Automatic lawnmower

Abstract

Automatic lawnmower for moving and working in a work area, comprising the following: a housing (100) comprising a central axis in a longitudinal direction; a motion module that is mounted on the housing (100) and sets the housing (100) in motion; a cutting module (300) mounted on the housing (100), wherein the cutting module (300) rotates about a first rotating shaft as a pivot point, thereby forming a cutting area; wherein the cutting module (300) comprises a cutting drive section and a cutting section, wherein the cutting drive section is connected to the cutting section in a drive manner and the cutting section comprises a cutting element; an edge trimming module (200) mounted on the housing (100), wherein the edge trimming module (200) rotates about a second rotating shaft as a pivot point, thereby forming an edge trimming area, the second rotating shaft being located on one side of the central axis; wherein the edge trimming module comprises an edge trimming drive section and an edge trimming section, wherein the edge trimming drive section is drive-connected to the edge trimming section and the edge trimming section comprises an edge trimming element; and a control module that is electrically connected to the motion module; characterized by the fact that The automatic lawn mower is configured such that when the control module directs the motion module to move the automatic lawn mower in a first direction along the boundary of the working area, the cutting drive section drives the cutting element to work; and when the control module directs the motion module to move the automatic lawn mower in a second direction along the boundary of the working area, the edge trimming drive section drives the edge trimming element to work.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] The present disclosure claims priority to Chinese Patent Application No. 201810540754.4 filed on May 30, 2018, and claims priority to Chinese Patent Application No. 201811064195.0 filed on September 12, 2018, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0002] The present disclosure relates to an automatic lawn mower, in particular to an automatic lawn mower with edge trimming function. STATE OF THE ART

[0003] With the advancement of science and technology, intelligent autonomous devices are becoming increasingly popular. Because autonomous devices can automatically perform predefined tasks using preset programs without requiring manual operation or intervention, they are widely used in industrial applications and household products.

[0004] Taking an automatic lawn mower as an example, the automatic lawn mower generally works on a lawn, and the user sets its working area. The automatic lawn mower recognizes the relative positional relationship with respect to the working area to keep itself within the working area and prevent it from leaving the boundary. A cutting module of the automatic lawn mower is generally a rigid member such as a blade, which is easy to cause damage to the human body or other objects during high-speed mowing movement. To prevent such damage, a protective cover is usually mounted around the cutting module. In order to consider the passability requirements of the automatic lawn mower, the protective cover is kept at a certain height and at a certain distance from the cutting module in the horizontal direction.This means that when the automatic lawn mower moves along the boundary of the working area, including an obstacle boundary, there is still a distance between the cutting module and the actual boundary and this distance creates an area on the lawn that is inaccessible to the automatic lawn mower, requiring additional treatment by the user. REVELATION

[0005] In order to overcome the disadvantages of the prior art, the object of the present disclosure is to provide a lawn mower with which cutting up to the edge of a work area can be achieved and which is characterized by a compact arrangement.

[0006] According to the present disclosure, the object is achieved by an automatic lawn mower for moving and working in a work area, and comprising: a housing comprising a central axis in a longitudinal direction; a motion module mounted on the housing and causing the housing to move; a cutting module mounted on the housing, the cutting module rotating about a first rotary shaft as a pivot point, thereby forming a cutting area; wherein the cutting module comprises a cutting drive section and a cutting section, the cutting drive section is drivingly connected to the cutting section, and the cutting section comprises a cutting element; an edge trimming module mounted on the housing, the edge trimming module rotating about a second rotary shaft as a pivot point, thus forming an edge trimming region, the second rotary shaft being located on one side of the central axis; wherein the edge trimming module comprises an edge trimming drive section and an edge trimming section, the edge trimming drive section is drivingly connected to the edge trimming section, and the edge trimming section comprises an edge trimming element; a control module electrically connected to the motion module; wherein the control module is configured to control the movement module such that, upon movement of the automatic lawn mower in a first direction along the boundary of the working area, the cutting drive section is controlled such that the cutting module is driven to work; and to control the movement module such that, upon movement of the automatic lawn mower in a second direction along the boundary of the working area, the edge trimming drive section is controlled such that the edge trimming module is driven to work.

[0007] According to the present disclosure, the object is further achieved by an automatic lawn mower for moving and working in a work area, and comprising: a housing comprising a central axis in a longitudinal direction; a motion module mounted on the housing and causing the housing to move; a cutting module mounted on the housing, the cutting module rotating about a first rotary shaft as a pivot point, thereby forming a cutting area; wherein the cutting module comprises a cutting drive section and a cutting section, the cutting drive section is drivingly connected to the cutting section, and the cutting section comprises a cutting element; an edge trimming module mounted on the housing, the edge trimming module rotating about a second rotary shaft as a pivot point, thus forming an edge trimming region, the second rotary shaft being located on one side of the central axis; wherein the edge trimming module comprises an edge trimming drive section and an edge trimming section, the edge trimming drive section is drivingly connected to the edge trimming section, and the edge trimming section comprises an edge trimming element; a control module electrically connected to the motion module; wherein the control module is configured to control the movement module such that, when the automatic lawn mower moves along the boundary of the working area, the cutting drive section is controlled such that the cutting module is driven to work, and the edge trimming drive section is controlled such that the edge trimming module is driven to work.

[0008] In one of the embodiments, it is provided that the control module is configured to control the movement module such that, when the automatic lawn mower moves in the first direction along the boundary of the working area, the cutting drive section is controlled such that the cutting module is driven, and the edge trimming drive section is controlled such that the edge trimming module is driven to work; and that the control module is further configured to control the movement module such that, when the automatic lawn mower moves in the second direction along the boundary of the working area, the edge trimming drive section is controlled such that the edge trimming module is driven, and the cutting drive section is controlled such that the cutting module is driven to work.

[0009] In one of the embodiments, it is provided that the first rotary shaft is located on the other side of the central axis.

[0010] In one of the embodiments, it is provided that the first rotary shaft is located on the central axis.

[0011] In one of the embodiments, it is provided that the distance between the first rotary shaft and the central axis is a first distance; wherein the distance between the second rotary shaft and the central axis is a second distance; wherein the first distance is less than the second distance.

[0012] In one of the embodiments, it is provided that the automatic lawn mower comprises an edge running mode and an edge trimming mode; wherein in the edge walking mode the cutting module operates under the control of the control module and the automatic lawn mower travels in the first direction along the boundary of the work area so that the side on which the cutting module is located faces the outside of the work area; wherein in the edge trimming mode, the edge trimming module operates under the control of the control module and the automatic lawn mower travels in the second direction along the boundary of the work area so that the side on which the edge trimming module is located faces the outside of the work area.

[0013] In one of the embodiments, it is provided that the control module controls the edge running mode such that it is started before the edge trimming mode. or that the control module controls the edge trimming mode so that it is started before the edge running mode.

[0014] In one of the embodiments it is provided that the edge trimming element differs from the cutting element.

[0015] In one of the embodiments, it is provided that the edge trimming element comprises a flexible trimming element and the cutting element comprises a rigid cutting element.

[0016] In one of the embodiments, it is provided that the movement module comprises two drive wheels located at the rear of the automatic lawn mower, with at least one driven wheel located at the head of the automatic lawn mower.

[0017] In one of the embodiments, it is provided that the projections of the edge trimming region of the edge trimming module and the cutting region of the cutting module are arranged spaced apart from one another in the height direction of the housing.

[0018] In one of the embodiments, it is provided that the movement track of the edge trimming area of ​​the edge trimming module overlaps with the movement track of the cutting area of ​​the cutting module.

[0019] In one of the embodiments, it is provided that the edge trimming module is located closer to the head of the automatic lawn mower than the cutting module.

[0020] In one of the embodiments, it is provided that the cutting module is located on the same side as the edge trimming module.

[0021] Compared with the prior art, the present disclosure is advantageously characterized in that the automatic lawn mower is provided with the cutting module and the edge trimming module, so that the automatic lawn mower can expand its trimming range and thus trim grass and other plants at the edge of the work area or reduce an inaccessible area at the edge of the work area, thus significantly reducing the user's labor and achieving an increase in work efficiency for the user and agricultural production efficiency. PRESENTATION OF REVELATION

[0022] To better explain the specific embodiments according to the present disclosure or the embodiments in the prior art, the accompanying drawings are briefly described below to describe the specific embodiments or the prior art. It is understood that the following drawings represent only some embodiments of the disclosure and that it is possible for those of ordinary skill in the art to obtain further drawings from such drawings without inventive steps. Fig. 1 shows an automatic lawn mower according to an embodiment of the present disclosure in a schematic representation; Fig. 2 shows the automatic lawn mower according to an embodiment of the present disclosure in a schematic representation; Fig. 3 shows the automatic lawn mower according to an embodiment of the present disclosure in a schematic representation; Fig. 4 shows the automatic lawn mower according to an embodiment of the present disclosure in a schematic representation; Fig. 5 shows the automatic lawn mower according to an embodiment of the present disclosure in a schematic representation; Fig. 6 shows the automatic lawn mower according to an embodiment of the present disclosure in a schematic representation; Fig. 7 shows the automatic lawn mower according to an embodiment of the present disclosure in a schematic representation; Fig. 8 shows the automatic lawn mower according to an embodiment of the present disclosure in a schematic representation; Fig. 9 shows the automatic lawn mower according to an embodiment of the present disclosure in a schematic representation; Fig. 10 shows the automatic lawn mower according to an embodiment of the present disclosure in a schematic representation; Fig. 11 shows the automatic lawn mower according to an embodiment of the present disclosure in a schematic representation; Fig. 12 shows the operation of the automatic lawn mower according to an embodiment of the present disclosure in a schematic representation; Fig. 13 shows the operation of the automatic lawn mower according to an embodiment of the present disclosure in a schematic representation; Fig. 14 shows the operation of the automatic lawn mower according to an embodiment of the present disclosure in a schematic representation; Fig. 15 shows the operation of the automatic lawn mower according to an embodiment of the present disclosure in a schematic representation; Fig. 16 an enlarged detail of the automatic lawn mower according to Fig. 15; Fig. 17 shows the operation of the automatic lawn mower according to an embodiment of the present disclosure in a schematic representation; Fig. 18 an enlarged detail of the automatic lawn mower after Fig. 17. CONCRETE EMBODIMENTS

[0023] In the following, embodiments according to the present disclosure will be explained fully and clearly with reference to the accompanying drawings. It should be understood that the described embodiments represent only some of the embodiments of the disclosure, rather than all of them. All other embodiments that can be obtained by those of ordinary skill in the art from the embodiments of the disclosure without inventive steps are also within the scope of the disclosure.

[0024] It should be noted that in describing the present disclosure, the terms "center," "top," "bottom," "left," "right," "vertical," "horizontal," "inside," "outside," etc., are used in each case with reference to the illustrated directional or positional relationship in the respective figure, solely to describe the disclosure and, where appropriate, to simplify the description. In other words, these terms neither imply nor explicitly indicate the positioning, design, and operation of the device or element in question in a predetermined position, so that this does not limit the disclosure either. Furthermore, it should be noted that the terms "first," "second," and "third" should not be understood as an implicit or explicit reference to relative importance. Rather, they serve merely as a descriptive measure.

[0025] In the present disclosure, the terms "attach," "connected," "connect," or the like, unless expressly stated otherwise, are to be understood in a broad sense. For example, this can refer to a fixed, detachable, or one-piece connection, as well as a mechanical or electrical connection. Furthermore, direct connections, indirect connections, or connections established via an intermediate piece, as well as internal connections between two elements are also conceivable. One of ordinary skill in the art can use the facts of the case to determine the intended meanings of these terms according to the present disclosure.

[0026] It will be Fig. 1 to 11. An automatic lawn mower comprises a housing 100 and a motion module, a cutting module 300, an edge trimming module 200, and a detection module mounted on the housing 100. The motion module comprises a drive wheel 110 driven by a drive motor and a driven wheel 120 not driven by the drive motor. The detection module serves to detect the boundary of a work area. The automatic lawn mower further comprises a control module that serves to control the motion module, the cutting module, or the edge trimming module, thereby controlling the movement and operation of the automatic lawn mower. The cutting module 300 comprises a cutting drive section and a cutting section. The cutting drive section is drivingly connected to the cutting section. The cutting section includes a cutting element.The edge trimming module 200 includes an edge trimming drive section and an edge trimming section. The edge trimming drive section is drivingly connected to the edge trimming section. The edge trimming section includes an edge trimming element. Operation of the edge trimming section forms an edge trimming region that extends beyond the housing 100. In the present embodiment, the edge trimming element differs from the cutting element by at least one feature, for example, with regard to material, sharpness, weight, size, etc.

[0027] Through the interaction of the edge trimming module 200 with the cutting module 300, the automatic lawn mower can expand its trimming area and thus trim grass and other plants at the edge of the working area or reduce an untrimmed area at the edge of the working area, thus significantly reducing the user's labor and achieving an increase in work efficiency for the user and agricultural production efficiency.

[0028] It should be understood that the automatic lawn mower according to the present embodiment further includes a sensing module, a communication module, a positioning module, etc., to help the automatic lawn mower maintain its operation within a user-set operating area and implement obstacle avoidance or other functions. The operating area may be an entire area or an area containing a rockery, a lake, or other obstacle. Regarding the landform, the operating area may be a lawn, a farmland, a garden, etc. In some embodiments, the automatic lawn mower may receive a signal sent by a remote device via a communication module. The remote device may include a server, a user device, etc.The control module can control the automatic lawn mower to perform a corresponding action according to a signal received by the communication module.

[0029] In the present embodiment, a longitudinal direction of the housing 100 corresponds to the direction of travel of the housing. A transverse direction of the housing 100 runs perpendicular to the direction of travel and the vertical direction of the housing.

[0030] As in Fig. As shown in Figure 2, the cutting module 300, in one embodiment, includes a blade disc and the cutting element mounted on the blade disc. The edge trimming module 200 includes a trimming head and a trimmer line mounted on the trimming head. The cutting module 300 rotates about a first rotating shaft, thus forming a cutting area. The cutting area is specifically a region formed by rotating the cutting element. The edge trimming module 200 rotates about a second rotating shaft, thus forming an edge trimming area. The edge trimming area is specifically a region formed by rotating the trimmer line.

[0031] In one embodiment, the cutting module 300 can be arranged at any position in the lowermost region of the housing 100. Optionally, the cutting module 300 is arranged offset from the central axis of the housing 100 in the longitudinal direction, and the edge trimming module 200 and the cutting module 300 are arranged on two sides of the central axis of the housing 100, so that the cooperation of the cutting module 300 with the edge trimming module 200 allows for better trimming of grass and other plants within and around the work area, and the automatic lawn mower has a more compact design. Thus, the housing 100 can simultaneously accommodate the edge trimming module 200 and the cutting module 300, thereby avoiding a significant increase in the length or width of the automatic lawn mower.

[0032] In one embodiment, the position of the projection of the edge trimming portion is fixed relative to the housing 100 along the height direction of the housing 100. By fixing the position of the projection of the edge trimming portion relative to the housing 100, the structure of the edge trimming module 200 is simplified, and thus the structure of the automatic lawn mower is simplified.

[0033] As can be seen from Fig. 2, in one embodiment, the projection of the second rotary shaft in the height direction of the housing 100 is located within the housing 100, and furthermore, the main body of the edge trimming module 200 is located on the housing 100. Thus, during normal operation, the automatic lawn mower can largely retain its original movement and operation without being influenced by the edge trimming module 200.

[0034] In one embodiment, the edge trimming area extends at least partially beyond the housing 100. When the automatic lawn mower travels along a wall or other obstacle, the edge trimming area extending beyond the housing 100 can achieve complete cutting of an edge of the obstacle.

[0035] In one embodiment, the edge trimming module 200 includes a flexible trimming element 210 for trimming a plant. The flexible trimming element 210 includes a trimmer line, a flexible plastic blade, a flexible rubber blade, or another structure. Optionally, the flexible trimming element 210 can deform upon contact with a human body, a fence, a wall, or other object.

[0036] Alternatively, when the flexible trimming member 210 comes into contact with a human body, a fence, a wall, or other object, the flexible plastic blade or the flexible rubber blade is retracted to reduce damage to the human body, the fence, the wall, etc. On the other hand, when the flexible trimming member 210 comes into contact with grass or a grass-like plant, substantially no deformation occurs to ensure that the flexible trimming member 210 can trim grass or a grass-like plant.

[0037] In one embodiment, the cutting module 300 includes a rigid cutting element for trimming a plant, such as a rigid blade or other structure. Therefore, greater damage is caused if the cutting module 300 comes into contact with a human body, a fence, a wall, or another object. For this reason, the cutting module 300 is spaced a large distance from the edge of the housing 100 in the transverse direction to provide protection by the housing 100. To achieve edge-to-edge cutting, the edge trimming area created by the edge trimming module 200 extends beyond the housing 100.If the distance between the second rotary shaft and the central axis is greater than or equal to the distance between the first rotary shaft and the central axis, this results in the radius of the edge trimming area being larger than the radius of the cutting area, and thus the edge trimming module 200 repeatedly operates in a range where the cutting module 300 operates, thereby increasing the power consumption of the edge trimming module 200. Therefore, in the present embodiment, the distance between the first rotary shaft and the central axis is a first distance, and the distance between the second rotary shaft and the central axis is a second distance, wherein the first distance is less than the second distance.

[0038] In one embodiment, the maximum size of an overlap of the movement track of the edge trimming area of ​​the edge trimming module 200 with the movement track of the cutting area of ​​the cutting module 300 is not less than 5 mm in order to avoid a dead area between the edge trimming area of ​​the edge trimming module 200 and the cutting area of ​​the cutting module 300 and thus to prevent grass and other plants near the edge of the work area from being trimmed.

[0039] Optionally, the maximum overlap between the movement path of the edge trimming area of ​​the edge trimming module 200 and the movement path of the cutting area of ​​the cutting module 300 is 5 mm, 6 mm, 8 mm, 10.5 mm, or 20 mm, etc. The size of the overlap area can be determined depending on the structure or working scenario of the automatic lawn mower. There are no specific restrictions.

[0040] In the present embodiment, when the movement track of the edge trimming region of the edge trimming module 200 overlaps with the movement track of the cutting region of the cutting module 300, the edge trimming region of the edge trimming module 200 may or may not overlap with the cutting region of the cutting module 300, among other things. For example, the projections of the edge trimming region of the edge trimming module 200 and the cutting region of the cutting module 300 in the height direction of the housing 100 overlap. In another example, the projections of the edge trimming region of the edge trimming module 200 and the cutting region of the cutting module 300 are spaced apart from each other in the height direction of the housing 100, but the projections of the edge trimming region of the edge trimming module 200 and the cutting region of the cutting module 300 in the transverse direction of the housing overlap.Alternatively, another design is conceivable.

[0041] In one of the embodiments, it is provided that the distance between the first rotary shaft and the central axis is a first distance and the distance between the second rotary shaft and the central axis is a second distance; wherein the difference between the second distance and the first distance is less than or equal to the sum of the radii of a main cutting area and an auxiliary cutting area. During a movement, an area machined by the cutting module 300 approximately corresponds to an area a whose width is equal to the radius of the main cutting area, and an area machined by the edge trimming module 200 approximately corresponds to an area b whose width is equal to the radius of the auxiliary cutting area.As a result, when there is a gap between area a and area b in the transverse direction, that is, when the difference between the second distance and the first distance is greater than the sum of the radii of the main cutting area and the auxiliary cutting area, an uncut area still remains around an obstacle after the operation of the cutting module 300 and the edge trimming module 200. In this case, the control module controls the relative distance between the moving module and the boundary of the working area and causes it to move again along the boundary of the working area to trim the uncut area. This operation not only increases the load on the control module but also reduces the operating efficiency of the automatic lawn mower.If the difference between the second distance and the first distance is less than or equal to the sum of the radii of the main cutting area and the auxiliary cutting area, the area a and the area b intersect in the transverse direction or are tangential to each other, thus ensuring complete trimming of the area around an obstacle after operation of the cutting module 300 and the edge trimming module 200.

[0042] In one embodiment, the boundary of the work area may be a boundary line or other signal-generating device positioned by the user at or near the edge of the work area. Alternatively, a physical boundary formed by a fence, a flowerbed, or the like within the work area, or a boundary determined by detection of a work surface by the automatic lawn mower or by positioning, is conceivable. Accordingly, the detection module may include, among other things, a sensor that detects a boundary signal, a sensor that detects a physical boundary, a sensor that detects a work surface, or a positioning sensor.

[0043] In one embodiment, the projections of the edge trimming region of the edge trimming module 200 and the cutting region of the cutting module 300 do not overlap in the height direction of the housing 100. If the edge trimming region overlaps the cutting region and the edge trimming module 200 and the cutting module 300 are at the same height, mutual interference will occur when the edge trimming module 200 and the cutting module 300 are simultaneously turned on, causing the cutting element and the edge trimming element to come into contact with each other during operation and thus be damaged. By ensuring that the edge trimming region and the cutting region do not overlap, the service life of the edge trimming element and / or the cutting element can be extended, thus reducing the number of user interventions.

[0044] In one embodiment, the control module serves to control the movement module such that, when the automatic lawn mower travels along the boundary of the work area along a first direction, the cutting drive section is controlled to drive the cutting module 300 to work, and / or the edge trimming drive section is controlled to drive the edge trimming module 200 to work. The control module further serves to control the movement module such that, when the automatic lawn mower travels along the boundary of the work area along a second direction, the edge trimming drive section is controlled to drive the edge trimming module 200 to work, and / or the cutting drive section is controlled to drive the cutting module 300 to work. The second direction is opposite to the first direction.The interaction of the cutting module 300 with the edge trimming module 200 allows grass and other plants within and around the work area to be trimmed more effectively.

[0045] In one embodiment, the control module serves to control the movement module such that, when the automatic lawn mower travels along the boundary of the work area along the first direction, the cutting drive section is controlled to drive the cutting module 300 to operate. The control module serves to control the movement module such that, when the automatic lawn mower travels along the boundary of the work area along the second direction, the edge trimming drive section is controlled to drive the edge trimming module 200 to operate. By operating the cutting module 300 when traveling along the first direction and the edge trimming module 200 when traveling along the second direction, the actual cutting width of the edge trimming module 200 is reduced, the edge cutting result is improved, wear on the edge trimming module 200 is reduced, and the durability of the edge trimming module 200 is increased.

[0046] In one embodiment, the edge trimming module 200 is arranged to the left or right of the cutting module 300 along the transverse direction of the housing 100.

[0047] In one embodiment, the edge trimming module 200 is arranged in front of the cutting module 300 along the longitudinal direction of the housing 100. In the present embodiment, "front" refers to a direction facing the head of the automatic lawn mower, while "rear" refers to a direction facing the rear of the automatic lawn mower.

[0048] In one embodiment, the edge trimming module 200 is provided in a number of one. The edge trimming module 200 is arranged in front of, diagonally in front of, behind, or diagonally behind the cutting module 300, or on its left or right side. Alternatively, the edge trimming module 200 is provided in a number of two. The edge trimming modules 200 are arranged to the side of the cutting module 300 or diagonally in front of it, and the two edge trimming modules 200 are arranged symmetrically with respect to the axis of the housing 100 in the direction of travel.

[0049] It will be Fig. 5 to 11. The cutting module 300 is arranged on the axis of the housing 100 in the direction of travel. The edge trimming module 200 is in Fig. 5 and Fig. 6 are arranged to the left and right of the cutting module 300. In Fig. 7, two edge trimming modules 200 are arranged symmetrically to the side of the cutting module 300. In Fig. 8 and Fig. 9, the edge trimming module 200 is arranged to the left or right of the cutting module 300. In Fig. 10, two edge trimming modules 200 are arranged symmetrically diagonally in front of the cutting module 300. In Fig. 11, an edge trimming module 200 is arranged diagonally behind the cutting module 300. It should be noted that two drive wheels 110 of the automatic lawn mower according to Fig. 5 to 10 are arranged at the rear and the driven wheel 120 is arranged at the head. Fig. 5 to 7 two driven wheels 120 are arranged. In Fig. 8 to 10, the driven wheel 120 is provided in a number of one. In Fig. In Figure 11, two drive wheels 110 of the automatic lawn mower are arranged at the head, and the driven wheel 120 is arranged at the rear. A driven wheel 120 is shown schematically.

[0050] Optionally, the cutting module 300 is arranged offset from the axis of the housing 100 in the direction of travel. At least one edge trimming module 200 is arranged at one or more locations in front of, diagonally in front of, behind, and diagonally behind the cutting module 300 and to the side of the cutting module.

[0051] Optionally, the cutting module 300 is provided in a number of one and the edge trimming module 200 is provided in a number of one, and the edge trimming module 200 is arranged in front of, diagonally in front of, behind the cutting module 300, or on its left or right side. Alternatively, the edge trimming module 200 is provided in a number of two, and the two edge trimming modules 200 are arranged symmetrically with respect to the axis of the housing 100 in the direction of travel and diagonally in front of the cutting module 300. Alternatively, one of the edge trimming modules 200 is arranged in front of the cutting module 300, and the other edge trimming module 200 is arranged to the side of the cutting module 300.

[0052] In one embodiment, the edge trimming module 200 is optionally arranged at one or more of the head, middle, and rear locations of the lowermost portion of the housing 100. The edge trimming module 200 can be provided in one or a plurality of locations. For example, a number of one, two, three, five, etc. is conceivable. The plurality of edge trimming modules 200 can be evenly arranged around the periphery of the lowermost portion of the housing 100 or arranged according to preset positions at the lowermost portion of the housing 100. The number of edge trimming modules 200 can be determined depending on the dimensions of the automatic lawn mower, the structure of the automatic lawn mower, and other factors.

[0053] In one embodiment, the cutting module 300 can be provided in one or a plurality of configurations. For example, a number of one, two, three, five, etc. is conceivable. The plurality of cutting modules 300 can be arranged along the vertical direction of the housing 100 or perpendicular to the vertical direction of the housing 100. The number of cutting modules 300 can be determined depending on the dimensions of the automatic lawn mower, the structure of the edge trimming module 200, the structure of the cutting module 300, and other factors.

[0054] It will be Fig. 1 to 4. A cutting module 300 is arranged offset from the axis of the housing 100 in the direction of travel. The edge trimming module 200 is in Fig. 1 in front of the cutting module 300. In Fig. 2 and Fig. 4, the edge trimming module 200 is arranged to the side of the cutting module 300 or diagonally in front of it, and the edge trimming module 200 and the cutting module 300 are arranged on two sides of the axis of the housing 100 in the direction of travel. In Fig. 3, one of the edge trimming modules 200 is arranged in front of the cutting module 300 and the other edge trimming module 200 is arranged laterally of the cutting module 300. It should be noted that two drive wheels 110 of the automatic lawn mower according to Fig. 1 to 4 are arranged at the rear and the driven wheel 120 is arranged at the head. Fig. 4 two driven wheels 120 are provided and in Fig. 1 to 3, the driven wheel 120 is provided in a number of one.

[0055] In the present embodiment, it is conceivable that the drive wheel 110 of the automatic lawn mower is arranged at the rear and the driven wheel 120 is arranged at the head. Alternatively, it is conceivable that the drive wheel 110 is arranged at the head and the driven wheel 120 is arranged at the rear. The number of drive wheels 110 of the automatic lawn mower can be one, and the driven wheel 120 can be provided in a number of two. Alternatively, the number of drive wheels 110 of the automatic lawn mower can be two, and the driven wheel 120 can be provided in a number of one or two. Alternatively, another configuration is conceivable.The specific numbers and arrangement positions of the edge trimming module 200 and the cutting module 300 can be determined depending on the arrangement of the drive wheel 110 and the driven wheel 120, the dimension of the automatic lawn mower, the structure of the edge trimming module 200 and the cutting module 300, the structure and cost of the automatic lawn mower, and other factors.

[0056] Optionally, the trimmer line can be a nylon grass cutting line, a steel wire with a nylon sheath applied to the outside. Alternatively, a metal grass cutting line or a plastic grass cutting line is also possible.

[0057] Optionally, the cutting module 300 includes a rigid cutting element for trimming a plant. The rigid cutting element includes a blade made of metal, stone, or another material. The rigid cutting element is more effective at trimming grass or other plants than the flexible trimming element 210.

[0058] Optionally, the edge trimming element 200 includes the flexible trimming element 210, and the cutting module 300 includes the rigid cutting element. The edge trimming module 200, which includes the flexible trimming element 210, and the cutting module 300, which includes the rigid cutting element, allow for better trimming of grass and other vegetation within and around the work area.

[0059] In one embodiment, the edge trimming module 200 is located on one side of the central axis. Herein, the arrangement on one side of the central axis does not specifically mean that the entire edge trimming module 200 is located on one side of the central axis. Rather, it means that the second rotary shaft is located on one side of the central axis. The automatic lawn mower includes an edge trimming mode in which the control module receives a detection signal from the detection module, which determines the position of the housing relative to the boundary of the work area and based on this, the automatic lawn mower is controlled such that it moves along the boundary of the work area with the side on which the second rotary shaft is located facing the outside of the work area.At the same time, the edge trimming module works under the control of the control module, so that the automatic lawn mower performs edge trimming along the border of the working area.

[0060] In the present embodiment, the cutting module 300 is optionally located on the central axis or on one side of the central axis. In the edge trimming mode, the cutting module 300 and the edge trimming module optionally operate simultaneously under the control of the control module, or the control module causes the cutting module to not operate.

[0061] An embodiment of the present disclosure provides a control method for the automatic lawn mower described above. It includes the following steps: Detecting the boundary of the work area; Determine whether a condition for activating edge trimming operation is met. Control the edge trimming module 200 to operate if this is the case. Move the motion module along the boundary of the work area so that the side on which the edge trimming module 200 is located faces the outside of the work area.

[0062] In one embodiment, the automatic lawn mower includes a perimeter walking mode and a perimeter trimming mode. In the perimeter walking mode, the control module causes the cutting module 300 to operate and controls the automatic lawn mower to move along the perimeter of the work area. In the perimeter trimming mode, the perimeter trimming module 200 operates under the control of the control module, and the automatic lawn mower is controlled to move along the perimeter of the work area. Fig. 18. In the present embodiment, the edge trimming module 200 is located on one side of the central axis. In the edge trimming mode, the control module controls the automatic lawn mower such that it moves along the boundary of the work area, with the side on which the edge trimming module 200 is located facing the outside of the work area. That is, in the edge trimming mode, the automatic lawn mower moves clockwise along the boundary of the work area when the edge trimming module 200 is located to the left of the central axis. Conversely, in the edge trimming mode, the automatic lawn mower moves counterclockwise along the boundary of the work area when the edge trimming module 200 is located to the right of the central axis.

[0063] In the present embodiment, it is optionally provided that the cutting module 300 is located on the central axis or on one side of the central axis. When the cutting module 300 is located on the central axis, the automatic lawn mower can move both clockwise and counterclockwise along the boundary in the edge-walking mode under the control of the control module. When the cutting module 300 is located on the same side as the edge-trimming module 200, the control module controls the automatic lawn mower to move along the boundary, with the direction of movement being the same as that in the edge-trimming module. When the cutting module 300 and the edge-trimming module 200 are located on different sides, the control module controls the automatic lawn mower to move along the boundary, with the direction of movement being opposite to that in the edge-trimming module.

[0064] An embodiment of the present disclosure provides a control method for the automatic lawn mower described above. It includes the following steps: Determining whether a condition for activating edge tracking operation is met. Controlling the cutting module 300 to operate if this is the case. Moving the motion module along the boundary of the work area; Determine whether the condition for activating edge trimming operation is met. Control the edge trimming module 200 so that it operates if this is the case. Move the motion module along the boundary of the work area so that the side on which the edge trimming module 200 is located faces the outside of the work area.

[0065] In one embodiment, the condition for activating edge travel operation includes receipt by the control module of an edge travel activation signal, a work area cut completion signal, a return signal, etc. The condition for activating edge trimming operation includes receipt by the control module of an edge travel completion signal. Further, an edge trimming activation signal, a work area cut completion signal, a return signal, etc. may be included. It should be understood that in the present embodiment, edge travel is completed before the start of edge trimming, but there is no restriction regarding whether edge travel and edge trimming occur consecutively.

[0066] It will continue on Fig. 18. In one embodiment, the edge trimming module 200 is located on one side of the central axis, and the cutting module 300 is located on the other side of the central axis. In the edge walking mode, the control module controls the automatic lawn mower such that it moves along the boundary of the work area, with the other side, on which the cutting module 300 is located, facing the outside of the work area. In the edge walking mode, the cutting module 300 operates under the control of the control module, and the automatic lawn mower moves in the first direction along the boundary of the work area, such that the side on which the cutting module 300 is located faces the outside of the work area. Thus, the cutting module 300 can cut as far into the boundary of the work area as possible.In the edge trimming mode, the edge trimming module 200 operates under the control of the control module, and the automatic lawn mower travels in the second direction along the boundary of the work area so that the side on which the edge trimming module 200 is located faces the outside of the work area. Thus, the edge trimming module 200 can cut into an area inaccessible to the cutting module 300. In the present embodiment, the control module controls the edge walking mode to start before the edge trimming mode. Only after the edge walking mode has been completed can the edge trimming mode be started. Optionally, the edge walking mode is determined to be completed when, in the edge trimming mode, the distance or time of movement of the automatic lawn mower along the boundary of the work area reaches a preset value.

[0067] Optionally, the control module can control the automatic lawn mower to immediately enter the edge trimming mode after the edge walking mode is completed, thus completing the edge trimming operation of the automatic lawn mower. Optionally, the control module can also control the automatic lawn mower to enter another mode after the edge walking mode is completed and only enter the edge trimming mode after receiving an edge trimming mode start signal.

[0068] An embodiment of the present disclosure provides a control method for the automatic lawn mower described above. It includes the following steps: Determine whether the condition for activating edge tracking operation is met. Control the cutting module 300 such that it operates if this is the case. Move the motion module in the first direction along the boundary of the work area so that the cutting module 300 faces the outside of the work area. Determine whether the condition for activating edge trimming operation is met. Control the edge trimming module 200 so that it operates when it is. Move the movement module along the boundary of the work area so that the side on which the edge trimming module 200 is located faces the outside of the work area. This direction is defined as the second direction. Since the cutting module 300 and the edge trimming module 200 are located on opposite sides of the central axis, the first direction and the second direction are opposite to each other.

[0069] In another embodiment, as in Fig. 5, it is optionally provided that when the cutting module 300 is located on the central axis, the automatic lawn mower can move in the perimeter walking mode under the control of the control module clockwise or counterclockwise along the boundary of the work area.

[0070] In one embodiment, a control method of an automatic lawn mower comprises the following steps: Detect whether the condition for activating the edge trimming operation is met. Control the cutting module 300 and the edge trimming module 200 to operate if this is the case. Move the movement module along the boundary of the work area so that the edge trimming module 200 faces the outside of the work area. In the present embodiment, the cutting module 300 and the edge trimming module 200 operate simultaneously when the movement module moves along the boundary of the work area. Optionally, the first rotary shaft is located on the central axis.

[0071] An embodiment of the present disclosure provides a control method of an automatic lawn mower. It includes the following steps: Starting the edge walking mode, driving the automatic lawn mower along the first direction at the boundary of the work area, and operating the edge trimming module 200 and / or the cutting module 300; optionally, the boundary of the work area can be annular, straight, curved, irregularly shaped, or have another shape. Starting the edge trimming mode thereafter, driving the automatic lawn mower along the second direction at the boundary of the work area and operating the cutting module 300 and / or the edge trimming module 200; the second direction is opposite to the first direction, i.e., the automatic lawn mower drives along the boundary of the work area in the opposite direction.

[0072] That is, after starting the edge-walking mode, the automatic lawn mower can move along the first direction at the boundary of the working area, the edge trimming module 200 works to trim plants, and the cutting module 300 stops working; after that, the edge-trimming mode is started, the automatic lawn mower moves along the second direction at the boundary of the working area, the cutting module 300 works to trim plants, and the edge trimming module 200 stops working.

[0073] Alternatively, it is conceivable that after starting the edge-walking mode, the automatic lawn mower travels along the first direction at the boundary of the work area, the cutting module 300 operates to trim plants, and the edge-trimming module 200 stops working; after which the edge-trimming mode is started, the automatic lawn mower travels along the second direction at the boundary of the work area, the edge-trimming module 200 operates to trim plants, and the cutting module 300 stops working.

[0074] As a further alternative possibility, it is conceivable that after starting the edge-walking mode, the automatic lawn mower travels along the first direction at the boundary of the work area and both the edge trimming module 200 and the cutting module 300 work to trim plants; after which the edge-trimming mode is started, the automatic lawn mower travels along the second direction at the boundary of the work area and both the edge trimming module 200 and the cutting module 300 work to trim plants.

[0075] An embodiment of the present disclosure provides a control method of an automatic lawn mower. It includes the following steps: Starting the edge trimming mode, driving the automatic lawn mower along the second direction at the boundary of the work area and operating the cutting module 300 and / or the edge trimming module 200; Starting the edge walking mode thereafter, driving the automatic lawn mower along the first direction at the boundary of the work area and operating the cutting module 200 and / or the edge trimming module 300; the second direction is opposite to the first direction, i.e. the automatic lawn mower drives along the boundary of the work area in the opposite direction.

[0076] Optionally, the boundary of the working area can be annular, straight, curved, irregularly shaped or have another shape.

[0077] Optionally, when driving along the boundary of the work area along the first direction, the automatic lawn mower can drive along the entire length or a portion of the boundary of the work area, or alternatively, drive along the boundary once or multiple times. For example, if the boundary of the work area is circular, the automatic lawn mower will drive a full circuit, several circuits, or a half circuit along the first direction.

[0078] Optionally, when driving along the boundary of the work area along the second direction, the automatic lawn mower can drive along the entire length or part of the boundary of the work area, or alternatively, drive along the boundary once or multiple times. For example, if the boundary of the work area is circular, the automatic lawn mower will drive along the second direction in a full circle, several circles, or a half circle.

[0079] It will be Fig. 15 to 18. In an optional possibility of the present embodiment, the automatic lawn mower travels in the edge walking mode along the first direction at the boundary of the work area, the cutting module 300 operates, and the edge trimming module 200 stops operating. As shown in Fig. 15 and Fig. 16, complete cutting to the edge is not possible with the cutting module 300 when the cutting module 300 is operating.

[0080] The edge trimming mode is then started. The automatic lawnmower moves along the second direction along the boundary of the working area. The edge trimming module 200 operates and trims plants outside the boundary of the working area. The cutting module 300 stops working. As can be seen from Fig. 17 and Fig. 18, complete cutting to the edge is possible with the edge trimming module 200 when the edge trimming module 200 is operating.

[0081] By first having the cutting module 300, which includes the rigid cutting element, perform trimming work and then having the edge trimming module 200, which includes the flexible trimming element 210, perform trimming work, the actual cutting width of the flexible trimming element 210 is reduced, thus improving the edge trimming result, further reducing wear on the flexible trimming element 210 and increasing the durability of the flexible trimming element 210.

[0082] Regarding the arrangement of the edge trimming module 200, the present embodiment provides a set of examples in which the automatic lawn mower travels along the boundary of the work area with right-angled corners and trims plants along the edge. Fig. 12 to 14. The edge trimming module 200 is arranged at three positions near the head, the middle and the rear of the housing 100 and the edge trimming module 200 has one and the same cutting diameter. It is Fig. 12. The edge trimming module 200 is arranged as far as possible at the front of the housing 100, namely near the head of the lawn mower. It is Fig. 13. The edge trimming module 200 is arranged as close as possible to the center of the housing 100, namely near the center of the lawn mower. It is Fig. 14. The edge trimming module 200 is arranged as far as possible at the rear of the housing 100, namely near the rear of the lawn mower.

[0083] As in Fig. As shown in FIGS. 12 to 14, the uncut area at the corner varies depending on the arrangement position of the edge trimming module 200 on the housing 100. Here, the uncut area at the edge trimming module 200 arranged near the head of the lawn mower is smaller than the uncut area at the edge trimming module 200 arranged near the center of the lawn mower. The uncut area at the edge trimming module 200 arranged near the center of the lawn mower is smaller than the uncut area at the edge trimming module 200 arranged near the rear of the lawn mower. Therefore, a small uncut area at the corner during turning is achieved when the edge trimming module 200 is arranged as far as possible toward the front of the housing 100, namely, near the head of the lawn mower.

[0084] As can be seen from Fig. 15 and Fig.17, the present embodiment further provides a lawn mowing system including a power supply station 400 and the automatic lawn mower described above.

[0085] The power supply station 400 serves to supply electrical power to the automatic lawn mower. The power supply station 400 can supply the automatic lawn mower with power in a wired or wireless manner.

[0086] The lawn mowing system includes the automatic lawn mower described above. The technical features of the above-described automatic lawn mower also apply to the lawn mowing system, and the disclosed technical features of the automatic lawn mower are omitted here. The lawn mowing system has the advantages of the automatic lawn mower, and the disclosed advantages of the automatic lawn mower are omitted here.

[0087] Finally, it should be noted that the above embodiments only serve to illustrate the technical embodiments of the present disclosure, without limiting them. Although the present disclosure has been described in detail with reference to the above embodiments, it will be understood by those of ordinary skill in the art that modifications to the technical embodiments described in the preceding embodiments or equivalent replacements of some or all of the technical features included therein are still possible. However, such modifications or replacements do not cause the main ideas of the corresponding technical embodiments to deviate from the scope of the technical embodiments of the individual embodiments of the present disclosure. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] CN 201810540754.4

[0001]

Claims

[1] Automatic lawn mower for moving and working in a work area, comprising: a housing (100) comprising a central axis in a longitudinal direction; a motion module mounted on the housing (100) and causing the housing (100) to move; a cutting module (300) mounted on the housing (100), the cutting module (300) rotating about a first rotary shaft as a pivot point, thus forming a cutting area; wherein the cutting module (300) comprises a cutting drive section and a cutting section, wherein the cutting drive section is drivingly connected to the cutting section and the cutting section comprises a cutting element; an edge trimming module (200) mounted on the housing (100), the edge trimming module (200) rotating about a second rotary shaft as a pivot point, thus forming an edge trimming region, the second rotary shaft being located on one side of the central axis; wherein the edge trimming module comprises an edge trimming drive section and an edge trimming section, wherein the edge trimming drive section is drivingly connected to the edge trimming section and the edge trimming section comprises an edge trimming element; and a control module electrically connected to the motion module; characterized by , that The automatic lawn mower is configured such that when the control module controls the movement module to move the automatic lawn mower in a first direction along the boundary of the work area, the cutting drive section drives the cutting element to operate; and when the control module controls the movement module to move the automatic lawn mower in a second direction along the boundary of the work area, the edge trimming drive section drives the edge trimming element to operate. [2] Automatic lawn mower, for moving and working in a work area, comprising: a housing (100) comprising a central axis in a longitudinal direction; a motion module mounted on the housing (100) and causing the housing (100) to move; a cutting module (300) mounted on the housing (100), the cutting module (300) rotating about a first rotary shaft as a pivot point, thus forming a cutting area; wherein the cutting module comprises a cutting drive section and a cutting section, wherein the cutting drive section is drivingly connected to the cutting section and the cutting section comprises a cutting element; an edge trimming module (200) mounted on the housing (100), the edge trimming module (200) rotating about a second rotary shaft as a pivot point, thus forming an edge trimming region, the second rotary shaft being located on one side of the central axis; wherein the edge trimming module comprises an edge trimming drive section and an edge trimming section, wherein the edge trimming drive section is drivingly connected to the edge trimming section and the edge trimming section comprises an edge trimming element; and a control module electrically connected to the motion module; characterized by , that the automatic lawn mower is configured such that, when the control module controls the movement module to move the automatic lawn mower along the boundary of the working area, the cutting drive section drives the cutting element to work and the edge trimming drive section drives the edge trimming element to work. [3] Automatic lawn mower according to claim 1 or 2, characterized bythat the automatic lawn mower is configured such that, when the control module controls the movement module to move the automatic lawn mower in a first direction along the boundary of the working area, the cutting drive section drives the cutting element to work and the edge trimming drive section drives the edge trimming element to work, and when the control module controls the movement module to move the automatic lawn mower in a second direction along the boundary of the working area, the cutting drive section drives the cutting element to work and the edge trimming drive section drives the edge trimming element to work. [4] Automatic lawn mower according to claim 1 or 2, characterized by that the first rotating shaft is on the other side of the central axis. [5] Automatic lawn mower according to claim 1 or 2, characterized by that the first rotating shaft is on the central axis. [6] Automatic lawn mower according to claim 1 or 2, characterized by that the distance between the first rotary shaft and the central axis is a first distance; wherein the distance between the second rotary shaft and the central axis is a second distance; wherein the first distance is less than the second distance. [7] Automatic lawn mower according to claim 4, characterized by that the automatic lawn mower includes a perimeter walking mode and a perimeter trimming mode; wherein in the edge running mode the cutting module (300) operates under the control of the control module and the automatic lawn mower travels in the first direction along the boundary of the work area so that the side on which the cutting module (300) is located faces the outside of the work area; wherein in the edge trimming mode, the edge trimming module (200) operates under the control of the control module and the automatic lawn mower travels in the second direction along the boundary of the work area so that the side on which the edge trimming module (200) is located faces the outside of the work area. [8] Automatic lawn mower according to claim 7, characterized by that the control module controls the edge tracking mode such that it is started before the edge trimming mode; or that the control module controls the edge trimming mode such that it is started before the edge tracking mode. [9] Automatic lawn mower according to claim 1 or 2, characterized by that the edge trimming element is different from the cutting element. [10] Automatic lawn mower according to claim 9, characterized by that the edge trimming element and the cutting element have the same material, sharpness, weight and size. [11] Automatic lawn mower according to claim 9, characterized by that the edge trimming element comprises a flexible trimming element (210) and the cutting element comprises a rigid cutting element. [12] Automatic lawn mower according to claim 1 or 2, characterized by that the movement module comprises two drive wheels (110) located at the rear of the automatic lawn mower, with at least one driven wheel (120) located at the head of the automatic lawn mower. [13] Automatic lawn mower according to claim 1 or 2, characterized by that the projections of the edge trimming area of the edge trimming module (200) and the cutting area of the cutting module (300) are arranged spaced from each other in the height direction of the housing (100). [14] Automatic lawn mower according to claim 1 or 2, characterized bythat the movement track of the edge trimming area of the edge trimming module (200) overlaps with the movement track of the cutting area of the cutting module (300). [15] Automatic lawn mower according to claim 1 or 2, characterized by that the edge trimming module (200) is closer to the head of the automatic lawn mower than the cutting module (300). [16] Automatic lawn mower according to claim 2, characterized by that the cutting module (300) is on the same side as the edge trimming module (200). [17] Automatic lawn mower according to claim 1 or 2, characterized by that the control module is further electrically connected to the cutting module (300) and the edge trimming module (200), wherein, when the control module controls the movement module so that the automatic lawn mower moves according to the first direction along the boundary of the working area, the control module also controls the cutting module to drive the cutting element to work, wherein, when the control module controls the movement module so that the automatic lawn mower moves according to the second direction along the boundary of the work area, the control module also controls the edge trimming module to drive the cutting element to work.

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