structure.

[0027] In some exemplary embodiments of this application, the swing bracket includes a connecting base and a protrusion extending from a portion of the connecting base toward the direction of the second detection element. The connecting base connects the anti-collision plate and the pivot assembly, and the first detection element is fixed to the protrusion.

[0028] In this type of embodiment, the swing bracket includes a connecting base and a protrusion extending toward the second detection element, on which the first detection element is mounted. This design allows the first detection element to be positioned at an optimal distance from the second detection element, thereby improving sensing accuracy and signal triggering sensitivity. Simultaneously, the connecting base connects the anti-collision plate and the rotating shaft assembly, bearing the main structural support and rotational force transmission functions, while the protrusion independently undertakes the function of mounting the first detection element. This clear division of labor in the structure prevents the first detection element from being affected by impact forces, thereby improving the stability and lifespan of the detection assembly.

[0029] In some exemplary embodiments of this application, there are two swing brackets, namely a left swing bracket and a right swing bracket. The left swing bracket connects the left connecting area and the rotating shaft assembly, and the right swing bracket connects the right connecting area and the rotating shaft assembly.

[0030] In this type of embodiment, the left and right swing brackets provide independent swing support points on both sides of the crash barrier, thereby achieving more balanced rotational support when the crash barrier is under force, preventing eccentricity or jamming problems caused by unilateral support. The dual-bracket structure can also distribute the force on the crash barrier, improving the overall structural rigidity and impact resistance, thereby enhancing the stability of the crash barrier's rotation and the reliability of the detection action.

[0031] In some exemplary embodiments of this application, the number of detection components is two sets, namely a left detection component and a right detection component. The first detection element of the left detection component is fixed to the left swing bracket, and the first detection element of the right detection component is fixed to the right swing bracket.

[0032] In this type of embodiment, detection components, namely a left detection component and a right detection component, are respectively installed at the positions of the left and right swing brackets, with the first detection element of each component fixed to the corresponding swing bracket. This design allows the anti-collision plate to independently trigger detection when subjected to force from either the left or right side, ensuring timely identification regardless of whether the collision occurs on the left, right, or center of the fuselage. This dual-detection component structure not only expands the detection coverage and improves the comprehensiveness of the anti-collision response, but also allows the other side to operate independently if the detection element on one side fails, thereby enhancing the redundancy and reliability of the detection system and ensuring continuous and stable operation of the entire machine in complex environments.

[0033] In some exemplary embodiments of this application, the orthographic projection of the first detection element on the traveling surface and the orthographic projection of the first endpoint on the traveling surface are respectively located on both sides of the orthographic projection of the rotation axis on the traveling surface. The whole machine is provided with a limiting member, which is used to limit the range of rotation of the anti-collision plate relative to the whole machine around the rotation axis.

[0034] In this type of embodiment, the orthographic projection of the first detection element on the traveling surface and the orthographic projection of the first end point of the anti-collision plate are distributed on opposite sides of the rotation axis projection, and a limiting component is provided on the entire machine to restrict the rotation range of the anti-collision plate. This structural arrangement ensures that the movement trajectory of the first detection element and the movement trajectory of the anti-collision plate form an appropriate displacement difference, so that when the anti-collision plate swings significantly, the first detection element only needs a small stroke to trigger detection, thereby achieving a highly sensitive and low false trigger detection effect. At the same time, this arrangement helps to make the structural layout of the anti-collision plate and the entire machine more compact. In addition, the setting of the limiting component prevents the anti-collision plate from rotating excessively, avoiding damage to the structure due to excessive displacement, and improving the safety and long-term reliability of the structure.

[0035] In some exemplary embodiments of this application, when the angle of rotation of the anti-collision plate relative to the whole machine about the rotation axis is greater than or equal to a preset threshold, the first detection element and the second detection element cooperate to trigger an impact signal, and the preset threshold is 4°-8°;

[0036] The angle at which the anti-collision plate rotates relative to the whole machine about the rotation axis is less than or equal to 15°.

[0037] In this type of embodiment, a detection signal is triggered when the rotation angle of the bumper around its axis reaches a preset threshold, which is specified as 4°–8°, with a maximum rotation angle not exceeding 15°. This angle limitation provides a clear trigger range for the detection process, ensuring that detection is triggered only when the bumper undergoes significant displacement due to a real obstacle. This effectively distinguishes between environmental interference and actual collision events, reducing false alarms. Simultaneously, limiting the maximum rotation angle prevents the bumper from overtraveling, ensuring that the detection components and mechanical structure operate within a reasonable range, thus improving the accuracy of the detection response and the structural durability.

[0038] In some exemplary embodiments of this application, the first detection element is a Hall magnet, and the second detection element is a Hall sensor;

[0039] When the anti-collision plate is impacted and the angle of rotation is greater than or equal to the preset threshold, the first detection element rotates from the initial position to the trigger position and cooperates with the second detection element to trigger an impact signal.

[0040] When the first detection element is in the initial position, the orthographic projection of the second detection element in the rotation plane of the first detection element has a first distance L1 between it and the first detection element.

[0041] When the second detection element is in the trigger position, the orthographic projection of the second detection element in the rotation plane of the first detection element has a second distance L2 between it and the first detection element, where L2-L1≥3.5mm.

[0042] In this type of embodiment, a non-contact detection component consisting of a Hall magnet and a Hall sensor is used, with L2-L1 ≥ 3.5 mm, enabling the detection process to be based on the principle of "distance increase triggering". When the bumper is in its initial position, the distance between the Hall magnet and the Hall sensor is small, and the magnetic field strength detected by the sensor is at a high value. When the bumper is impacted by an external force and rotates around its axis, the magnet gradually moves away from the sensor, causing the induced magnetic field strength to drop below a set threshold. At this point, the Hall sensor outputs a trigger signal. Compared to the "magnet approach triggering" method, "distance triggering" can trigger the detection signal only when the bumper undergoes a large angular displacement, thus effectively avoiding false triggering caused by slight vibrations or disturbance of grass.

[0043] Meanwhile, by limiting the distance change to L2-L1 ≥ 3.5mm, the Hall sensor can obtain a significant magnetic field strength change signal during detection, thus forming a clear trigger boundary. This design avoids insufficient magnetic field change or signal drift caused by excessively small detection spacing, ensuring that triggering is maintained even after long-term use or when there are slight tolerances in the structure.

[0044] In some exemplary embodiments of this application, the distance between the first detection element and the second detection element along the direction of extension of the rotation axis is 6mm-8mm.

[0045] In this type of embodiment, the axial distance between the first and second detection elements along the rotation axis is defined as 6mm–8mm. This range design ensures that the detection components maintain an optimal magnetic field induction distance in their structural arrangement. This prevents magnetic interference caused by too small a distance between the first and second detection elements, while also avoiding weakening of the induction signal due to too large a distance, thus ensuring stable detection signal output.

[0046] In some exemplary embodiments of this application, the anti-collision plate is provided with a guide surface on the forward side, and the guide surface is inclined relative to the forward direction of the intelligent lawnmower.

[0047] In this type of embodiment, by setting a guiding surface, the impact force can be dispersed and transmitted along the inclined direction of the guiding surface when the bumper comes into contact with external obstacles or grass, thereby achieving a smooth transition. This design can guide the external force into a tangential component along the arc surface when the smart lawnmower encounters an obstacle, avoiding concentrated impact on the bumper and improving the buffering capacity and structural durability during the impact process.

[0048] Meanwhile, the guide surface can guide grass blades or debris during operation, allowing them to slide smoothly off the surface of the crash barrier, reducing the risk of grass clippings or foreign objects accumulating at the bottom of the crash barrier and thus preventing "grass jamming." This structural design not only improves the stress stability and anti-jamming ability of the crash barrier but also enhances the overall smoothness of the machine's movement and operating efficiency, enabling the intelligent lawnmower to maintain continuous and stable operation in complex garden terrain.

[0049] In some exemplary embodiments of this application, the complete machine includes a recharging module, and the smart lawnmower confirms the location of the charging base station through the recharging module;

[0050] The recharge module is at least partially located on the side of the rotating shaft near the travel surface and supports the rotating shaft.

[0051] In this type of embodiment, a recharge module is incorporated into the machine for the intelligent lawnmower to locate the charging base station. This recharge module is at least partially positioned on the side of the rotating shaft closest to the travel surface, simultaneously providing support for the rotating shaft. This design fully utilizes the internal space of the machine, enabling the recharge module to perform both "charging base station location detection" and "rotating shaft structural support" functions. This not only achieves functional integration and reduces the need for independent support structures but also optimizes the internal layout of the machine, improving its space utilization and compactness.

[0052] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this specification. Attached Figure Description

[0053] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this specification and, together with the description, serve to explain the principles of this specification.

[0054] Figure 1 This is a schematic diagram of a portion of the structure of the intelligent lawnmower in an exemplary embodiment of this application.

[0055] Figure 2 This is an exploded view of a portion of the structure of the intelligent lawnmower in an exemplary embodiment of this application.

[0056] Figure 3 This is a front view of a portion of the structure of the intelligent lawnmower in an exemplary embodiment of this application.

[0057] Figure 4 This is a top view of a portion of the structure of the intelligent lawnmower in an exemplary embodiment of this application.

[0058] Figure 5 This is a side view of a portion of the structure of the intelligent lawnmower in an exemplary embodiment of this application.

[0059] Figure 6 This is a schematic diagram of the swing support structure in an exemplary embodiment of this application.

[0060] Figure 7 This is a schematic diagram of the anti-collision plate structure in an exemplary embodiment of this application.

[0061] Figure 8 This is a schematic diagram showing the positional relationship between the first and second detection elements in an exemplary embodiment of this application.

[0062] Figure 9 This is a schematic diagram showing another angular positional relationship between the first and second detection elements in an exemplary embodiment of this application.

[0063] Explanation of reference numerals in the attached figures

[0064] 100 - Complete unit; 110 - Recharge module; 120 - Limiting component; 200 - Anti-collision plate; 210 - Left connecting area; 220 - Main anti-collision area; 230 - Right connecting area; 240 - Guide surface; 300 - Rotating shaft assembly; 310 - Rotating shaft; 320 - Left reset component; 330 - Right reset component; 401 - Left detection component; 402 - Right detection component; 410 - First detection component; 420 - Second detection component; 501 - Left swing bracket; 502 - Right swing bracket; 510 - Connecting base; 520 - Protrusion; 530 Rotating shaft fixing part; O1 - First central axis. Detailed Implementation

[0065] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed descriptions will be omitted. Furthermore, the drawings are merely illustrative of this application and are not necessarily drawn to scale.

[0066] Although relative terms such as "up" and "down" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples shown in the accompanying drawings. It is understood that if the device of the icon is flipped upside down, the component described as "up" will become the component described as "down." When a structure is "up" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.

[0067] The terms “a,” “one,” “the,” “the,” and “at least one” are used to indicate the presence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first,” “second,” and “third,” etc., are used only as markers and are not a limitation on the number of objects.

[0068] In this application, terms such as "perpendicular" and "equal" refer to perpendicularity and equality within the range of process error, not absolute perpendicularity and equality. Process error can be within ±10% or ±5%. For example, if the first direction and the second direction are perpendicular, it can be understood that the angle between the first direction and the second direction can be 90° ± 5°.

[0069] In related technologies, anti-collision devices mostly adopt a front and rear sensing method, that is, a spring that extends and retracts in the front and rear direction is set between the anti-collision plate and the lawnmower. The basic principle is that when the anti-collision plate is impacted by an external force, it will displace in the front and rear direction and press the internal micro switch to output a trigger signal.

[0070] In this method, when the crash barrier is subjected to external force in the central area, due to its strong support to the machine body, it needs to withstand a large impact force to displace, which may cause it to continue moving forward even when actually contacting an obstacle, resulting in a delayed obstacle avoidance response. Conversely, when the crash barrier is subjected to force in the lateral areas, due to the relatively weak support in these areas, the crash barrier is easily deflected by slight external forces or obstructions from grass, triggering a detection signal. This can cause the machine to stop or turn under non-real obstacle conditions, resulting in operational interruption. Therefore, the existing crash barrier detection scheme suffers from the problem of insensitivity in the central area and oversensitivity in the lateral areas. Furthermore, this method is not conducive to a compact design of the entire machine and is prone to false triggering.

[0071] Based on this, such as Figure 1 and Figure 2 As shown, this application provides an intelligent lawnmower capable of traveling on a surface, comprising a machine 100, a crash barrier 200, a rotating shaft assembly 300, and a detection component. The crash barrier 200 is disposed on the periphery of at least a portion of the machine 100. The rotating shaft assembly 300 connects the machine 100 and the crash barrier 200, and the crash barrier 200 is rotatably connected to the machine 100 via the rotating shaft assembly 300, which rotates about a rotation axis. The detection component is used to detect whether the crash barrier 200 has been impacted. The detection component includes a first detection element 410 and a second detection element 420 that cooperates with the first detection element 410 for sensing. The first detection element 410 is disposed on the crash barrier 200, and the second detection element 420 is disposed on the machine 100.

[0072] When the anti-collision plate 200 is impacted, it rotates relative to the whole machine 100 around the rotation axis. The first end point D of the anti-collision plate 200 rotates for a first stroke, and the first detection element 410 rotates for a second stroke, with the first stroke being greater than the second stroke. The first end point D is the point where the orthographic projection of the anti-collision plate 200 on the travel surface is farthest from the orthographic projection of the rotation axis on the travel surface along the forward direction of the intelligent lawnmower.

[0073] This application provides a rotating shaft assembly 300 between the main body 100 and the anti-collision plate 200, enabling the anti-collision plate 200 to swing relative to the main body 100 around its rotation axis, replacing the linear displacement mode along the front-to-back direction in the prior art. When the anti-collision plate 200 is impacted by an external force, it rotates as a whole around its rotation axis. The first detection element 410 rotates with the anti-collision plate 200 and undergoes a displacement change relative to the second detection element 420, thereby achieving sensor detection.

[0074] By limiting the rotational stroke of the first end point D of the anti-collision plate 200 to be greater than that of the first detection element 410, the anti-collision plate 200 has a larger swing margin when impacted. This maintains detection sensitivity while avoiding false triggering caused by slight vibrations or grass interference, thus significantly improving the stability and accuracy of detection. Furthermore, this application employs a rotating shaft assembly 300 structure, ensuring that the movement trajectory of the anti-collision plate 200 mainly unfolds along an arc, with the stroke concentrated in the circumferential area of ​​the rotation axis. This reduces the structural footprint in the front-rear direction of the entire machine 100, making the front end of the machine 100 more compact and improving the overall compactness and aesthetics of the intelligent lawnmower.

[0075] In addition, the solution realizes the overall swing of the anti-collision plate 200 through the structure of the rotating shaft assembly 300, so that the force is changed from linear compression in the front and back direction to rotation around the axis, which significantly improves the trigger uniformity of the anti-collision plate 200 when it is subjected to force at different positions.

[0076] Overall, the intelligent lawnmower provided in this application enables the anti-collision plate 200 to achieve axial swing detection through the rotating shaft assembly 300, and limits the stroke of the anti-collision plate 200 to be greater than the stroke of the detection element, thereby ensuring both uniform triggering and detection sensitivity and reliability, and achieving the structural compactness of the whole machine 100 through arc swing.

[0077] The various parts of the intelligent lawnmower provided in the embodiments of this application will now be described in detail with reference to the accompanying drawings:

[0078] like Figure 1 , Figure 2 and Figure 3 As shown, the intelligent lawnmower provided in this application is capable of walking on a travel surface and performing lawn mowing operations, and the travel surface can be the ground. It should be noted that, in this application, the travel surface is approximately a plane when used as a reference. The intelligent lawnmower includes a complete machine 100, a crash barrier 200, a rotating shaft assembly 300, and a detection assembly.

[0079] The complete machine 100 may include a body, wheels, and a blade assembly. The wheels are mounted on the bottom of the body and are used to drive the intelligent lawnmower. The blade assembly may be located on the bottom or side of the body and is used to cut the lawn or lawn boundary. The complete machine 100 may also include other structural components, which are not described in detail here.

[0080] The anti-collision plate 200 is disposed on the periphery of at least a portion of the machine 100 to detect collision signals of external obstacles during the movement of the intelligent lawnmower. Specifically, the anti-collision plate 200 can be disposed along the front end, side, or the combined area of ​​the front end and side of the machine 100 to cover the main direction of travel and lateral areas of the intelligent lawnmower, thereby achieving all-round anti-collision detection. For example, in a preferred embodiment, the anti-collision plate 200 is distributed in an arc shape along the front end of the machine 100, so that it can preferentially contact obstacles in the forward direction; in another embodiment, the anti-collision plate 200 can be continuously arranged along the front end and sides of the machine 100 to form a surrounding protective belt to enhance lateral detection capability.

[0081] Furthermore, the anti-collision plate 200 is provided with a guide surface 240 on the forward side. The guide surface 240 is inclined relative to the forward direction of the intelligent lawnmower, which is used to disperse the impact force and guide the obstacle to slide away from the surface of the anti-collision plate 200 when the anti-collision plate 200 comes into contact with an external obstacle.

[0082] Specifically, the guide surface 240 can be formed in the front end area of ​​the anti-collision plate 200. In one embodiment, the guide surface 240 can be a smooth arc-shaped surface, and its radius of curvature can be designed to match the front end shape and space of the whole machine 100. The arc-shaped contour increases the contact area of ​​the anti-collision plate 200 when it comes into contact with an obstacle, thereby further reducing the force per unit area and reducing the impact concentration effect. In another embodiment, the guide surface 240 can adopt a multi-segment broken line or curved surface combination structure to achieve segmented guidance and layered buffering. When the anti-collision plate 200 touches the grass, the grass blades can slide out along the guide surface 240 to prevent grass clippings from getting tangled on the lower edge of the anti-collision plate 200 and avoid false triggering or blockage caused by "grass getting stuck".

[0083] To improve wear resistance, the outer layer of the guide surface 240 may be covered with a wear-resistant coating or elastic covering, such as a rubber coating or polyurethane coating material, to enhance its scratch resistance and self-cleaning properties.

[0084] The crash barrier 200 can be made of high-toughness engineering plastics (such as ABS, PC+ABS, nylon-reinforced materials) or composite elastic materials to achieve good impact resistance while being lightweight. In scenarios requiring higher strength, the crash barrier 200 can also have reinforcing ribs added to the inside or a metal frame partially embedded to enhance overall rigidity and resistance to deformation.

[0085] The rotating shaft assembly 300 is disposed between the whole machine 100 and the anti-collision plate 200. The anti-collision plate 200 is rotatably connected to the whole machine 100 through the rotating shaft assembly 300. The rotating shaft assembly 300 rotates around the rotation axis, so that the anti-collision plate 200 can swing around the rotation axis, thereby achieving a sensitive mechanical response when the intelligent lawnmower is hit by an external obstacle.

[0086] In some embodiments of this application, the rotating shaft assembly 300 includes a rotating shaft 310, the axis of which is the axis of rotation of the anti-collision plate 200 when it rotates. Figure 4 and Figure 7 As shown, to ensure the anti-collision plate 200 is force-balanced and can rotate stably, the anti-collision plate 200 includes a left connecting area 210 and a right connecting area 230 arranged axially at intervals along the rotation axis 310. The left connecting area 210 and the right connecting area 230 are respectively located at both ends of the anti-collision plate 200. The orthographic projections of the left connecting area 210 and the right connecting area 230 on the traveling surface are located on both sides of the orthographic projection of the first central axis O1 of the whole machine 100 on the traveling surface. The first central axis O1 of the whole machine 100 is parallel to the forward direction of the intelligent lawnmower.

[0087] With this symmetrical structural arrangement, the anti-collision plate 200 can achieve balanced rotation around the rotation axis when impacted by an obstacle. Specifically, when the intelligent lawnmower encounters an obstacle skewed to the left or right, the connecting area on the corresponding side will be stressed first, thereby causing the entire anti-collision plate 200 to rotate around the rotation axis 310 at a small deviation angle, effectively preventing the anti-collision plate 200 from tilting, shaking, or jamming when stressed on one side.

[0088] Both the left connecting area 210 and the right connecting area 230 are rotatably connected to the whole machine 100 via a rotating shaft assembly 300. This connection method can adopt a through-type or segmented connecting support structure. For example, in one embodiment, the rotating shaft 310 passes through the left connecting area 210 and the right connecting area 230 and is connected to the whole machine 100 through an integrated connecting structure, thereby forming a stable rotation fulcrum. In another alternative, the left connecting area 210 and the right connecting area 230 can be provided with independent shaft segments and support components, so that the anti-collision plate 200 can achieve flexible support through the rotating points distributed at both ends.

[0089] Furthermore, such as Figure 2 As shown, the complete machine 100 includes a recharge module 110, which is used by the smart lawnmower to confirm the location of the charging station. The recharge module 110 is at least partially located on the side of the rotating shaft 310 near the travel surface and supports the rotating shaft 310. Specifically, the recharge module 110 can be located at the front end of the complete machine 100, with the rotating shaft 310 spanning across it. This design makes full use of the internal space of the complete machine 100, enabling the recharge module 110 to serve the dual functions of "charging station positioning detection" and "rotating shaft 310 structural support." This not only achieves functional integration and reduces the need for independent support structures but also optimizes the internal layout of the machine, improving the space utilization and compactness of the complete machine 100.

[0090] In some embodiments, the bumper 200 further includes a main bumper area 220 located between the left connecting area 210 and the right connecting area 230, the main bumper area 220 being used to make primary contact with obstacles during the lawnmower's forward movement. The left connecting area 210, the right connecting area 230, and the main bumper area 220 are integrally formed to constitute a continuous protective structure.

[0091] The main anti-collision zone 220 is typically located in the central area of ​​the front end of the entire machine 100. Its shape can be arc-shaped, polygonal, or a composite curved surface to accommodate collisions from different directions. Preferably, the outer surface of the main anti-collision zone 220 can be consistent with the front contour of the outer shell of the entire machine 100, forming a natural transition, which not only improves the overall appearance consistency but also ensures that the anti-collision plate 200 swings smoothly after being subjected to force.

[0092] The one-piece molding structure effectively avoids the gaps, looseness, or assembly errors at the joints of a split structure, thus ensuring continuous force transmission and synchronized movement of the crash barrier 200 during rotation. This structure also significantly improves the overall rigidity and deformation resistance of the crash barrier 200, preventing deformation or detection delays caused by weak local connections.

[0093] In specific embodiments, the crash barrier 200 can be manufactured through injection molding, die casting, or a composite mold one-time molding process. For applications requiring higher structural strength, reinforcing ribs or a lightweight metal frame can be embedded on the inner side of the main crash barrier 220 to enhance overall strength and prevent permanent deformation after impact.

[0094] In some embodiments of this application, the rotating shaft assembly 300 further includes a left reset member 320 and a right reset member 330, respectively disposed at the left and right ends of the rotating shaft 310. The left connecting area 210 is rotatably connected to the whole machine 100 through the rotating shaft 310 and the left reset member 320, and the right connecting area 230 is rotatably connected to the whole machine 100 through the rotating shaft 310 and the right reset member 330, so that after the anti-collision plate 200 is subjected to force and swings, it can automatically return to its initial position under the action of elastic reset force. In an optional structure, the left reset member 320 and the right reset member 330 can be symmetrically arranged about the first central axis O1 to ensure that the return torque of the anti-collision plate 200 after being subjected to force remains balanced. This symmetrical arrangement avoids the eccentric force problem of unilateral reset, enabling the anti-collision plate 200 to return smoothly along its original trajectory during the return process, preventing left and right swings or detection errors caused by uneven return.

[0095] Specifically, both the left reset member 320 and the right reset member 330 can adopt a torsion spring structure, and the torsion spring can be fitted around the outer circumference of the rotating shaft 310. When the anti-collision plate 200 is impacted by an external force and rotates around the rotation axis, the torsion spring is torsionally charged and stores energy; when the external force is released, the torsion spring releases the stored energy, causing the anti-collision plate 200 to automatically return to the initial untriggered position, realizing the mechanical self-reset function. The number of coils and stiffness of the torsion spring can be optimized according to the weight and swing angle of the anti-collision plate 200 to ensure that it can respond sensitively at small angular displacements and generate sufficient return torque at large displacements, thereby achieving reliable reset under various collision intensities.

[0096] In another alternative, the reset component can also be a reset spring, a rubber elastic element, or a torsion bar structure to adapt to different spatial arrangements and mechanical requirements. For example, when the internal space of the fuselage is limited, a leaf spring structure can be arranged near the rotating shaft 310 to achieve the reset function through the elastic deformation of the material, thereby maintaining the overall compact structure.

[0097] The detection component is used to detect whether the anti-collision plate 200 has been impacted. The detection component includes a first detection element 410 and a second detection element 420 that cooperates with the first detection element 410 to sense. The first detection element 410 is disposed on the anti-collision plate 200, and the second detection element 420 is disposed on the whole machine 100.

[0098] When the anti-collision plate 200 is impacted, it rotates relative to the whole machine 100 around the rotation axis. The first end point D of the anti-collision plate 200 rotates for a first stroke, and the first detection element 410 rotates for a second stroke, with the first stroke being greater than the second stroke. The first end point D is the point where the orthographic projection of the anti-collision plate 200 on the travel surface is farthest from the orthographic projection of the rotation axis on the travel surface along the forward direction of the intelligent lawnmower.

[0099] In this embodiment, the detection component is used to detect whether the anti-collision plate 200 is subjected to external impact, so as to output a corresponding trigger signal and transmit it to the control module of the intelligent lawnmower, thereby realizing obstacle avoidance control. The first detection element 410 is disposed on the anti-collision plate 200 or a component that rotates synchronously with the anti-collision plate 200, and the second detection element 420 is fixedly disposed on the fixed structure (such as the body support or chassis frame) of the whole machine 100.

[0100] In a preferred embodiment, the first detection element 410 is a Hall magnet, and the second detection element 420 is a Hall sensor. The Hall magnet and Hall sensor maintain a certain magnetic field coupling in the initial state. When the anti-collision plate 200 is subjected to an external force and swings around its rotation axis, the distance or position of the magnet relative to the sensor changes, resulting in a change in the magnetic field strength. When this change reaches a preset threshold, the Hall sensor outputs an electrical signal, which the control module determines as an anti-collision trigger event.

[0101] In another optional embodiment, the detection component can be a photoelectric detection structure, with the first detection element 410 being a reflector or a light-shielding plate, and the second detection element 420 being a photoelectric sensor. When the anti-collision plate 200 rotates, the reflected light path or the light-shielding path changes, and the photoelectric sensor detects the change in light intensity and outputs a trigger signal. This solution has the advantages of high detection accuracy and fast response speed, and is suitable for scenarios that require the identification of small displacements or micro-angle changes.

[0102] In another alternative, the detection component can be a microswitch structure, with the first detection element 410 being a trigger bump and the second detection element 420 being a microswitch. When the bumper 200 rotates, the bump presses down on the microswitch contacts to generate an on / off signal. Although this structure is less expensive, its reliability may be reduced by dust or moisture in long-term outdoor environments. Therefore, the preferred embodiment of this application favors a non-contact magnetic induction detection structure.

[0103] like Figures 1 to 3 As shown in some embodiments of this application, the intelligent lawnmower also includes a swing bracket for connecting the anti-collision plate 200 and the rotating shaft assembly 300. The anti-collision plate 200 is rotatably connected to the rotating shaft assembly 300 via the swing bracket, and the first detection component 410 is fixed to the swing bracket. The swing bracket, as an intermediate force transmission and positioning structure, not only provides mechanical support but also serves as the mounting function for the detection component.

[0104] Specifically, a portion of the swing bracket is fixedly connected to the crash barrier 200, while the other end is connected to the rotation shaft 310 of the rotating shaft assembly 300, allowing the crash barrier 200 to swing as a whole with the swing bracket when subjected to external force. This connection method makes the rotation of the crash barrier 200 more stable.

[0105] The first detection element 410 (e.g., a Hall magnet or a light reflector) is fixedly mounted on the swing bracket. This arrangement makes the relative movement path of the first detection element 410 more stable. When the anti-collision plate 200 swings, the first detection element 410 rotates synchronously with the swing bracket, thereby maintaining a precise and controllable relative positional relationship with the second detection element 420. This structure avoids the installation deviation or vibration interference problems caused by directly installing the first detection element 410 on the thin wall of the anti-collision plate 200, and also provides more reasonable arrangement space for the detection components, improving the overall compactness of the installation and the detection sensitivity.

[0106] The swing bracket can be made of metal materials (such as aluminum alloy or carbon steel) or high-strength engineering plastics (such as reinforced nylon) to balance strength and lightweight. Its structural form can be plate-type, L-shaped, or arc-shaped connectors. The specific shape can be optimized according to the relative position of the pivot and the anti-collision plate 200 to ensure the smoothness of the rotation trajectory and structural strength.

[0107] like Figure 5and Figure 6 As shown, in some specific embodiments, the swing bracket includes a connecting base 510 and a protrusion 520 extending from a portion of the connecting base 510 toward the direction of the second detection element 420.

[0108] The connecting base 510 connects the anti-collision plate 200 and the rotating shaft assembly 300, and is the main load-bearing part of the swing bracket. The connecting base 510 may include a rotating shaft fixing part 530, which is used to mount or support the rotating shaft 310, enabling the rotating shaft 310 to be stably positioned on the connecting base 510. Specifically, the rotating shaft fixing part 530 can be a cylindrical structure, with its central axis aligned with the axis of the rotating shaft 310. The rotating shaft fixing part 530 has a rotating shaft hole inside, through which the rotating shaft 310 can pass. A limiting surface may be provided on the wall of the rotating shaft hole to restrict the rotation of the rotating shaft 310 relative to the connecting base 510. Optionally, two reset members, namely a left reset member 320 and a right reset member 330, can be sleeved around the rotating shaft fixing part 530.

[0109] The first detection element 410 is fixed to the protrusion 520, enabling it to form a reasonable spatial position with the second detection element 420. Optionally, the first detection element 410 is installed near the end of the protrusion 520, allowing it to generate a stable relative displacement when the bumper 200 rotates, facilitating precise sensing and engagement with the second detection element 420 (e.g., a Hall sensor). The extension direction and length of the protrusion 520 can be adjusted according to the type of detection component, achieving a balance between detection sensitivity and structural compactness.

[0110] In a preferred structure, the protrusion 520 is integrally formed with the connecting base 510, and the swing bracket as a whole can be in the form of a "step-like", "arm-like" or "tree branch" structure.

[0111] In addition, to enhance installation strength and durability, reinforcing ribs or metal inserts can be pre-installed on the protrusion 520 to fix the first detection element 410. If the first detection element 410 is a Hall magnet, its mounting end face can be kept parallel to the second detection element 420 to ensure that the magnetic induction direction is consistent and to ensure stable signal output.

[0112] like Figures 1 to 3 As shown, in some embodiments, there are two swing brackets, namely a left swing bracket 501 and a right swing bracket 502, which can be arranged symmetrically about the first central axis O1. The left swing bracket 501 connects the left connecting area 210 and the rotating shaft assembly 300, and the right swing bracket 502 connects the right connecting area 230 and the rotating shaft assembly 300.

[0113] This symmetrical double-bracket structure ensures that the crash barrier 200 achieves balanced support and rotation when subjected to impacts from either the left or right. Specifically, when the crash barrier 200 is impacted from the left, the left swing bracket 501 bears the main force and rotational support, while the right swing bracket 502 provides synchronous constraint, allowing the crash barrier 200 to rotate smoothly around its rotation axis; the reverse is also true. When the crash barrier 200 is impacted head-on, both brackets bear the force simultaneously, thus achieving balanced rotation of the crash barrier 200 as a whole and preventing tilting, jamming, or structural deformation caused by uneven force distribution.

[0114] In a preferred configuration, the swing bracket and the anti-collision plate 200 can be connected by fastening screws, slots, or pins to achieve a high-strength mechanical connection and convenient assembly.

[0115] Furthermore, the detection components are divided into two sets: a left detection component 401 and a right detection component 402. The first detection element 410 of the left detection component 401 is fixed to the left swing bracket 501, and the first detection element 410 of the right detection component 402 is fixed to the right swing bracket 502. This design allows the anti-collision plate 200 to independently trigger detection when subjected to force from either the left or right side, ensuring timely identification regardless of whether the collision occurs on the left, right, or center of the fuselage. This dual-detection component structure not only expands the detection coverage and improves the comprehensiveness of the anti-collision response, but also allows the other side to operate independently when one detection element fails, thereby enhancing the redundancy and reliability of the detection system and ensuring the continuous and stable operation of the entire machine 100 in complex environments.

[0116] Optionally, the orthographic projection of the first detection element 410 on the traveling surface and the orthographic projection of the first endpoint D on the traveling surface are located on opposite sides of the orthographic projection of the rotation axis on the traveling surface. This structural arrangement ensures that the movement trajectory of the first detection element 410 forms an appropriate displacement difference with the movement trajectory of the anti-collision plate 200, so that when the anti-collision plate 200 swings significantly, the first detection element 410 only needs a small stroke to trigger detection, thereby achieving a highly sensitive and low false trigger detection effect. At the same time, this arrangement helps to make the structural layout of the anti-collision plate 200 and the whole machine 100 more compact.

[0117] like Figure 5As shown, the machine 100 is provided with a limiting member 120, which is used to limit the range of rotation of the anti-collision plate 200 relative to the machine 100 around the rotation axis. The limiting member 120 can be set according to the position of the rotating shaft assembly 300 and the rotation trajectory of the swing bracket or anti-collision plate 200. For example, the limiting member 120 can be set at the bottom of the machine body. The limiting member 120 can be a stop block structure, and the swing bracket or anti-collision plate 200 contacts the stop block when it rotates to a preset angle, forming a mechanical limit. The stop block can be made of elastic materials such as rubber, TPU or silicone to absorb impact energy at the moment of contact, reduce noise and avoid damage to components caused by hard collision. In addition, the limiting member 120 can also be integrally formed with the machine body, which is not limited in this application.

[0118] Optionally, when the angle of rotation of the anti-collision plate 200 relative to the whole machine 100 about the rotation axis is greater than or equal to a preset threshold, the first detection element 410 and the second detection element 420 cooperate to trigger an impact signal, and the preset threshold is 4°-8°. Specifically, the preset threshold can be 4°, 5°, 6°, 7° or 8°, but is not limited to these. Further, the angle of rotation of the anti-collision plate 200 relative to the whole machine 100 about the rotation axis is less than or equal to 15°.

[0119] In this embodiment, a detection signal is triggered when the rotation angle of the bumper 200 around its rotation axis reaches a preset threshold, which is defined as 4°–8°, with a maximum rotation angle not exceeding 15°. This angle limitation provides a clear trigger range for the detection process. Detection is only triggered when the bumper 200 undergoes significant displacement due to a real obstacle, effectively distinguishing between environmental interference and actual collision events, thus reducing false alarms. Simultaneously, limiting the maximum rotation angle prevents the bumper 200 from overtraveling, ensuring that the detection components and mechanical structure operate within a reasonable range, improving the accuracy of the detection response and the structural durability.

[0120] Next, taking the first detection element 410 as a Hall magnet and the second detection element 420 as a Hall sensor, the positional relationship between the first detection element 410 and the second detection element 420 will be illustrated by way of example.

[0121] When the anti-collision plate 200 is impacted and the rotation angle is greater than or equal to a preset threshold, the first detection element 410 rotates from the initial position to the trigger position and cooperates with the second detection element 420 to trigger an impact signal.

[0122] like Figure 9As shown, when the first detection element 410 is in the initial position, the orthographic projection of the second detection element 420 in the rotation plane of the first detection element 410 has a first distance L1 between it and the first detection element 410. When the second detection element 420 is in the trigger position, the orthographic projection of the second detection element 420 in the rotation plane of the first detection element 410 has a second distance L2 between it and the first detection element 410, where L2-L1≥3.5mm.

[0123] In this type of embodiment, a non-contact detection component consisting of a Hall magnet and a Hall sensor is used, with L2-L1 ≥ 3.5 mm, enabling the detection process to be based on the principle of "distance increase triggering". When the bumper 200 is in its initial position, the distance between the Hall magnet and the Hall sensor is small, and the magnetic field strength detected by the sensor is at a high value. When the bumper 200 is impacted by an external force and rotates around its rotation axis, the magnet gradually moves away from the sensor, causing the induced magnetic field strength to drop below a set threshold. At this point, the Hall sensor outputs a trigger signal. Compared to the "magnet approach triggering" method, "distance triggering" can trigger the detection signal only when the bumper 200 undergoes a large angular displacement, thereby effectively avoiding false triggering caused by slight vibrations or disturbance of grass.

[0124] Meanwhile, by limiting the distance change to L2-L1 ≥ 3.5mm, the Hall sensor can obtain a significant magnetic field strength change signal during detection, thus forming a clear trigger boundary. This design avoids insufficient magnetic field change or signal drift caused by excessively small detection spacing, ensuring that triggering is maintained even after long-term use or when there are slight tolerances in the structure.

[0125] Furthermore, such as Figure 8 As shown, the distance L3 between the first detection element 410 and the second detection element 420 along the rotation axis is 6mm-8mm. Specifically, it can be 6.0mm, 6.1mm, 6.2mm, 6.3mm, 6.4mm, 6.5mm, 6.6mm, 6.7mm, 6.8mm, 6.9mm, 7.0mm, 7.1mm, 7.2mm, 7.3mm, 7.4mm, 7.5mm, 7.6mm, 7.7mm, 7.8mm, 7.9mm, or 8.0mm, but is not limited to these. This range design ensures that the detection components maintain the optimal magnetic field induction distance in their structural arrangement, preventing magnetic interference caused by excessively small distances between the first detection element 410 and the second detection element 420, while also avoiding weakened induction signals due to excessively large distances, thus ensuring stable detection signal output.

[0126] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the appended claims.

Claims

1. A smart lawnmower capable of traveling on a surface, characterized in that, include: Complete machine; Anti-collision plates are installed on the periphery of at least a portion of the entire machine; A rotating shaft assembly is connected between the entire machine and the anti-collision plate. The anti-collision plate is rotatably connected to the entire machine through the rotating shaft assembly, and the rotating shaft assembly rotates around a rotation axis. A detection component is used to detect whether the anti-collision plate has been impacted. The detection component includes a first detection element and a second detection element that cooperates with the first detection element to sense the impact. The first detection element is disposed on the anti-collision plate, and the second detection element is disposed on the whole machine. When the anti-collision plate is impacted, it rotates relative to the whole machine around the rotation axis, and the first end point of the anti-collision plate rotates for a first stroke, while the first detection element rotates for a second stroke, with the first stroke being greater than the second stroke. The first endpoint is the point where the orthographic projection of the anti-collision plate on the travel surface is farthest from the orthographic projection of the rotation axis on the travel surface along the forward direction of the intelligent lawnmower.

2. The intelligent lawnmower according to claim 1, characterized in that, The rotating shaft assembly includes a rotating shaft, and the anti-collision plate includes a left connecting area and a right connecting area that are spaced apart along the axial direction of the rotating shaft. The orthographic projections of the left connecting area and the right connecting area on the traveling surface are respectively located on both sides of the orthographic projection of the first central axis of the whole machine on the traveling surface. The first central axis of the whole machine is parallel to the forward direction of the intelligent lawnmower. Both the left connecting area and the right connecting area are rotatably connected to the whole machine through the rotating shaft assembly.

3. The intelligent lawnmower according to claim 2, characterized in that, The anti-collision plate also includes a main anti-collision area located between the left connecting area and the right connecting area, and the left connecting area, the right connecting area and the main anti-collision area are integrally formed.

4. The intelligent lawnmower according to claim 2, characterized in that, The rotating shaft assembly further includes a left reset component and a right reset component. The left connecting area is rotatably connected to the whole machine through the rotating shaft and the left reset component, and the right connecting area is rotatably connected to the whole machine through the rotating shaft and the right reset component. The left and right reset components are used to automatically reset the anti-collision plate to its initial position after the anti-collision plate is detached from external impact.

5. The intelligent lawnmower according to claim 2, characterized in that, The intelligent lawnmower also includes a swing bracket, the anti-collision plate is rotatably connected to the rotating shaft assembly through the swing bracket, and the first detection element is fixed to the swing bracket.

6. The intelligent lawnmower according to claim 5, characterized in that, The swing bracket includes a connecting base and a protrusion extending from a portion of the connecting base toward the second detection element. The connecting base connects the anti-collision plate and the rotating shaft assembly, and the first detection element is fixed to the protrusion.

7. The intelligent lawnmower according to claim 5, characterized in that, There are two swing brackets, namely a left swing bracket and a right swing bracket. The left swing bracket connects the left connecting area and the rotating shaft assembly, and the right swing bracket connects the right connecting area and the rotating shaft assembly.

8. The intelligent lawnmower according to claim 7, characterized in that, The number of detection components is two sets, namely a left detection component and a right detection component. The first detection element of the left detection component is fixed to the left swing bracket, and the first detection element of the right detection component is fixed to the right swing bracket.

9. The intelligent lawnmower according to claim 1, characterized in that, The orthographic projection of the first detection element on the traveling surface and the orthographic projection of the first endpoint on the traveling surface are respectively located on both sides of the orthographic projection of the rotation axis on the traveling surface. The whole machine is provided with a limiting member, which is used to limit the range of rotation of the anti-collision plate relative to the whole machine around the rotation axis.

10. The intelligent lawnmower according to claim 1, characterized in that, When the angle of rotation of the anti-collision plate relative to the whole machine around the rotation axis is greater than or equal to a preset threshold, the first detection element and the second detection element cooperate to trigger an impact signal, and the preset threshold is 4°-8°. The angle at which the anti-collision plate rotates relative to the whole machine about the rotation axis is less than or equal to 15°.

11. The intelligent lawnmower according to claim 10, characterized in that, The first detection element is a Hall magnet, and the second detection element is a Hall sensor; When the anti-collision plate is impacted and the angle of rotation is greater than or equal to the preset threshold, the first detection element rotates from the initial position to the trigger position and cooperates with the second detection element to trigger an impact signal. When the first detection element is in the initial position, the orthographic projection of the second detection element in the rotation plane of the first detection element has a first distance L1 between it and the first detection element. When the first detection element is in the trigger position, the orthographic projection of the second detection element in the rotation plane of the first detection element has a second distance L2 between it and the first detection element, where L2-L1≥3.5mm.

12. The intelligent lawnmower according to claim 10, characterized in that, The distance between the first detection element and the second detection element along the direction of extension of the rotation axis is 6mm-8mm.

13. The intelligent lawnmower according to claim 1, characterized in that, The anti-collision plate has a guide surface on the forward side, and the guide surface is inclined relative to the forward direction of the intelligent lawnmower.

14. The intelligent lawnmower according to claim 2, characterized in that, The machine includes a recharge module, and the smart lawnmower uses the recharge module to determine the location of the charging base station. The recharge module is at least partially located on the side of the rotating shaft near the travel surface and supports the rotating shaft.

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