A grass cutting apparatus

Abstract

The application relates to the technical field of lawn mowers, in particular to a lawn mowing device. The lawn mowing device comprises a frame, a front wheel assembly, a rear wheel assembly and a detection device. The front wheel assembly and the rear wheel assembly can rotate relative to the frame, and the gravity centers of the front wheel assembly and the rear wheel assembly are not coincident with the rotation axes. When the lawn mowing device is lifted, the front wheel assembly and the rear wheel assembly are deflected around the rotation axes under the action of gravity, the position offset of the front wheel assembly and the rear wheel assembly when being lifted is amplified, the working state of a cutter head can be controlled through the recognition of the detection device, the safety risk is reduced, and the preset detection value can filter the tiny displacement caused by the interference of sundries and barrier crossing, so that the misrecognition is avoided, and the operation continuity is ensured. The application effectively solves the problems of low lifting detection precision, easy misrecognition and hidden safety hazards of the traditional lawn mowers.

Description

Technical Field

[0001] This application relates to the technical field of lawnmowers, and more particularly to a lawnmower device. Background Technology

[0002] Lawn mowers are suitable for lawn mowing and maintenance in home yards, public green spaces, and other similar locations. Using a lawn mower can significantly reduce manual labor. To ensure safe use, a running lawn mower should never be lifted, as the rotating blades can easily cut the user. However, in actual use, users may forget to turn off the lawn mower and lift it directly. The lawn mower cannot detect when it is lifted, and the blades will continue to operate, creating a significant safety hazard.

[0003] In existing technologies, lawnmowers typically detect whether they have been lifted by measuring the displacement difference between the guard and the body. However, the displacement difference between the guard and the body is limited, requiring a highly sensitive detection method, which increases the overall manufacturing cost of the machine. Furthermore, during use, the guard may move relative to the body when encountering debris or obstacles, leading to false detections in the lawnmower's lift detection and affecting its efficiency. Utility Model Content

[0004] This application provides a lawn mowing device to improve the accuracy of the lawn mower's lifting detection and prevent false detections.

[0005] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description or may be learned by practice of this application.

[0006] According to one aspect of this application, a lawn mowing device is provided, mainly comprising: a frame, a front wheel assembly, a rear wheel assembly, and a detection device. The front wheel assembly includes a front axle, a first front wheel, and a second front wheel, with the first and second front wheels respectively disposed at both ends of the front axle. The rear wheel assembly includes a rear axle, a first rear wheel, and a second rear wheel, with the first and second rear wheels respectively disposed at both ends of the rear axle. The detection device has preset detection values. The detection device is used to identify the offset of the front wheel assembly. The front axle is rotatably connected to the frame about a first axis of rotation. In its projection onto a horizontal plane, the first axis of rotation is parallel to the mid-sagittal plane of the lawn mowing device. Or, if the center of gravity of the front wheel assembly does not coincide with the vertical plane containing the first axis of rotation, and at least part of the front wheel assembly is off the ground, the offset of the front wheel assembly is greater than the detection value, and the blade of the mower changes its working state; and / or if a detection device is used to identify the offset of the rear wheel assembly, the rear axle is rotatably connected to the frame about the second axis of rotation, and in its projection on the horizontal plane, the second axis of rotation is parallel to or coincides with the midsagittal plane of the mower, and the center of gravity of the rear wheel assembly does not coincide with the vertical plane containing the second axis of rotation, and at least part of the rear wheel assembly is off the ground, the offset of the rear wheel assembly is greater than the detection value, and the blade of the mower changes its working state.

[0007] In this type of embodiment, the front axle of the front wheel assembly is rotatably connected to the frame about a first axis of rotation that is parallel to or coincides with the central sagittal plane of the equipment, and the center of gravity of the front wheel assembly does not coincide with the first axis of rotation. Similarly, the rear axle of the rear wheel assembly rotates about a second axis of rotation, and its center of gravity does not coincide with the second axis of rotation. This structural design causes the wheel assembly to deflect about the corresponding axis of rotation under the action of gravity when the mower is lifted. The resulting offset is much greater than the displacement of the guard relative to the body in the traditional solution. It can be stably captured without relying on high-sensitivity detection methods, which reduces the manufacturing cost of the whole machine and improves the reliability of judgment from the perspective of detection signal strength.

[0008] On the other hand, the detection device has a preset detection value that establishes a clear trigger threshold. The slight displacement of the wheel assembly during the process of debris interference or obstacle crossing will not be misjudged as the equipment being lifted because it does not reach the threshold. This effectively avoids the false detection phenomenon caused by the slight movement of the protective cover in the traditional solution, ensures the continuous operation efficiency of the lawn mowing equipment, and greatly improves the accuracy of lift detection.

[0009] When the lawnmower is lifted, causing the front or rear wheel assembly to leave the ground, if the offset of the wheel assembly exceeds the preset detection value, the detection device can quickly identify and trigger the blade disc to change its working state. This eliminates the risk of cuts caused by the continuous operation of the blades when the equipment is lifted, effectively solving the safety hazards of traditional technologies. It achieves synergistic optimization of detection accuracy, manufacturing cost, and usage safety, providing a reliable guarantee for the safe and efficient use of lawnmowers.

[0010] In some example embodiments of this application, based on the aforementioned scheme, the first axis of rotation and / or the second axis of rotation do not coincide with the midsagittal plane of the lawnmower in the projection on the horizontal plane.

[0011] In this type of embodiment, the non-coincidence of the rotation axis and the midsagittal plane naturally creates a span difference on both sides of the first or second rotation axis. Based on the span difference, the purpose of the center of gravity of the front wheel assembly deviating from the first rotation axis or the center of gravity of the rear wheel assembly deviating from the second rotation axis can be achieved.

[0012] The design of different spans on both sides of the first or second rotating axis makes the torque effect of the center of gravity on the rotating axis more directional and stable when the front wheel assembly or the rear wheel assembly is lifted. The deflection trend is clearer, and the offset will be amplified as the lever arm increases. The resulting offset is not only larger in value, but the deflection pattern is also easier to capture, which further enhances the detection device's sensitivity to the lifting state and the signal stability.

[0013] In some example embodiments of this application, based on the aforementioned scheme, in the projection on the horizontal plane, the distance between the first axis of rotation and / or the second axis of rotation and the midsagittal plane of the mowing device is l1, where l1 satisfies 20cm > l1 > 0.

[0014] In this type of embodiment, the precisely set range of l1 avoids the problem that the center of gravity cannot be deviated by the span difference when the axis of rotation coincides with the mid-sagittal plane. It also effectively avoids the abnormal mating angle between the wheel assembly and the frame that may be caused by excessive offset of the axis of rotation. This ensures that the relative motion posture of the wheel assembly and the frame is always within a reasonable range in normal travel scenarios such as straight driving, steering adjustment and obstacle crossing. It will not cause problems such as decreased driving stability, steering resistance or accelerated wheel wear due to offset of the axis of rotation, thus ensuring the stability and reliability of the basic operating performance of the equipment.

[0015] On the other hand, the reasonable range of 20cm > l 1 > 0 can stably maintain the span difference on both sides of the rotating axis, ensuring that the center of gravity of the front wheel assembly or the rear wheel assembly maintains an appropriate degree of deviation from the rotating axis. This allows the wheel assembly to still generate a sufficiently significant deflection under the action of gravitational torque when the equipment is lifted, without weakening the high-sensitivity detection effect previously designed based on the rotation axis offset, and avoiding the risk of center of gravity imbalance caused by excessive offset through distance limitation, making the deflection motion more controllable.

[0016] In some example embodiments of this application, based on the aforementioned scheme, the mass distribution on both sides of the first pivot axis is unequal along the length direction of the front axle; and / or the mass distribution on both sides of the second pivot axis is unequal along the length direction of the rear axle.

[0017] In this type of embodiment, based on the decisive role of mass distribution in the position of the center of gravity, the deflection triggering logic of the wheel assembly is further optimized, bringing multi-dimensional technical benefits. On the one hand, this design does not rely on the positional offset between the axis of rotation and the midsagittal plane; it can precisely achieve the deviation between the center of gravity and the axis of rotation simply by adjusting the mass distribution of the wheel assembly itself, greatly improving the flexibility of the structural design.

[0018] This method does not require the addition of complex mechanical transmission structures or high-precision adjustment components. It can be achieved simply by optimizing the structural layout of the wheel assembly itself, which simplifies the manufacturing process, reduces the cost and difficulty of structural improvement, and does not negatively affect the strength performance of the wheel assembly or its fit with the frame.

[0019] The uneven mass distribution causes a stable center of gravity shift, making the deflection response of the wheel assembly more deterministic when the equipment is lifted. This creates a clearer distinction boundary with the irregular micro-displacements that occur in scenarios such as obstacle crossing and collision with debris, further enhancing the avoidance of false detections. While ensuring the sensitivity of safety detection, it maximizes the continuous operating efficiency of the lawnmower.

[0020] In some example embodiments of this application, based on the aforementioned scheme, a counterweight structure is provided between the first pivot axis and the first or second end of the front axle; and / or a counterweight structure is provided between the second pivot axis and the first or second end of the rear axle.

[0021] By setting a counterweight structure between the first pivot axis and the first or second end of the front axle, and / or between the second pivot axis and the first or second end of the rear axle, an intuitive and easily implemented mass configuration method is provided. This not only quickly and accurately achieves the design goal of uneven mass distribution on both sides of the pivot axis, stably creating a deviation between the center of gravity and the pivot axis, ensuring effective deflection of the wheel assembly when the equipment is lifted, but also offers high operational flexibility. The weight and installation position of the counterweight can be adjusted to adapt to the structural requirements of different machine models without requiring significant modifications to the main structure of the wheel assembly, thus reducing design and manufacturing costs. Furthermore, the counterweight structure is simple and reliable, does not interfere with the normal cooperation between the wheel assembly and the frame, and does not affect the stability of the mower's movement. Building upon the previous advantages of detection accuracy and misjudgment avoidance, this further enhances the feasibility of the technical solution.

[0022] In some example embodiments of this application, based on the foregoing scheme, the mass of the first front wheel is not equal to the mass of the second front wheel; and / or the mass of the first rear wheel is not equal to the mass of the second rear wheel.

[0023] Unlike the above solutions, this solution does not require additional counterweight structures. It can achieve uneven mass distribution on both sides of the axis of rotation simply by differentiating the mass of the wheel itself, thus directly achieving the goal of deviating the center of gravity from the axis of rotation. This simplifies the structural assembly process and reduces the cost and maintenance risks associated with additional components.

[0024] This method does not change the connection between the wheel assembly and the frame or the cooperative posture when the equipment is moving. It can stably ensure the effective deflection of the wheel assembly when the equipment is lifted, maintaining the previous high detection accuracy and misjudgment avoidance effect. It is also highly adaptable and can flexibly match the quality distribution requirements of different models, further improving the flexibility and economy of the technical solution.

[0025] In some example embodiments of this application, based on the foregoing scheme, the first front wheel or the second front wheel is provided with a counterweight structure; and / or the first rear wheel or the second rear wheel is provided with a counterweight structure.

[0026] In this type of embodiment, a counterweight structure is provided for the weight configuration by setting a counterweight structure on either or both of the first front wheel and the second front wheel, and / or either or both of the first rear wheel and the second rear wheel. Its core advantage is that it does not require modification of the original fit relationship and overall structure between the frame and the front and rear axles, thus preserving the original structural integrity of the equipment to the greatest extent and avoiding assembly accuracy problems or strength risks caused by structural adjustments.

[0027] This method allows for precise control of the mass distribution on both sides of the wheel assembly's axis of rotation, stably maintaining the deviation between the center of gravity and the axis of rotation. This ensures effective deflection of the wheel assembly when the equipment is lifted, continuing the previous high detection accuracy and false alarm avoidance effects. Furthermore, the counterweight structure is directly integrated into the wheel body, simplifying operation, reducing modification costs, and allowing for flexible addition or removal of counterweights according to different machine models, further enhancing the adaptability and feasibility of the technical solution.

[0028] In some example embodiments of this application, based on the aforementioned scheme, the detection device includes a detection element and a detected element. The detection element is fixedly set relative to the frame, and the detected element is set at one end of the front axle and / or the rear axle. The detection element is used to detect the positional offset of the detected element. The positional offset is greater than the center of gravity offset of the front wheel assembly and / or the rear wheel assembly. When the positional offset is greater than the detection value, the blade of the mowing device changes its working state. The detection value is D1, and D1 satisfies D1≥5cm.

[0029] In this type of embodiment, the detection component is fixed relative to the frame, providing a stable reference benchmark and accurately identifying the positional offset of the detected component, significantly reducing the risk of false positives and false negatives. The detected component is positioned at one end of the bridge, and the deflection displacement signal is amplified using the lever principle. This eliminates the need for highly sensitive and expensive components to capture effective signals, balancing detection accuracy with hardware cost.

[0030] In addition, both the detection component and the component being tested are installed far away from the cutting area and the ground, effectively avoiding interference from debris such as grass clippings and mud, reducing the probability of detection device failure and extending its service life. At the same time, the installation positions of the two do not change the original fit between the frame and the bridge body, and there is no mechanical interference, ensuring the stability of the equipment's normal movement, turning and obstacle crossing.

[0031] A detection value D1≥5cm can accurately match the actual displacement scenarios of the lawnmower crossing obstacles and potholes, effectively filtering out minor offsets in such working conditions, avoiding accidental changes in the cutter head's state, and ensuring continuous operation. With 5cm as the detection lower limit, it can quickly capture the effective offset when the equipment is lifted, ensuring that the cutter head's working state is adjusted as soon as possible, minimizing the safety protection response window, and improving the safety of use.

[0032] It is understandable that the positional offset is greater than the center-of-gravity offset of the front wheel assembly and / or rear wheel assembly. This setting limits the detection of the component to not coinciding with the vertical plane containing the center of gravity, and the distance between the detection component and the axis of rotation is greater than the distance between the center of gravity and the axis of rotation. Based on the longer lever arm, the acquired positional offset has an amplification effect, resulting in more accurate and reliable acquisition. This value setting requires no complex scene calibration, adapts to different terrain operation requirements, has strong versatility, reduces the debugging cost of model adaptation, and the clear minimum threshold makes the detection logic clearer, reduces the judgment error of the control system, and improves the stability and reliability of the detection results.

[0033] In some example embodiments of this application, based on the foregoing scheme, the detection device includes a magnetic encoder, a Hall sensor, or a tilt sensor.

[0034] In this type of embodiment, the magnetic encoder, Hall sensor, or tilt sensor are all mature and mass-produced detection components in industrial scenarios. They can accurately capture a preset detection threshold displacement of ≥5cm, providing reliable data support for triggering the judgment of the working state of the cutter head and ensuring the accuracy and consistency of the lifting state detection.

[0035] Meanwhile, the supply chain for this type of sensor is mature and the procurement cost is controllable. It does not require reliance on customized high-precision components, which effectively reduces the hardware investment in the whole machine testing system. It also simplifies the procurement and quality control process in the mass production stage, taking into account both technical practicality and economy.

[0036] According to one aspect of this application, a lawn mowing device is provided, which mainly includes: a body, a chassis, and a detection device. The chassis and the body are rotatably connected around a third axis of rotation. The chassis is provided with a front wheel assembly and a rear wheel assembly. The detection device has preset detection values. In the projection on the horizontal plane, the third axis of rotation is parallel to or coincides with the mid-sagittal plane of the lawn mowing device, and the center of gravity of the chassis does not coincide with the vertical plane where the third axis of rotation is located. When at least part of the front wheel assembly and / or the rear wheel assembly is off the ground, the offset of the chassis is greater than the detection value, and the blade of the lawn mowing device changes its working state.

[0037] In this type of embodiment, unlike the other technical solutions mentioned above, the chassis and the body are rotatably connected around the third axis of rotation, and the third axis of rotation is parallel or coincident with the central sagittal plane of the equipment in the horizontal projection. Combined with the design that the center of gravity of the chassis does not coincide with the third axis of rotation, when the lawnmower is lifted, the chassis will produce a clear deflection around the third axis of rotation under the action of gravitational torque. The resulting offset is much greater than the small displacement of the guard relative to the body in the traditional solution. It can be stably captured without relying on high-sensitivity detection elements, which not only reduces the manufacturing cost of the whole machine detection system, but also improves the reliability of lifting state recognition from the signal strength level, effectively avoiding the risk of missed detection caused by insufficient displacement in the traditional solution.

[0038] The detection device's preset detection values ​​establish clear trigger thresholds, which can accurately filter out minor offsets generated by the chassis during normal obstacle crossing and pit crossing, avoiding the impact of false detections on the continuity of operations. At the same time, it ensures that the cutterhead's working state will only be triggered when the offset generated by the chassis leaving the ground exceeds the detection value, thus achieving a coordinated balance between detection sensitivity and operational efficiency.

[0039] This solution detects the deflection motion of the entire chassis. As the core component that supports the equipment, the chassis's motion directly reflects whether the entire equipment has been lifted. Compared to traditional guard displacement detection, it reduces the impact of factors such as debris interference and component wear on the detection results. The detection logic is more in line with the actual working state of the equipment, and the detection stability is stronger during long-term use.

[0040] In some example embodiments of this application, based on the aforementioned scheme, the chassis is provided with a cutter head whose axis is offset from the mid-sagittal plane; and / or the weights on both sides of the third rotating axis are different, with the third rotating axis as the dividing line; and / or the wheels on both sides of the lawnmower have unequal masses; and / or the third rotating axis does not coincide with the mid-sagittal plane in the projection on the horizontal plane.

[0041] In this type of embodiment, various approaches are used, such as offset design of the cutter head axis, differential counterweight on both sides of the rotating axis, uneven configuration of wheel mass, and misalignment of the rotating axis with the mid-sagittal plane, to provide flexible and diverse ways to achieve the deviation of the chassis center of gravity from the third rotating axis. This further enhances the detection accuracy and structural adaptability, and brings multiple technical benefits.

[0042] The parallel design of multiple center of gravity offset schemes breaks the limitations of single structural adjustment. It can flexibly select the appropriate implementation path according to the different needs of the lawnmower model, blade layout, wheel track parameters, etc. For example, small equipment can quickly achieve center of gravity offset by adjusting the mass of the wheels on both sides or the position of the blade axis. Large equipment can use the counterweight adjustment on both sides of the axis or the misalignment design of the axis to achieve precise matching of the center of gravity offset, which improves the modular adaptability of the technical solution and broadens the application scenario coverage.

[0043] Each implementation method has the advantages of simple structure and low modification cost, and can ensure a stable and significant deflection when the chassis is lifted. Regardless of the path used, it can make the chassis center of gravity and the third axis of rotation form a reliable deviation relationship. When the mower is lifted, the deflection trend under gravity is clearer and the offset signal strength is more sufficient, realizing the synergistic compatibility between the center of gravity offset design and the overall machine function.

[0044] According to one aspect of this application, a lawn mowing device is provided, which mainly includes: a frame, a front wheel assembly, a rear wheel assembly, a detection device, and a force application component. The front wheel assembly includes a front axle; the rear wheel assembly includes a rear axle; the detection device has preset detection values; the force application component is fixed relative to the frame; wherein, the detection device is used to identify the offset of the front wheel assembly, the front axle is rotatably connected to the frame about a fourth rotation axis, and in its projection on a horizontal plane, the fourth rotation axis is parallel to or coincides with the mid-sagittal plane of the lawn mowing device; the output end of the force application component abuts against one end of the front wheel assembly to drive the front axle. When the front wheel assembly is off the ground, its offset exceeds the detection value, causing the cutter head of the mower to change its operating state. A detection device is used to identify the offset of the rear wheel assembly. The rear axle is rotatably connected to the frame about the fifth axis of rotation. In its projection on the horizontal plane, the fifth axis of rotation is parallel to or coincides with the mid-sagittal plane of the mower. The output end of the force-applying component abuts against one end of the rear wheel assembly to drive the rear axle to rotate about the fifth axis of rotation. When the rear wheel assembly is off the ground, its offset exceeds the detection value, causing the cutter head of the mower to change its operating state.

[0045] In this type of embodiment, by adding a force-applying component that is fixed relative to the frame, and combining the rotational connection structure between the wheel assembly and the frame, an active wheel assembly offset triggering mechanism is constructed, which optimizes aspects such as detection reliability, structural adaptability, safety response efficiency, and anti-interference capability.

[0046] The output end of the force application component abuts against one end of the front wheel assembly or the rear wheel assembly, which can actively drive the wheel assembly in the raised state to rotate around the corresponding axis of rotation. This active driving method makes the offset of the wheel assembly more stable and regular. Even in scenarios where the equipment is raised at a small angle or there is slight resistance in the external environment, it can still form a sufficient and accurately identifiable offset signal, which greatly improves the sensitivity and consistency of the raised state detection and effectively avoids the risk of missed detection due to insufficient natural deflection.

[0047] The force application component can be set up without changing the connection relationship of the original core structure such as the frame, front axle, and rear axle. The function can be upgraded simply by adding a contact-type drive component. This preserves the original structural integrity and operating performance of the equipment to the greatest extent. It has strong structural compatibility and can be flexibly adapted to different types and specifications of lawn mowers, reducing the threshold for technical solution modification and adaptation costs.

[0048] The active driving force provided by the force application component is unaffected by external interference factors such as terrain undulations and grass clippings, and can stably output driving torque. This ensures that the wheel assembly can still deflect according to the preset trajectory in complex working environments, avoiding deflection anomalies that may be caused by debris obstruction and changes in ground adhesion in the natural deflection mode, thus enhancing the anti-interference capability and long-term stability of the detection system.

[0049] The preset detection values ​​of the detection device can still effectively filter out minor displacements when the equipment is normally crossing obstacles and potholes. The force application component only drives the wheel assembly to produce an over-threshold offset when the wheel assembly is off the ground, ensuring detection accuracy without causing false detections due to active driving, thus balancing safety and operational continuity. Finally, the force application component has a simple structural design and flexible installation method, requiring no destructive modifications to the wheel assembly or frame. It is compatible with existing production processes and assembly procedures, and the drive force output is stable and controllable. In the future, the drive force parameters of the force application component can be adjusted to adapt to the detection requirements of different models, controlling modification costs while improving the feasibility and application scope of the technical solution.

[0050] According to one aspect of this application, a lawn mowing device is provided, which mainly includes: a body, a chassis, a detection device, and a force application component; the chassis is rotatably connected to the body around a sixth rotation axis, and the chassis is provided with a front wheel assembly and a rear wheel assembly; the detection device is preset with a detection value; the force application component is fixed relative to the body, and the output end of the force application component abuts against the chassis; wherein, the detection device is used to identify the offset of the chassis, in the projection on the horizontal plane, the sixth rotation axis is parallel to or coincides with the mid-sagittal plane of the lawn mowing device, and the abutment position of the force application component and the chassis does not coincide with the vertical plane where the sixth rotation axis is located, when at least part of the front wheel assembly and / or the rear wheel assembly is off the ground, the offset of the chassis is greater than the detection value, and the blade of the lawn mowing device changes its working state.

[0051] In this type of embodiment, the force-applying component is fixed relative to the body and its output end abuts against the chassis. The design that the abutment position does not coincide with the sixth rotation axis forms an effective lever arm, which can actively drive the chassis after it is lifted off the ground to rotate stably around the sixth rotation axis. The active driving force makes the chassis offset more regular and sufficient. Even in scenarios where the equipment is slightly lifted or there is external resistance, it can still generate a clear displacement signal that exceeds the preset detection value, which greatly improves the sensitivity and consistency of lifting state recognition and effectively avoids problems such as insufficient offset and missed detection that may occur with passive deflection.

[0052] The force application component can be upgraded without changing the original rotational connection between the machine body and the chassis. The function can be upgraded simply by adding a fixed abutment structure, which preserves the integrity of the core structure of the whole machine to the maximum extent. It does not affect the original performance of the equipment in normal movement, turning and mowing operations. It has strong structural compatibility and can be flexibly adapted to different specifications and types of mowing equipment, reducing the threshold for technical solution modification and adaptation costs.

[0053] The active drive mode makes the chassis deflection unaffected by external interference factors such as terrain undulations, grass clippings, and changes in ground adhesion. The stable output of the driving torque from the force application components can overcome obstacles such as debris obstruction and slight jamming, ensuring that the chassis can still complete the deflection according to the preset trajectory in complex working environments. This enhances the anti-interference capability and long-term stability of the detection system and reduces detection failures caused by external interference.

[0054] The active drive shortens the response time of the chassis from lifting off the ground to forming an effective offset. Combined with the threshold judgment logic of the detection device, it can quickly trigger the cutter head to stop, decelerate and other working status adjustments, further compressing the safety protection response window, eliminating the risk of human cuts caused by the continuous operation of the blades when the equipment is lifted, and greatly improving the overall safety protection level of the machine.

[0055] The preset detection values ​​of the detection device can accurately filter out the slight displacement of the chassis during normal obstacle crossing and pit crossing. The force application component only drives the chassis to produce an over-threshold offset when it is off the ground, which not only ensures the accuracy of lifting detection, but also avoids false detection caused by active driving, thus achieving a coordinated balance between safety protection and operation continuity.

[0056] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0057] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0058] Figure 1 A three-dimensional structural schematic diagram of a lawn mowing device provided in one embodiment of this application is shown.

[0059] Figure 2 A bottom view schematic diagram of a lawn mowing device provided in one embodiment of this application is shown.

[0060] Figure 3 A simplified structural diagram of a lawn mowing device provided in one embodiment of this application is shown from a frontal view.

[0061] Figure 4 The diagram shows a simplified structural schematic of a lawn mowing device provided in one embodiment of this application from a top-down perspective.

[0062] Figure 5 A simplified structural diagram of a lawn mowing device provided in one embodiment of this application is shown from a frontal view.

[0063] Figure 6 A simplified structural diagram of a lawn mowing device provided in one embodiment of this application, viewed from the rear, is shown.

[0064] Figure 7 A simplified structural diagram of a lawn mowing device provided in one embodiment of this application is shown from a frontal view.

[0065] The above figures include the following reference numerals:

[0066] 10. Frame; 20. Front wheel assembly; 21. Front axle; 22. First front wheel; 23. Second front wheel; 30. Rear wheel assembly; 31. Rear axle; 32. First rear wheel; 33. Second rear wheel; L1. First pivot axis; L2. Second pivot axis; L3. Third pivot axis; L4. Fourth pivot axis; L5. Fifth pivot axis; L6. Sixth pivot axis; S. Median sagittal plane; 40. Chassis; 50. Fuselage; 60. Force application assembly. Detailed Implementation

[0067] The embodiments of the technical solutions disclosed herein will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the technical solutions disclosed herein and are therefore intended to limit the scope of protection of this disclosure.

[0068] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure; the terms “comprising” and “having”, and any variations thereof, in the specification, claims and foregoing description of the drawings of this disclosure are intended to cover non-exclusive inclusion.

[0069] In the description of the embodiments of this disclosure, technical terms such as "first," "second," "third," "fourth," and "fifth" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary or secondary relationship of the indicated technical features. In the description of the embodiments of this disclosure, "a plurality of" means two or more, unless otherwise explicitly and specifically defined.

[0070] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this disclosure. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0071] In the description of the embodiments of this disclosure, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character "" in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0072] In the description of the embodiments of this disclosure, the technical terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this disclosure and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed, operated or used in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this disclosure.

[0073] In the description of the embodiments of this disclosure, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this disclosure according to the specific circumstances.

[0074] In the description of the embodiments of this disclosure, unless otherwise expressly specified and limited, the technical term "contact" should be interpreted broadly, and can be direct contact, contact through an intermediate medium layer, contact between two contacting parties with substantially no interaction force, or contact between two contacting parties with interaction force.

[0075] Please see Figure 1 and Figure 2 In some exemplary embodiments of this application, a lawnmower is provided, which mainly includes: a frame 10, a front wheel assembly 20, a rear wheel assembly 30, and a detection device. The front wheel assembly 20 includes a front axle 21, a first front wheel 22, and a second front wheel 23, with the first front wheel 22 and the second front wheel 23 respectively disposed at both ends of the front axle 21. The rear wheel assembly 30 includes a rear axle 31, a first rear wheel 32, and a second rear wheel 33, with the first rear wheel 32 and the second rear wheel 33 respectively disposed at both ends of the rear axle 31. The detection device has preset detection values. The detection device is used to identify the offset of the front wheel assembly 20. The front axle 21 is rotatably connected to the frame 10 about a first axis of rotation L1. In the projection on the horizontal plane, the first axis of rotation L1 is perpendicular to the lawnmower. The device's central sagittal plane S is parallel or coincident, and the center of gravity of the front wheel assembly 20 does not coincide with the vertical plane where the first rotation axis L1 is located. When at least part of the front wheel assembly 20 is off the ground, the offset of the front wheel assembly 20 is greater than the detection value, and the cutting disc of the mowing device changes its working state; and / or the detection device is used to identify the offset of the rear wheel assembly 30. The rear axle 31 is rotatably connected to the frame 10 about the second rotation axis L2. In the projection on the horizontal plane, the second rotation axis L2 is parallel or coincident with the central sagittal plane S of the mowing device, and the center of gravity of the rear wheel assembly 30 does not coincide with the vertical plane where the second rotation axis L2 is located. When at least part of the rear wheel assembly 30 is off the ground, the offset of the rear wheel assembly 30 is greater than the detection value, and the cutting disc of the mowing device changes its working state.

[0076] In this type of embodiment, the front axle 21 of the front wheel assembly 20 is rotatably connected to the frame 10 around a first axis of rotation L1. This first axis of rotation L1 is parallel to or coincides with the sagittal plane S of the mower in its horizontal projection, and the center of gravity of the front wheel assembly 20 is not coincident with the first axis of rotation L1. Similarly, the rear axle 31 of the rear wheel assembly 30 is rotatably connected around a second axis of rotation L2, and its center of gravity is also not coincident with the second axis of rotation L2. This structured design allows the wheel assembly to deflect regularly around the corresponding axis of rotation under the influence of gravity when the mower is in the lifted state. The resulting displacement offset is orders of magnitude greater than the small displacement of the guard relative to the body 50 in traditional solutions, achieving stable capture without relying on high-sensitivity detection elements and complex signal processing algorithms. This design not only reduces the hardware configuration cost and integration difficulty of the overall detection system but also significantly improves the reliability of the lifted state detection judgment in terms of the strength and stability of the detection signal, effectively avoiding the identification deviation problem that easily occurs under traditional low signal strength conditions.

[0077] On the other hand, the detection device's pre-configured detection values ​​establish a clear and quantifiable trigger threshold range. In operational scenarios such as obstacle crossing caused by debris interference or terrain undulations, the minor non-lifting displacements generated by the wheel assembly will not be misjudged as the equipment being lifted because they do not reach the preset threshold. This effectively avoids the false detection phenomenon caused by minor movements of the protective cover due to external forces, which is common in traditional solutions. This design not only ensures the continuous operating efficiency of the lawnmower under complex working conditions and avoids the impact of unnecessary downtime or mode switching on the work progress, but also significantly improves the accuracy of lifting state detection through the threshold screening mechanism, achieving the dual goals of effective detection and false judgment avoidance.

[0078] When the lawnmower is lifted, causing either the front wheel assembly 20 or the rear wheel assembly 30 to leave the ground, if the deflection of the wheel assembly exceeds a preset detection value, the detection device can quickly complete signal identification, comparison, and trigger command output, driving the cutter head to immediately change its working state. This response mechanism eliminates the safety risk of cuts caused by the continuous high-speed rotation of the blades when the equipment is lifted, effectively solving the safety hazards caused by insufficient detection accuracy and delayed response when lifting.

[0079] In some specific application scenarios of this application, the user lifts the lawnmower while it is in operation using the handle on the body 50 of the lawnmower. At this time, the front wheel assembly 20 or the rear wheel assembly 30 may be lifted. If the blade is still rotating at this time, a safety accident may easily occur during the lifting process. However, when the above-mentioned technical solution is applied, for example, when the front wheel assembly 20 is lifted, under the influence of the center of gravity setting, the first front wheel 22 and the second front wheel 23 will deflect based on the first axis, that is, one wheel rises and the other wheel falls. At this time, the detection device can identify the offset of the front wheel assembly 20, thereby changing the working state of the blade.

[0080] It should be noted that the working state of the cutter head can be changed, including but not limited to high-speed rotation, low-speed rotation, a state where the cutter head speed is reduced to a minimum but continues to rotate, and a state of stoppage. When the working state of the cutter head is changed, the rotation speed of the cutter head is quickly reduced to a state of stoppage or a state where the rotation speed is extremely low but continues to rotate, so as to avoid cutting.

[0081] When the lawn mowing device in the above embodiment is mowing normally, when it needs to overcome obstacles or ditches, taking the front wheel assembly 20 as an example, one of the first front wheel 22 and the second front wheel 23 is suspended or both are suspended at the same time. When the height of the obstacle or the depth of the ditches is small, even if the first front wheel 22 and the second front wheel 23 rotate around the first axis, their degree of deviation is based on the height of the obstacle or the depth of the ditches. At this time, there will not be an excessive amount of deviation, which cannot meet the requirement that the degree of deviation of the front wheel assembly 20 is greater than the detection value, that is, it will not trigger a change in the working state of the cutter head.

[0082] It is understandable that the frame 10 can be part of the chassis 40 or the internal frame of the fuselage 50. There are no special restrictions here, as long as it meets the installation requirements of the front axle 21 or the rear axle 31.

[0083] Please see Figure 1 and Figure 2 In some alternative embodiments of this application, based on the aforementioned scheme, the front axle 21 is rotatably connected to the frame 10 about the first rotation axis L1, and the rear axle 31 is rotatably connected to the frame 10 about the second rotation axis L2. The detection device can simultaneously identify the offset of the front wheel assembly 20 and the rear wheel assembly 30.

[0084] Reference Figure 2 Furthermore, the offset directions of the first front wheel 22 and the second front wheel 23 are opposite to the offset directions of the first rear wheel 32 and the second rear wheel 33. For example, in the main view, the front wheel assembly 20 is offset clockwise around the first axis L1, while the rear wheel assembly 30 is offset counterclockwise around the second axis L2.

[0085] It should be noted that the lifting of the wheel assembly off the ground includes the situation where one wheel of the front wheel assembly 20 or the rear wheel assembly 30 is lifted off the ground or multiple wheels are lifted off the ground simultaneously. Taking the front wheel assembly 20 as an example, the detection device can identify the vertical height of the first front wheel 22 or the second front wheel 23. When a single wheel of the lawnmower is lifted and the other wheel connected to the same front axle 21 is on the ground, the detection device can identify the offset of the single wheel. If the offset exceeds a preset value, the control unit of the lawnmower controls the cutter head to change its working state.

[0086] In some example embodiments of this application, based on the aforementioned scheme, in the projection on the horizontal plane, the first rotation axis L1 and / or the second rotation axis L2 do not coincide with the midsagittal plane S of the lawnmower.

[0087] Please see Figure 2 In this type of embodiment, the first rotating axis L1 and / or the second rotating axis L2 are not aligned with the central sagittal plane S of the mowing device, which naturally forms a structural span difference on both sides of the rotating axis. With the help of this span difference, the offset configuration of the center of gravity of the front wheel assembly 20 and the first rotating axis L1, or the center of gravity of the rear wheel assembly 30 and the second rotating axis L2 can be directly realized.

[0088] The aforementioned setup achieves a stable deviation between the wheel assembly's center of gravity and the corresponding axis of rotation without requiring additional adjustments to the wheel assembly's center of gravity or structural modifications. This simplifies the wheel assembly's structural design process and reduces the difficulty of matching the deviation between the center of gravity and the axis of rotation. Furthermore, this structural design is compatible with lawnmower models of different wheel gauges and overall weight distributions, eliminating the need for customized structural optimization for specific models. This effectively enhances the versatility and adaptability of the technical solution, providing convenient conditions for its mass application and multi-model adaptation.

[0089] Based on the above design, the different spans of the solid structures on both sides of the first rotating axis L1 or the second rotating axis L2 make the torque of the center of gravity on the rotating axis more directional and stable when the front wheel assembly 20 or the rear wheel assembly 30 is lifted. The deflection trend is clearer, and the offset will be amplified as the lever arm increases. The resulting offset is not only larger in value, but the deflection pattern is also easier to capture, which further enhances the detection device's sensitivity to the lifted state and the signal stability.

[0090] It is understandable that the above structural design does not change the threshold judgment logic of the detection device. It can still effectively filter out the interference of debris or the small displacement caused by crossing obstacles through the preset detection value. On the basis of continuing the previous advantages of detection accuracy and misjudgment avoidance, the mechanical transmission efficiency of wheel component deflection is further optimized, so that the reliability of lifting detection and the convenience of structural implementation are synergistically improved, without increasing the additional manufacturing cost, thus taking into account both technical optimization and economy.

[0091] In one specific design, the front axle 21 and / or the rear axle 31 adopt a symmetrical design, and the center of gravity of the front wheel assembly 20 and / or the rear wheel assembly 30 is on the central sagittal plane S of the mower, thus giving the whole machine a high degree of balance.

[0092] In one specific design, the first rotating axis L1 and the second rotating axis L2 can be coaxially arranged, meaning that the front wheel assembly 20 and the rear wheel assembly 30 are offset in the same direction.

[0093] In one specific design, the first rotating axis L1 and the second rotating axis L2 can be respectively set on opposite sides of the midline sagittal plane S, meaning the front wheel assembly 20 and the rear wheel assembly 30 have different offset directions. With this design, when the entire device is lifted, the torques generated by the front wheel assembly 20 and the rear wheel assembly 30 are in opposite directions, canceling each other out and preventing the generation of a resultant force biased to one side, thus ensuring high balance during the lifting process.

[0094] In some example embodiments of this application, based on the aforementioned scheme, in the projection on the horizontal plane, the distance between the first rotation axis L1 and / or the second rotation axis L2 and the mid-sagittal plane S of the mowing device is l1, where l1 satisfies 20cm > l1 > 0.

[0095] This technical solution limits the distance l1 between the first rotating axis L1 and / or the second rotating axis L2 and the projection of the central sagittal plane S of the lawnmower on the horizontal plane to 20cm > l1 > 0. Combined with the structural parameter characteristics of mainstream lawnmower models, it further achieves in-depth optimization of detection accuracy, driving stability and model compatibility.

[0096] In a preferred embodiment, the distance l1 between the first rotating axis L1 and / or the second rotating axis L2 and the projection of the central sagittal plane S of the lawnmower onto the horizontal plane satisfies 11.75cm > l1 > 7.3cm.

[0097] In terms of machine compatibility, referring to the industry's conventional design, the wheel track of the front axle 21 of lawn mowers is usually 30 to 65 cm. The conventional design preferred range for the rotation point to deviate from the center of the front axle 21 is 10-17.5 cm. This l 1 range fully covers the design requirements of mainstream models and leaves a reasonable adjustment margin. It can flexibly adapt to various models such as push mowers, ride-on mowers, and self-propelled mowers without making major changes to the overall structure of different types of lawn mowers, thus improving the versatility of the technical solution.

[0098] From the perspective of detection reliability, based on the industry standard design of a maximum deflection angle of 20° for the front axle 21 of the lawnmower, when l 1 is within this range, the vertical height difference in a single direction generated by the deflection of the wheel assembly under gravity can stably reach more than 5cm, far exceeding the effective recognition threshold required by the detection device. It can accurately capture the offset signal without relying on high-sensitivity detection elements, which not only reduces manufacturing costs but also avoids false detection caused by interference from debris or slight obstacle crossing, ensuring the accuracy of the lifted state recognition.

[0099] Meanwhile, this distance range strictly follows the principle of matching wheelbase and track width, which will not disrupt the matching angle between the frame 10 and the wheel assembly when the mower is moving normally. This avoids problems such as tire side wear and steering resistance caused by excessive offset of the turning axis, and ensures the controllability of wheel assembly deflection through reasonable lever arm difference design. This allows the mower to maintain a stable driving posture when driving in a straight line, turning, and crossing obstacles in complex terrain, taking into account both safety detection function and basic operation performance.

[0100] Furthermore, the adjustable range of l1 can be flexibly adjusted according to the wheelbase and weight distribution of different models without the need for additional structural strength optimization costs. This can meet the design differences of different brands of models. On the basis of continuing the previous technical advantages, the application scenarios of the solution have been further broadened, and a highly efficient balance between technical practicality and economy has been achieved.

[0101] In one specific embodiment, the wheel track of the front axle 21 of the lawnmower is selected as 47cm. With a maximum deflection angle of 20°, the offset of a single wheel can reach 5.5cm, which meets the requirements and has no risk of excessive deflection. In this solution, the lever arms on both sides of the front axle are (47 / 2-8)=15.5cm and (47 / 2+8)=31.5cm, respectively, which balances the force and makes the steering flexible and stable.

[0102] In some example embodiments of this application, based on the aforementioned scheme, the mass distribution of the first rotating axis L1 relative to both sides is not equal along the length direction of the front axle 21; and / or the mass distribution of the second rotating axis L2 relative to both sides is not equal along the length direction of the rear axle 31.

[0103] In this type of embodiment, there is no need to rely on the positional offset layout between the first rotating axis L1 or the second rotating axis L2 and the central sagittal plane S of the mowing device. The preset deviation relationship between the center of gravity and the corresponding rotating axis can be accurately achieved simply by adjusting the mass distribution state of the front wheel assembly 20 or the rear wheel assembly 30 itself, thereby improving the flexibility and adaptability of the wheel assembly and the overall machine structure design.

[0104] For models with design constraints due to wheel track specifications, offset layout of the pivot axis, or application scenarios that require dynamic adjustment of the center of gravity offset parameters based on the overall weight distribution characteristics, the design requirements for the offset between the center of gravity and the pivot axis can be met simply by optimizing the internal component layout of the wheel assembly and adding local counterweight modules. This effectively broadens the adaptability of the technical solution, making it compatible with more structural types and specifications of lawn mowers, such as push-type, ride-on, and self-propelled types, and greatly improves the universality and feasibility of the technical solution.

[0105] Precise control over the mass distribution of the wheel assembly offers superior parameter controllability. It can accurately calibrate the mass distribution difference on both sides of the axis of rotation based on the sensitivity requirements for detecting the lifted state, thereby controlling the distance and directional characteristics of the center of gravity deviating from the corresponding axis of rotation. This design ensures that the driving torque for the wheel assembly's deflection around the axis of rotation remains stable when the wheel assembly is in a lifted state. Consequently, the offset signal captured by the detection device not only possesses sufficient amplitude but also exhibits excellent consistency and repeatability, providing reliable data support for the identification of the lifted state from the signal acquisition level, thus further enhancing the accuracy and long-term reliability of lifted state detection.

[0106] It is understandable that this implementation method does not require the addition of complex mechanical transmission structures or high-precision adjustment components. It can be achieved simply by optimizing the structural layout of the wheel assembly itself, which simplifies the manufacturing process, reduces the cost and difficulty of structural improvement, and will not negatively affect the strength performance of the wheel assembly or its fit with the frame 10.

[0107] In some example embodiments of this application, based on the aforementioned scheme, a counterweight structure is provided between the first rotating shaft L1 and the first or second end of the front axle 21; and / or a counterweight structure is provided between the second rotating shaft L2 and the first or second end of the rear axle 31.

[0108] By adding counterweight structures between the first pivot axis L1 and the first or second end of the front axle 21, and between the second pivot axis L2 and the first or second end of the rear axle 31, an intuitive, efficient, and easy-to-implement quality configuration path is provided.

[0109] This design not only quickly and accurately achieves the design goal of non-uniform mass distribution on both sides of the rotating axis, and stably establishes the preset deviation relationship between the center of gravity and the corresponding rotating axis, ensuring the effective deflection response of the wheel assembly around the rotating axis when the mower is lifted, but also has excellent operational flexibility and adaptability. By adjusting the weight specifications and installation points of the counterweights, it can flexibly adapt to the structural parameters and center of gravity design requirements of different models without making significant changes to the main load-bearing structure of the wheel assembly, thus reducing the design iteration cost and mass manufacturing cost of the solution.

[0110] Meanwhile, the assembly of the counterweight structure is simple and reliable, and will not cause mechanical interference to the normal connection and cooperation between the wheel assembly and the frame 10. It will also not affect the stability of the mowing equipment in straight-line driving, steering adjustment and other working conditions. While fully continuing the core advantages of the previous technical solution in detection accuracy and misjudgment avoidance, it further enhances the engineering feasibility and batch application adaptability of the technical solution.

[0111] In some alternative solutions, the counterweight structure can be set up by adding counterweight blocks, counterweight patches, or counterweight sleeves fitted onto the wheel axle.

[0112] In some alternative designs, the counterweight structure can also be a cavity or hollow space with a certain capacity, and the overall mass of the capacity space can be adjusted by injecting a medium. The capacity space can be located on one end of the connecting shaft of the front axle 21 or the rear axle 31.

[0113] In some example embodiments of this application, based on the foregoing scheme, the mass of the first front wheel 22 is not equal to the mass of the second front wheel 23; and / or the mass of the first rear wheel 32 is not equal to the mass of the second rear wheel 33.

[0114] Unlike the aforementioned technical solutions, this solution eliminates the need for an additional independent counterweight structure. By simply differentiating the wheel's own mass parameters, it directly achieves a non-uniform mass distribution on both sides of the axis of rotation, thus precisely achieving the preset deviation target between the center of gravity and the corresponding axis of rotation. This design significantly simplifies the assembly process and reduces the complexity of the wheel assembly, effectively avoiding the additional manufacturing costs, assembly error risks, and maintenance burdens caused by extra components. It thus provides a technological advantage in terms of structural simplification and cost control.

[0115] Meanwhile, this quality configuration does not alter the original connection topology between the wheel assembly and the frame 10, nor does it affect the coordinated posture of the wheel assembly and the frame 10 during equipment movement. It can stably ensure the effective deflection response of the wheel assembly around the axis of rotation when the mower is lifted, fully maintaining the high detection accuracy and false positive avoidance core performance of previous technical solutions. Furthermore, it possesses extremely strong adaptability, allowing for flexible adjustment of wheel mass parameters based on the wheel gauge specifications, weight distribution characteristics, and detection requirements of different mower models, without requiring adaptive modifications to the overall machine structure. This further enhances the engineering implementation flexibility and lifecycle economy of the technical solution, providing a more convenient implementation path for batch applications of multiple models.

[0116] In some specific solutions, the specific ways to achieve the following are: the mass of the first front wheel 22 is not equal to the mass of the second front wheel 23; and / or the mass of the first rear wheel 32 is not equal to the mass of the second rear wheel 33. These methods may include using inner rims, tires or inner tubes of different materials, setting counterweights of different masses inside the rims, etc.

[0117] In one alternative configuration, the axial dimensions of the first front wheel 22 are not equal to the axial dimensions of the second front wheel 23; and / or the axial dimensions of the first rear wheel 32 are not equal to the axial dimensions of the second rear wheel 33.

[0118] In some example embodiments of this application, based on the foregoing scheme, the first front wheel 22 or the second front wheel 23 is provided with a counterweight structure; and / or the first rear wheel 32 or the second rear wheel 33 is provided with a counterweight structure.

[0119] In this type of embodiment, by configuring a counterweight structure on either or both of the first front wheel 22 and the second front wheel 23, and either or both of the first rear wheel 32 and the second rear wheel 33, a flexible and convenient engineering implementation path is provided for controlling the mass distribution of the wheel assembly. Its core technical advantage lies in the fact that it does not require modification of the original connection and fit between the frame 10 and the front axle 21 and rear axle 31, nor the core structure of the entire machine. This maximizes the preservation of the integrity and mechanical stability of the original equipment structure, effectively avoiding assembly accuracy deviations or structural strength risks caused by structural modifications.

[0120] This configuration allows for precise control of the mass distribution on both sides of the wheel assembly's axis of rotation, stably achieving a preset deviation between the center of gravity and the axis of rotation. This ensures effective deflection response of the wheel assembly around the axis of rotation when the mower is lifted, fully inheriting the high detection accuracy and false alarm avoidance core performance of previous technical solutions. Furthermore, the design of directly integrating the counterweight structure into the wheel body not only facilitates operation and controls modification costs, but also allows for flexible adjustment of counterweight specifications or installation positions based on the structural parameters and detection requirements of different machine models. This further enhances the multi-model adaptability and engineering feasibility of the technical solution, providing strong support for its large-scale application.

[0121] It is understandable that in the above-mentioned improvements to the front or rear wheels, the front and rear wheels are located at opposite ends of the front axle 21 or the rear axle 31, and the degree of center of gravity shift is the greatest. That is, a large degree of shift can be achieved by a small change in the weight distribution ratio.

[0122] In some example embodiments of this application, based on the aforementioned scheme, the detection device includes a detection element and a detected element. The detection element is fixedly disposed relative to the frame 10, and the detected element is disposed at one end of the front axle 21 and / or the rear axle 31. The detection element is used to detect the positional offset of the detected element. The positional offset is greater than the center of gravity offset of the front wheel assembly and / or the rear wheel assembly. When the positional offset is greater than the detection value, the blade of the mowing equipment changes its working state.

[0123] In this type of embodiment, the detection component is fixedly positioned relative to the frame 10, providing a stable reference benchmark. This allows for accurate identification of the positional offset of the detected component, fundamentally reducing the risk of misjudgment or missed judgment due to reference fluctuations, and laying the foundation for reliable detection in the lifted state. The detected component is positioned at one end of the bridge body, and the displacement signal when the wheel assembly deflects is amplified using the lever principle. Even with conventionally sensitive detection elements, effective offset information can be stably captured. This ensures detection accuracy while effectively controlling hardware costs, achieving a balance between performance and economy.

[0124] Furthermore, both the detection component and the component being detected are installed far away from the cutting area of ​​the blade disc and the ground contact area, effectively avoiding direct erosion and interference from debris such as grass clippings, soil, and moisture. This reduces the probability of malfunctions caused by foreign object adhesion or collisions, extending the service life of the detection device. At the same time, the installation layout does not alter the original fit between the frame 10 and the bridge body, eliminating mechanical interference issues and ensuring the structural stability and motion coordination of the mowing equipment during normal travel, turning, and obstacle crossing.

[0125] This detection structure boasts exceptional compatibility, seamlessly adapting to various wheel assembly optimization schemes addressing issues such as shaft misalignment and uneven mass distribution. It is also compatible with a wide range of models, including push-type and ride-on types, offering broad applicability. The detection and triggering process eliminates the need for intermediate transmission links, resulting in rapid signal response and significantly reducing the time from detection to braking of the cutter head, thus dramatically improving the equipment's safety protection level. Its simple and compact structure, utilizing mostly standard components, facilitates convenient assembly and reduces mass production costs. Furthermore, it offers flexibility in subsequent debugging and maintenance; detection sensitivity can be optimized by modifying preset detection values ​​or fine-tuning the installation position without requiring destructive modifications to the overall structure, highlighting its practical value.

[0126] This means that the position offset is greater than the center of gravity offset of the front wheel assembly and / or the rear wheel assembly. This setting limits the detection of the part to not coinciding with the vertical plane where the center of gravity is located, and the distance between the detection of the part and the axis of rotation is greater than the distance between the center of gravity and the axis of rotation. Based on the longer lever arm, the position offset collected in this way has an amplification effect, making the collection more accurate and reliable.

[0127] In one alternative scheme, the positional offset of the detected component includes a vertical offset. The lawnmower is equipped with a vertical travel offset and a lift offset. The travel offset refers to the vertical offset when crossing obstacles or potholes, while the lift offset is the minimum vertical offset of the front wheel assembly 20 or the rear wheel assembly 30. The travel offset is less than the lift offset. When the vertical offset is greater than the travel offset, it can be determined that the front wheel assembly 20 or the rear wheel assembly 30 has been lifted.

[0128] In a specific scheme, taking the front wheel assembly 20 as an example, the component to be detected is set on the wheel on the side where the center of gravity is located, such as the first front wheel 22. In the vertical direction, the first front wheel 22 is lower than the second front wheel 23. At this time, the positional offset of the component to be detected is less than the offset of other components vertically above the component to be detected.

[0129] In another specific scheme, taking the front wheel assembly 20 as an example, the component to be tested is set on a wheel whose center of gravity is not on one side, such as the first front wheel 22. In the vertical direction, the first front wheel 22 is higher than the second front wheel 23. At this time, the positional offset of the component to be tested is greater than the offset of other components vertically above the component to be tested.

[0130] In some example embodiments of this application, based on the aforementioned scheme, the detection value is D1, where D1 satisfies D1≥5cm.

[0131] In this type of embodiment, the detection value D1≥5cm can accurately match the actual displacement scenario of the lawnmower crossing obstacles and potholes, effectively filtering out small offsets under such working conditions, avoiding accidental triggering of the cutter head state change, and ensuring the continuity of operation; 5cm as the detection lower limit can quickly capture the effective offset when the equipment is lifted, ensuring that the cutter head working state adjustment is triggered as soon as possible, minimizing the safety protection response window, and improving the safety of use.

[0132] Understandably, this numerical setting does not require complex scene calibration, adapts to different terrain operation needs, has strong versatility, can reduce the debugging cost of model adaptation, and the clear minimum threshold makes the detection logic clearer, reduces the judgment error of the control system, and improves the stability and reliability of the detection results.

[0133] It is understandable that 5cm is an easily identifiable displacement level, which does not require relying on sophisticated detection algorithms, further reducing the hardware and software costs and technical barriers of the detection device.

[0134] It is understandable that, based on the above scheme, taking the front wheel assembly 20 as an example, when the front wheel assembly 20 is fully raised, whether the detected component is positioned on the first front wheel 22 or the second front wheel 23, its deflection direction relative to the first rotation axis L1 will have an offset, and the position offset can be measured in both cases. Furthermore, the detected component can also be equipped with a horizontal position detection sensor to identify its ground clearance, adapting to the detection situation when a single wheel is raised.

[0135] In a preferred embodiment, when a Hall sensor is used as the detection device, the detection value D1 can be set to 8cm to 10cm.

[0136] In some example embodiments of this application, based on the foregoing scheme, the detection device includes one or a combination of a magnetic encoder, a Hall sensor, and a tilt sensor.

[0137] In this type of embodiment, the magnetic encoder, Hall sensor, or tilt sensor are all mature and mass-produced detection components in industrial scenarios. They can accurately capture a preset detection threshold displacement of ≥5cm, providing reliable data support for triggering the judgment of the working state of the cutter head and ensuring the accuracy and consistency of the lifting state detection.

[0138] Meanwhile, the supply chain for this type of sensor is mature and the procurement cost is controllable. It does not require reliance on customized high-precision components, which effectively reduces the hardware investment in the whole machine testing system. It also simplifies the procurement and quality control process in the mass production stage, taking into account both technical practicality and economy.

[0139] With its compact design and standardized mounting interface, this type of sensor offers exceptional installation flexibility, seamlessly adapting to the limited installation space at the ends of the front axle 21 or rear axle 31 without requiring significant modifications to the original core structure of the entire unit, such as the frame 10 and the axle body. This design maximizes the integrity and mechanical stability of the overall structure while significantly reducing the complexity of the assembly process, effectively balancing structural compatibility and assembly convenience, and demonstrating excellent spatial adaptability and multi-model compatibility.

[0140] Considering the complex working conditions of outdoor lawn mowing equipment, this type of sensor has excellent environmental adaptability and can effectively resist various interference factors such as grass clippings, moisture erosion, mechanical vibration and temperature fluctuations. It significantly reduces the detection failure rate under harsh working conditions, ensures the stability and reliability of detection performance during long-term use, and significantly extends the service life of the sensor.

[0141] In terms of signal transmission and response, this type of sensor exhibits excellent timeliness in signal feedback, rapidly converting the positional offset or tilt angle change of the wheel assembly into a standard electrical signal and transmitting it to the overall machine control system in real time. Combined with preset detection thresholds, it enables immediate adjustment of the cutter head's operating status, further shortening the safety protection response time and significantly improving the equipment's safety level, thus strengthening the safety defense line from the signal transmission perspective.

[0142] Meanwhile, these sensors boast high technological maturity and market penetration, stable supply of core components, and controllable maintenance costs. Their troubleshooting process is simple, and component replacement is convenient, requiring no destructive disassembly of the entire machine for maintenance, effectively reducing maintenance investment throughout the equipment's lifecycle. This characteristic not only enhances the engineering feasibility of the technical solution but also strengthens its adaptability for market promotion and large-scale application, providing a high-performance, cost-effective, and practical detection solution for the safety upgrade of lawnmower equipment.

[0143] In one specific design, when a tilt sensor is used as the detection device, it is fixed at the midpoint of the front axle 21 or the rear axle 31, rigidly connected to the front axle 21 / rear axle 31, and rotates synchronously with the wheel assembly 20 / 30 around the corresponding rotation axis (L1 / L2). The sensor's detection reference axis is parallel to the corresponding rotation axis (L1 / L2 / L3 / L6), ensuring that the detection angle directly reflects the deflection state of the wheel assembly or chassis.

[0144] Threshold adjustment: When the lawn mower is placed horizontally, the sensor records the initial tilt angle reference value. At this time, the gravitational acceleration is distributed in the vertical direction, and the horizontal component is 0. The tilt angle threshold is preset, such as a value in the range of 15°-25°.

[0145] Real-time data acquisition: During the operation of the lawn mowing equipment, the sensor continuously collects triaxial acceleration data, namely the first horizontal direction, the second horizontal direction, and the vertical direction, which are perpendicular to each other, and simultaneously calculates the deflection angle around the corresponding axis of rotation.

[0146] Threshold comparison and triggering: Taking the front wheel assembly 20 as an example, if the front wheel assembly 20 is off the ground, the front axle 21 drives the sensor to detect that the tilt angle around the first axis of rotation L1 is ≥15°, and the control unit immediately triggers to control the cutter head to change its working state.

[0147] The system directly detects the deflection angle of the wheel assembly, working in conjunction with the design of the steering axis and the center of gravity offset scheme. The angle signal and the offset amount are linearly correlated, avoiding misjudgments caused by mechanical transmission errors. This solution does not require modification of the original connection relationship between the frame 10, front axle 21, and rear axle 31, and can seamlessly adapt to various solutions such as steering axis offset, uneven mass distribution, and drive by the force application component 60.

[0148] Please see Figure 3 and Figure 4 According to one aspect of this application, a lawn mowing device is provided, which mainly includes: a body 50, a chassis 40 and a detection device. The chassis 40 and the body 50 are rotatably connected around a third rotation axis L3. The chassis 40 is provided with a front wheel assembly 20 and a rear wheel assembly 30. The detection device is preset with detection values. In the projection on the horizontal plane, the third rotation axis L3 is parallel to or coincides with the central sagittal plane S of the lawn mowing device, and the center of gravity of the chassis 40 does not coincide with the vertical plane where the third rotation axis L3 is located. When at least part of the front wheel assembly 20 and / or the rear wheel assembly 30 is off the ground, the offset of the chassis 40 is greater than the detection value, and the blade of the lawn mowing device changes its working state.

[0149] In this type of embodiment, unlike the other technical solutions mentioned above, the chassis 40 and the body 50 are rotatably connected around the third rotation axis L3, and the third rotation axis L3 is parallel or coincident with the central sagittal plane S of the device in the horizontal projection. Combined with the design that the center of gravity of the chassis 40 does not coincide with the third rotation axis L3, when the mowing device is lifted, the chassis 40 will produce a clear deflection around the third rotation axis L3 under the action of gravitational torque. The resulting offset is much greater than the small displacement of the protective cover relative to the body 50 in the traditional solution. It can be stably captured without relying on high-sensitivity detection elements, which not only reduces the manufacturing cost of the whole machine detection system, but also improves the reliability of lifting state recognition from the signal strength level, effectively avoiding the risk of missed detection caused by insufficient displacement in the traditional solution.

[0150] The detection device's preset detection values ​​establish clear trigger thresholds, which can accurately filter out the slight deviations generated by the chassis 40 during normal obstacle crossing and pit crossing processes, avoiding the impact of false detections on the continuity of operations. At the same time, it ensures that the change in the working state of the cutterhead will only be triggered when the deviation generated by the chassis 40 leaving the ground exceeds the detection value, thus achieving a synergistic balance between detection sensitivity and operational efficiency.

[0151] The solution is based on the deflection motion of the entire chassis 40. As the core component that supports the equipment, the movement of the chassis 40 can more directly reflect whether the entire equipment has been lifted. Compared with the traditional guard displacement detection, it reduces the impact of factors such as debris interference and component wear on the detection results. The detection logic is more in line with the actual working state of the equipment, and the detection stability is stronger during long-term use.

[0152] When the equipment is lifted, the offset signal generated by the deflection of the chassis 40 exhibits clear regularity and continuity. The detection device can quickly identify and trigger actions such as stopping or decelerating the cutter head, significantly shortening the safety protection response time and eliminating the risk of cuts caused by the continuous operation of the blades when the equipment is lifted, thus significantly improving the safety level of the equipment. At the same time, this structural design does not change the core functional layout of the equipment's original movement, turning, and mowing operations. The rotating connection between the chassis 40 and the body 50 does not affect the overall structural integrity of the machine. It is suitable for various operating scenarios such as home gardens and public green spaces, possessing broad practicality and model compatibility. While ensuring detection accuracy and safety, it also considers the simplicity and economy of technical implementation.

[0153] In some example embodiments of this application, based on the aforementioned scheme, the chassis 40 is provided with a cutter head whose axis is offset from the mid-sagittal plane S.

[0154] In some example embodiments of this application, based on the aforementioned scheme, the third rotating axis L3 is used as the dividing line, and the weights on both sides of the third rotating axis L3 are different.

[0155] In some example embodiments of this application, based on the aforementioned scheme, the wheels on both sides of the lawnmower have unequal masses.

[0156] Please see Figure 3 and Figure 4 In some example embodiments of this application, based on the aforementioned scheme, in the projection on the horizontal plane, the third axis of rotation L3 does not coincide with the midsagittal plane S.

[0157] In the above embodiments, various approaches are used, such as offset design of the cutter head axis, differential counterweight on both sides of the rotating axis, uneven configuration of wheel mass, and misalignment of the rotating axis with the mid-sagittal plane S, to provide flexible and diverse ways to achieve the deviation between the center of gravity of the chassis 40 and the third rotating axis L3, which further enhances the detection accuracy and structural adaptability, and brings multiple technical benefits.

[0158] The parallel design of multiple center of gravity offset schemes breaks the limitations of single structural adjustment. It can flexibly select the appropriate implementation path according to the different needs of the lawnmower model, blade layout, wheel track parameters, etc. For example, small equipment can quickly achieve center of gravity offset by adjusting the mass of the wheels on both sides or the position of the blade axis. Large equipment can use the counterweight adjustment on both sides of the axis or the misalignment design of the axis to achieve precise matching of the center of gravity offset, which improves the modular adaptability of the technical solution and broadens the application scenario coverage.

[0159] Each implementation method has the advantages of simple structure and low modification cost, and can ensure a stable and significant deflection when the chassis 40 is lifted. Regardless of the path used, the center of gravity of the chassis 40 can form a reliable deviation relationship with the third rotation axis L3. When the mower is lifted, the deflection trend under gravity is clearer and the offset signal strength is more sufficient, realizing the synergistic compatibility between the center of gravity offset design and the overall machine function.

[0160] The design of the cutter head axis offset from the mid-sagittal plane S eliminates the need for additional counterweights. The center of gravity shift can be achieved solely through optimizing the cutter head's installation position and utilizing its own mass, thus integrating function and structure and simplifying the chassis 40 assembly process. The different counterweights on both sides of the third rotating axis L3 allow for flexible adjustment of the center of gravity offset by adding or removing modular counterweights. This facilitates precise control of the deflection torque based on testing requirements, and the counterweight adjustment does not require alteration of the core structure of chassis 40, making maintenance convenient. The unequal mass design of the wheels on both sides of the mower allows for differentiated configuration of the wheels without altering the connection between chassis 40 and body 50 or the cutter head layout. This adapts to existing production processes and reduces modification costs. The non-coincidence of the third rotating axis L3 with the mid-sagittal plane S naturally creates a center of gravity offset by optimizing the spatial position of the rotating axis. This design ensures strong structural stability and prevents changes in the center of gravity offset due to vibration and wear during long-term use, guaranteeing consistent testing performance.

[0161] Please see Figure 5 and Figure 6According to one aspect of this application, a lawnmower is provided, which mainly includes: a frame 10, a front wheel assembly 20, a rear wheel assembly 30, a detection device, and a force application component 60. The front wheel assembly 20 includes a front axle 21; the rear wheel assembly 30 includes a rear axle 31; the detection device has preset detection values; the force application component 60 is fixed relative to the frame 10; wherein, the detection device is used to identify the offset of the front wheel assembly 20, the front axle 21 is rotatably connected to the frame 10 about a fourth rotation axis L4, and in its projection on the horizontal plane, the fourth rotation axis L4 is parallel to or coincides with the mid-sagittal plane S of the lawnmower; the output end of the force application component 60 abuts against one end of the front wheel assembly 20 to drive it. The front axle 21 rotates around the fourth axis L4. When the front wheel assembly 20 is off the ground, the offset of the front wheel assembly 20 is greater than the detection value, and the blade of the mower changes its working state. And / or the detection device is used to identify the offset of the rear wheel assembly 30. The rear axle 31 is rotatably connected to the frame 10 around the fifth axis L5. In the projection on the horizontal plane, the fifth axis L5 is parallel to or coincides with the mid-sagittal plane S of the mower. The output end of the force application component 60 abuts against one end of the rear wheel assembly 30 to drive the rear axle 31 to rotate around the fifth axis L5. When the rear wheel assembly 30 is off the ground, the offset of the rear wheel assembly 30 is greater than the detection value, and the blade of the mower changes its working state.

[0162] In this type of embodiment, by adding a force-applying component 60 that is fixed relative to the frame 10, and combining the rotational connection structure between the wheel assembly and the frame 10, an active wheel assembly offset triggering mechanism is constructed, which optimizes the detection reliability, structural adaptability, safety response efficiency and anti-interference capability.

[0163] The output end of the force application component 60 abuts against one end of the front wheel component 20 or the rear wheel component 30, which can actively drive the wheel component in the raised state to rotate around the corresponding axis of rotation. This active driving method makes the offset of the wheel component more stable and regular. Even in scenarios where the equipment is raised at a small angle or there is slight resistance in the external environment, it can still form a sufficient and accurately identifiable offset signal, which greatly improves the sensitivity and consistency of the raised state detection and effectively avoids the risk of missed detection due to insufficient natural deflection.

[0164] The setting of the force application component 60 does not require changing the connection relationship of the original core structure such as the frame 10, front axle 21, and rear axle 31. The function can be upgraded simply by adding a contact-type drive component. This maximizes the preservation of the original structural integrity and operating performance of the equipment, and has strong structural compatibility. It can be flexibly adapted to different types and specifications of lawn mowing equipment, reducing the threshold for technical solution modification and adaptation costs.

[0165] The active driving force provided by the force application component 60 is not affected by external interference factors such as terrain undulations and grass clippings, and can stably output driving torque. This ensures that the wheel assembly can still deflect according to the preset trajectory in complex working environments, avoiding deflection abnormalities that may be caused by debris obstruction and changes in ground adhesion in the natural deflection mode, and enhancing the anti-interference capability and long-term stability of the detection system.

[0166] The active drive mode shortens the time it takes for the wheel assembly to go from being off the ground to forming an effective offset. Combined with the threshold judgment logic of the detection device, it can trigger the adjustment of the cutter head working status more quickly, further shortening the safety protection response window, significantly reducing the safety hazard of the blades continuing to run when the equipment is lifted, and improving the overall safety protection level of the machine.

[0167] The preset detection values ​​of the detection device can still effectively filter out minor displacements when the equipment is normally crossing obstacles and potholes. The force application component 60 only drives the wheel assembly to produce an over-threshold offset when the wheel assembly is off the ground, ensuring detection accuracy without causing false detections due to active driving, thus balancing safety and operational continuity. Finally, the force application component 60 has a simple structural design and flexible installation method, requiring no destructive modifications to the wheel assembly or frame 10. It is compatible with existing production processes and assembly procedures, and the driving force output is stable and controllable. In the future, the driving force parameters of the force application component 60 can be adjusted to adapt to the detection requirements of different models, thereby controlling modification costs while improving the feasibility and application scope of the technical solution.

[0168] Based on the above embodiments, in some alternative solutions, the force-applying component 60 can specifically be a spring, cylinder, pneumatic push rod, hydraulic push rod, etc., used to generate a resisting force.

[0169] In an alternative configuration, the force application component 60 can also be combined with the aforementioned settings in the mowing equipment, such as mass distribution, eccentric blade settings, etc.

[0170] Please see Figure 5 and Figure 6 In one alternative configuration, the center of gravity of the front wheel assembly 20 is horizontally offset from the first axis and / or the center of gravity of the rear wheel assembly 30 is horizontally offset from the second axis.

[0171] Furthermore, the force application component 60 can be positioned on the side of the first axis away from the center of gravity of the front wheel assembly 20, and / or on the side of the second axis away from the center of gravity of the rear wheel assembly 30. This configuration can balance the center of gravity shift during normal driving, ensuring overall balance when crossing potholes or obstacles.

[0172] Please see Figure 7According to one aspect of this application, a lawn mowing device is provided, which mainly includes: a body 50, a chassis 40, a detection device, and a force application component 60; the chassis 40 is rotatably connected to the body 50 around a sixth rotation axis L6, and the chassis 40 is provided with a front wheel assembly 20 and a rear wheel assembly 30; the detection device is preset with a detection value; the force application component 60 is fixed relative to the body 50, and the output end of the force application component 60 abuts against the chassis 40; wherein, the detection device is used to identify the offset of the chassis 40, in the projection on the horizontal plane, the sixth rotation axis L6 is parallel to or coincides with the central sagittal plane S of the lawn mowing device, and the abutment position of the force application component 60 and the chassis 40 does not coincide with the vertical plane where the sixth rotation axis L6 is located, when at least part of the front wheel assembly 20 and / or the rear wheel assembly 30 is off the ground, the offset of the chassis 40 is greater than the detection value, and the blade of the lawn mowing device changes its working state.

[0173] In this type of embodiment, the force-applying component 60 is fixed relative to the body 50 and its output end abuts against the chassis 40. The design that the abutment position does not coincide with the sixth rotation axis L6 forms an effective lever arm, which can actively drive the chassis 40 after it is lifted off the ground to rotate stably around the sixth rotation axis L6. The active driving force makes the offset of the chassis 40 more regular and sufficient. Even in scenarios where the equipment is slightly lifted or there is external resistance, it can still form a clear displacement signal that exceeds the preset detection value, which greatly improves the sensitivity and consistency of lifting state recognition and effectively avoids problems such as insufficient offset and missed detection that may occur with passive deflection.

[0174] The setting of the force application component 60 does not require changing the original rotational connection between the body 50 and the chassis 40. The function upgrade can be achieved simply by adding a fixed abutment structure, which preserves the integrity of the core structure of the whole machine to the maximum extent and does not affect the original performance of the equipment in normal travel, turning and mowing operations. It has strong structural compatibility and can be flexibly adapted to different specifications and types of mowing equipment, reducing the threshold for technical solution modification and adaptation costs.

[0175] The active drive mode makes the chassis 40 deflection unaffected by external interference factors such as terrain undulations, grass clippings, and changes in ground adhesion. The driving torque stably output by the force application component 60 can overcome obstacles such as debris obstruction and slight jamming, ensuring that the chassis 40 can still complete the deflection according to the preset trajectory in complex working environments. This enhances the anti-interference capability and long-term stability of the detection system and reduces detection failures caused by external interference.

[0176] The active drive shortens the response time of the chassis 40 from lifting off the ground to forming an effective offset. Combined with the threshold judgment logic of the detection device, it can quickly trigger the cutter head to stop, decelerate and other working status adjustments, further compressing the safety protection response window, eliminating the risk of human cuts caused by the continuous operation of the blades when the equipment is lifted, and greatly improving the overall safety protection level of the machine.

[0177] The preset detection values ​​of the detection device can accurately filter out the minute displacements generated by the chassis 40 during the normal obstacle crossing and pit crossing process. The force application component 60 only drives the chassis 40 to generate an over-threshold offset when it is off the ground. This ensures the accuracy of the lifting detection and prevents false detection caused by active driving, thus achieving a coordinated balance between safety protection and operational continuity.

[0178] The force application component 60 has a simple structure and flexible installation method, which can be adapted to existing production processes and assembly procedures. In the future, by adjusting the driving force parameters and contact position of the force application component 60, it can be precisely adapted to the testing requirements of different models. While controlling manufacturing and maintenance costs, it improves the feasibility and market applicability of the technical solution.

[0179] In one alternative, the above-mentioned settings can also be combined with the settings in the aforementioned lawn mowing equipment, such as mass distribution, eccentric blade settings, etc.

[0180] While this disclosure has been detailed and described in the accompanying drawings and the foregoing description, such description is to be considered illustrative or exemplary, and not restrictive, and this disclosure is not limited to the disclosed embodiments. Based on a study of the drawings, the disclosure, and the appended claims, those skilled in the art will understand and implement other embodiments and variations in carrying out the claimed invention. New embodiments can be obtained by combining any of the foregoing teachings.

[0181] The above embodiments are merely illustrative of the technical solutions of this disclosure and are not intended to limit it. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this disclosure, and they should all be covered within the scope of the claims and specification of this disclosure. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. This disclosure is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A lawn mowing device, characterized in that, include: frame; A front wheel assembly, comprising a front axle, a first front wheel, and a second front wheel, wherein the first front wheel and the second front wheel are respectively disposed at both ends of the front axle; A rear wheel assembly, comprising a rear axle, a first rear wheel, and a second rear wheel, wherein the first rear wheel and the second rear wheel are respectively disposed at both ends of the rear axle; and A detection device, wherein the detection device is preset with detection values; The detection device is used to identify the offset of the front wheel assembly. The front axle is rotatably connected to the frame about a first axis of rotation. In its projection on the horizontal plane, the first axis of rotation is parallel to or coincides with the midsagittal plane of the mower. The center of gravity of the front wheel assembly does not coincide with the vertical plane containing the first axis of rotation. When at least part of the front wheel assembly is off the ground, the offset of the front wheel assembly is greater than the detected value, and the blade of the mower changes its working state; and / or The detection device is used to identify the offset of the rear wheel assembly. The rear axle is rotatably connected to the frame around a second axis of rotation. In the projection on the horizontal plane, the second axis of rotation is parallel to or coincides with the midsagittal plane of the mowing equipment, and the center of gravity of the rear wheel assembly does not coincide with the vertical plane where the second axis of rotation is located. When at least part of the rear wheel assembly is off the ground, the offset of the rear wheel assembly is greater than the detection value, and the blade of the mowing equipment changes its working state.

2. The lawn mowing equipment according to claim 1, characterized in that, In the projection onto the horizontal plane, the first axis of rotation and / or the second axis of rotation do not coincide with the midsagittal plane of the mowing device.

3. The lawn mowing equipment according to claim 2, characterized in that, In the projection on the horizontal plane, the distance between the first axis of rotation and / or the second axis of rotation and the midsagittal plane of the mowing device is l1, where l1 satisfies 20cm > l1 > 0.

4. The lawn mowing equipment according to claim 1, characterized in that, Along the length of the front axle, the mass distribution on opposite sides of the first pivot axis is unequal; and / or Along the length of the rear axle, the mass distribution on opposite sides of the second pivot axis is not equal.

5. The lawn mowing equipment according to claim 4, characterized in that, A counterweight structure is provided between the first pivot axis and the first or second end of the front axle; and / or A counterweight structure is provided between the second pivot axis and the first or second end of the rear axle.

6. The lawn mowing device according to claim 4, characterized in that, The mass of the first front wheel is not equal to the mass of the second front wheel; and / or The mass of the first rear wheel is not equal to the mass of the second rear wheel.

7. The lawn mowing equipment according to claim 6, characterized in that, The first front wheel or the second front wheel is provided with a counterweight structure; and / or The first rear wheel or the second rear wheel is equipped with a counterweight structure.

8. The lawn mowing equipment according to any one of claims 1 to 7, characterized in that, The detection device includes a detection element and a detected element. The detection element is fixedly disposed relative to the frame, and the detected element is disposed at one end of the front axle and / or the rear axle. The detection element is used to detect the positional offset of the detected element. The positional offset is greater than the center of gravity offset of the front wheel assembly and / or the rear wheel assembly. When the positional offset is greater than the detection value, the blade of the mowing equipment changes its working state. The detection value is D1, and D1 satisfies D1≥5cm.

9. The lawn mowing equipment according to any one of claims 1 to 7, characterized in that, The detection device includes one or a combination of a magnetic encoder, a Hall sensor, and a tilt sensor.

10. A lawn mowing device, characterized in that, include: body; The chassis is rotatably connected to the fuselage about a third axis of rotation, and the chassis is provided with a front wheel assembly and a rear wheel assembly; as well as A detection device, wherein the detection device is preset with detection values; In the projection on the horizontal plane, the third axis of rotation is parallel to or coincides with the mid-sagittal plane of the mowing device, and the center of gravity of the chassis does not coincide with the vertical plane where the third axis of rotation is located. When at least part of the front wheel assembly and / or the rear wheel assembly is off the ground, the offset of the chassis is greater than the detected value, and the blade of the mowing device changes its working state.

11. The lawnmower according to claim 10, characterized in that, The chassis is equipped with a cutter head whose axis is offset from the mid-sagittal plane; and / or With the third axis of rotation as the dividing line, the weights on both sides of the third axis of rotation are different; and / or The wheels on both sides of the lawnmower have unequal masses; and / or In the projection onto the horizontal plane, the third axis of rotation does not coincide with the midsagittal plane.

12. A lawn mowing device, characterized in that, include: frame; Front wheel assembly, the front wheel assembly including a front axle; Rear wheel assembly, the rear wheel assembly including a rear axle; A detection device, wherein the detection device is preset with detection values; as well as A force-applying component, which is fixed relative to the frame; The detection device is used to identify the offset of the front wheel assembly. The front axle is rotatably connected to the frame about a fourth axis of rotation. In its projection on the horizontal plane, the fourth axis of rotation is parallel to or coincides with the midsagittal plane of the mower. The output end of the force application component abuts against one end of the front wheel assembly to drive the front axle to rotate about the fourth axis of rotation. When at least part of the front wheel assembly is off the ground, the offset of the front wheel assembly is greater than the detected value, and the blade of the mower changes its working state; and / or The detection device is used to identify the offset of the rear wheel assembly. The rear axle is rotatably connected to the frame around the fifth axis of rotation. In its projection on the horizontal plane, the fifth axis of rotation is parallel to or coincides with the mid-sagittal plane of the mowing equipment. The output end of the force application component abuts against one end of the rear wheel assembly to drive the rear axle to rotate around the fifth axis of rotation. When at least part of the rear wheel assembly is off the ground, the offset of the rear wheel assembly is greater than the detected value, and the blade of the mowing equipment changes its working state.

13. A lawn mowing device, characterized in that, include: body; The chassis is rotatably connected to the body about a sixth axis of rotation, and the chassis is provided with a front wheel assembly and a rear wheel assembly; A detection device, wherein the detection device is preset with detection values; as well as A force-applying component, which is fixed relative to the machine body, and the output end of the force-applying component abuts against the chassis; The detection device is used to identify the offset of the chassis. In the projection on the horizontal plane, the sixth rotation axis is parallel to or coincides with the mid-sagittal plane of the mowing device, and the contact position between the force application component and the chassis does not coincide with the vertical plane where the sixth rotation axis is located. When at least part of the front wheel assembly and / or the rear wheel assembly is off the ground, the offset of the chassis is greater than the detection value, and the blade of the mowing device changes its working state.

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