Self-moving device

Abstract

A self-moving device that moves and operates within a work area and includes the following: a housing comprising a base and a top cover mounted on the base; a main work module that is installed on the housing and performs a main work task; an auxiliary work module that is installed on the housing and performs an auxiliary work task; wherein the main working module comprises a main cutting module, and the auxiliary working module comprises an auxiliary cutting module; characterized in that The housing includes a movable shield installed on the base or top cover, the movable shield being located on the side where the auxiliary cutting module is located, wherein, when the auxiliary cutting module is installed on the housing, the movable shield is moved upwards or away from the housing, while when the auxiliary cutting module is not installed on the housing, the movable shield is moved downwards or is installed on the housing.

Description

[0001] This application claims priority to Chinese patent application filed on September 12, 2018, with application number 2018110641950, titled “Automatic work system, self-moving device, and related control method” and Chinese patent application filed on July 2, 2019, with application number 2019105910307, ​​titled “Automatic work system, self-moving device, and related control method,” the entire contents of which are incorporated by reference into this application. TECHNICAL FIELD

[0002] The present disclosure relates to a self-propelled device and an associated automatic work system. STATE OF THE ART

[0003] With the advancement of science and technology, intelligent autonomous devices are becoming increasingly popular. Because autonomous devices can perform predefined tasks automatically through preset programs without requiring manual operation or intervention, they are widely used in industrial applications and household products. Industrial applications such as robots that perform various functions, household products such as lawn mowers, vacuum cleaners, and other intelligent autonomous devices save people a lot of time and provide convenience for industrial production and home life.

[0004] Taking an automatic lawn mower as an example, the automatic lawn mower generally moves and performs cutting work autonomously within the specified working area. The working area can be the area defined by the boundary line, the working area delimited by a beacon, or the working area without the actual physical boundary, which can be delimited by maps and other means. The automatic lawn mower has a cutting system surrounded by a protective cover to prevent the cutting system from injuring the operator. The cutting system consists of cutting parts, which are usually performed by metal cutting tools.In order to ensure that the user is not injured, in one case, the circumference of the metal cutting tool is provided with a protective cover, and there is a certain distance between the protective covers and the circumference of the automatic lawn mower, so that the distance between the end of the metal cutting tool and the peripheral profile of the automatic lawn mower is relatively large. In another case, the distance between the metal cutting tool and the outer contour of the automatic lawn mower can ensure that the user cannot touch the metal cutting tool, so that the distance between the end of the metal cutting tool and the outer contour of the automatic lawn mower becomes larger. In other words, during cutting, there is an area that cannot be cut between the end of the metal cutting tool and the boundary of the working area or between the corner of the wall, fence, step and other obstacles.These areas that cannot be cut require the use of traditional methods for additional treatment, such as manual trimming with a grass trimmer, which causes a lot of inconvenience during operation. DISCLOSURE OF THE UTILITY MODEL

[0005] In order to overcome the deficiencies of the prior art, one of the objects to be achieved in the present disclosure is to provide a self-propelled device having the ability to assist in work and operate safely.

[0006] According to the present disclosure, the object is achieved by the following: A self-propelled device that moves and works within the work area comprises: a housing; a motion module installed on the housing and driving the housing into motion; a main work module installed on the housing and performing a main work task; an auxiliary work module installed on the housing and performing an auxiliary work task; a control module for controlling the motion module, the main work module, and the auxiliary work module; wherein the self-propelled device comprises a wireless communication module for receiving a signal sent from the user terminal;wherein the automotive device comprises an automatic working mode and an auxiliary working mode, wherein in the auxiliary working mode, the control module controls the auxiliary working module to operate based at least on the control signal, and wherein the control module controls the auxiliary working module to stop operating based on an interruption of the control signal;

[0007] In one embodiment, the control signal interruption includes the case where the wireless communication module stops receiving the control signal for a time greater than the preset interruption time.

[0008] In one embodiment, the preset interruption time is less than or equal to 3 seconds.

[0009] In one embodiment, in the auxiliary work mode, the control module is configured to control the auxiliary work module to stop work when it is determined that the distance between the signal source of the control signal and the wireless communication module is greater than or equal to the first preset distance.

[0010] In one of the embodiments, the first preset distance is less than or equal to 20 meters.

[0011] In one embodiment, in the auxiliary working mode, when the distance between the signal source and the wireless communication module is greater than the second preset distance, the control module controls the auxiliary working module to reduce the working speed so that the working energy of the auxiliary working module is less than the preset amount of energy. The second preset distance is less than the first preset distance.

[0012] In one embodiment, the second preset distance is less than or equal to 6 meters.

[0013] In one embodiment, the control module controls the auxiliary work module to stop working when the control module determines that the control signal strength is less than or equal to the preset strength.

[0014] In one embodiment, the control module controls the switching of the automotive device to the auxiliary work mode based on at least two preset signals.

[0015] In one embodiment, when the control module receives at least two preset signals that satisfy the preset conditions, the control module controls the automotive device to enter the auxiliary work mode.

[0016] In one embodiment, the preset condition comprises a preset time and / or a preset sequence.

[0017] In one embodiment, the at least one preset signal is received by the wireless communication module.

[0018] In one embodiment, the at least one preset signal comprises the control signal.

[0019] In one embodiment, the self-propelled device comprises an interactive module, and at least one preset signal is generated by the user by operating the interactive module.

[0020] In one embodiment, in the auxiliary work mode, the control module controls the auxiliary work module to stop its work based on a stop signal.

[0021] In one embodiment, the stop signal is received by the wireless communication module.

[0022] In one embodiment, in the auxiliary work mode, the control module controls the movement module to move along a preset path.

[0023] In one embodiment, the self-propelled device comprises a path detection module for detecting the preset path, wherein the control module automatically controls the moving direction of the moving module according to an output of the path detection module.

[0024] In one embodiment, the control module determines whether the automotive device is on the preset path according to the output of the path detection module, and if it is not on the preset path, controls the auxiliary work module to stop working.

[0025] In one embodiment, the preset path comprises an inner boundary and / or an outer boundary of the workspace.

[0026] In one of the embodiments, the work energy of the auxiliary work module in the auxiliary work mode is less than 5J.

[0027] In one of the embodiments, the work energy of the auxiliary work module in the auxiliary work mode is less than 2J.

[0028] In one of the embodiments, the maximum movement speed of the movement module in the auxiliary work mode is less than 25 m / min.

[0029] In one of the embodiments, the maximum movement speed of the movement module in the auxiliary work mode is higher than 5 m / min.

[0030] In one of the embodiments, the auxiliary work module comprises a trimmer head, the trimmer head is provided with a trimmer line, and the trimmer head drives the trimmer line to rotate to mow the grass.

[0031] In one embodiment, the wireless communication module comprises a Bluetooth communication module.

[0032] In one embodiment, when the auxiliary work module stops working, the control module controls the self-propelled device to switch to the automatic work mode.

[0033] In one of the embodiments, the control module autonomously controls the movement module and the main work module in the automatic work mode.

[0034] In one of the embodiments, in the automatic working mode, the control module controls the auxiliary working module so that it does not work.

[0035] According to the present disclosure, the object is further achieved by the following: An automatic work system comprises a self-moving device and a user terminal, wherein the self-propelled device moves and operates within the work area and comprises: a housing; a motion module installed on the housing and driving the housing into motion; a main work module installed on the housing and performing a main work task; an auxiliary work module installed on the housing and performing an auxiliary work task; a control module for controlling the motion module, the main work module, and the auxiliary work module; a wireless communication module for receiving a signal sent from the user terminal; wherein the user terminal comprises: an input module for generating a signal by operation from the user; a processing module used to process the signal; a telecommunications module for transmitting the signal; wherein the input module comprises a first input unit for generating a control signal, the signal comprising the control signal; wherein the automotive device comprises an automatic working mode and an auxiliary working mode, wherein in the auxiliary working mode, the control module controls the auxiliary working module to operate based at least on the control signal, and wherein the control module controls the auxiliary working module to stop operating based on an interruption of the control signal.

[0036] In one embodiment, the control signal interruption includes the case where the wireless communication module stops receiving the control signal for a time greater than the preset interruption time.

[0037] In one embodiment, the preset interruption time is less than or equal to 3 seconds.

[0038] In one embodiment, in the auxiliary work mode, the control module controls the auxiliary work module to stop work when the distance between the wireless communication module and the telecommunication module is less than or equal to the first preset distance.

[0039] In one of the embodiments, the first preset distance is less than or equal to 20 meters.

[0040] In one embodiment, in the auxiliary work mode, when the distance is greater than the second preset distance, the control module controls the auxiliary work module to reduce the working speed so that the working energy of the auxiliary work module is less than the preset amount of energy.

[0041] In one embodiment, the second preset distance is less than or equal to 6 meters.

[0042] In one embodiment, the input module comprises a second input unit for generating a start signal.

[0043] In one embodiment, the processing module controls the telecommunication module to send the control signal based on the start signal.

[0044] In one embodiment, when the control signal and the start signal received by the processing module satisfy the preset conditions, the telecommunication module is controlled to send the control signal.

[0045] In one embodiment, the preset condition comprises a preset time and / or a preset sequence.

[0046] In one embodiment, the control module controls switching of the automotive device to the auxiliary work mode based on the control signal.

[0047] In one embodiment, the processing module controls the telecommunication module to send the start signal and the control signal.

[0048] In one embodiment, the self-propelled device comprises an interactive module for generating a start signal.

[0049] In one embodiment, the control module controls switching of the automotive device to the auxiliary work mode based on the start signal and the control signal.

[0050] In one embodiment, the control module controls switching of the automotive device to the auxiliary work mode based on the start signal and the control signal.

[0051] In one of the embodiments, when the start signal and the control signal received by the control module satisfy the preset conditions, the control module controls the transition of the automotive device to the auxiliary work mode.

[0052] In one embodiment, the first input unit comprises a touch-sensitive button, and the control signal is generated by touch by the user.

[0053] In one of the embodiments, the first input unit is connected to the processing module via a first connection circuit or a second connection circuit, and the first connection circuit is connected in parallel to the second connection circuit.

[0054] In one embodiment, the input module comprises a third input unit for generating a stop signal; the controller controls the auxiliary work module to stop work based on the stop signal.

[0055] Compared to the state of the art, the following advantageous effects are achieved: The self-propelled device is equipped with an auxiliary work module. Thus, the self-propelled device can complete grass and branch trimming work, which originally required the user to use a handheld device. The user only needs to operate the user terminal, making the work process simpler and more convenient. The work of the auxiliary work module must be performed by the user through the user terminal to ensure that it is performed under user supervision and to ensure that the user reacts to potentially dangerous situations, thus improving operational safety. Representation of the utility model

[0056] The above object, configuration and advantageous effect of the present disclosure can be realized by reference to the following drawings. Fig. 1 is a schematic diagram of an automatically operating system in one embodiment. Fig. 2 is a schematic diagram of the structure of an automotive device in one embodiment. Fig. 3 is a schematic diagram of the structure of an automatic lawn mower in one embodiment. Fig. 4 is a schematic diagram of the working area of ​​each module of an automatic lawn mower in one embodiment. Fig. 5 is a schematic diagram of the working area of ​​each module of the automatic lawn mower in another embodiment. Fig. 6 is a schematic diagram of the working area of ​​each module of the automatic lawn mower in another embodiment. Fig. 7 is a schematic diagram of the direction of movement of an automatic lawn mower in one embodiment. Fig. 8 is a schematic diagram of the moving direction of the automatic lawn mower in another embodiment. Fig. 9 is a schematic diagram of the structure of a user terminal in one embodiment. Fig. 10 is a schematic diagram of the height adjustment structure in one embodiment. Fig. 11 is a schematic diagram of the relationship between the position of the automatic lawn mower and the obstacle in one embodiment. Fig. 12 is a schematic diagram of an automatic lawn mowing system in one embodiment. Fig. 13 is a schematic diagram of the structure of a user terminal in one embodiment. Fig. 14 is a schematic diagram of the structure of the user terminal in another embodiment. Fig. 15 is a schematic diagram of the structure of an automatic lawn mower in one embodiment. CONCRETE EMBODIMENTS

[0057] The specific embodiment of this disclosure is described in detail below in conjunction with the accompanying drawings.

[0058] Fig. 1 is an automatic work system, as in Fig. 1, in this embodiment, the automatic work system comprises an automotive device 1, a boundary 3, and a docking station 5. The boundary 3 is used to restrict the work area 7 of the automatic work system, the automotive device 1 runs and works in the boundary 3, and the docking station 5 is used for docking the automotive device 1, specifically, when the power runs out, it returns to replenish power.

[0059] The boundary 3 may be the outer boundary of the work area 7, and the outer boundary is the periphery of the entire work area 7, which is usually continuously connected to the work area 7 and encloses the work area 7. The boundary 3 may be physical or electronic, i.e., it may be formed by walls, fences, railings, etc.; it may be electromagnetic signals or optical signals emitted by boundary signal generators; it may be passive magnetic devices capable of generating magnetic fields; it may also be absolute or relative coordinates learned or recorded by the self-propelled device 1, or other environmental information capable of determining the location, etc.Boundary 3 can also be a general term for the outer boundary and the inner boundary of the working area 7, the inner boundary includes the obstacles in the working area or other areas that are not suitable for the self-propelled device 1 to enter, and the obstacles are the parts or areas that are in the working area and cannot be entered, such as indoor sofas, bed cabinets or outdoor baths, flower stands, etc.

[0060] In this embodiment, the self-propelled device 1 is an automatic lawn mower, and in other embodiments, the self-propelled device 1 may be an automatic vacuum cleaner, an automatic spraying device, an automatic monitoring device, and other devices suitable for unattended, self-automated walking on the floor or surface of the work area 7 and completing the corresponding work. The self-propelled device 1 includes a motion module, a main work module, a boundary detection module, a power module, and a control module.

[0061] As in Fig. As shown in Figure 2, the motion module 23 is configured to drive the automotive device 1 to move within the work area 7, and consists of a wheel set attached to the automotive device 1 and a motion motor that drives the wheel set. The wheel set includes a drive wheel connected to the motion motor and an auxiliary wheel that mainly serves as an auxiliary support. In the present embodiment, two drive wheels are provided, each of which is connected to a motion motor, and the auxiliary wheel is provided in one or two numbers and is located at the front of the automotive device 1.

[0062] The main working module 25 serves to perform the main working task of the self-propelled device 1. If the self-propelled device 1 is an automatic lawn mower, the main working module includes a lawn mower blade, a cutting motor, etc., and may also include a mower height adjustment mechanism and other components that optimize or adjust the mowing effect. If the self-propelled device 1 is an automatic vacuum cleaner, the main working module includes a dust collection motor, a dust collection opening, a dust collection pipe, a vacuum chamber, a dust collection device, and other working parts used to perform the dust collection task.

[0063] The boundary detection module is used to detect the relative positional relationship between the automotive device 1 and the boundary 3, which specifically includes one or more of the data items of distance, angle, and inner and outer positions with respect to the boundary 3. The composition and principle of the boundary detection module can be diverse, such as infrared, ultrasonic, collision detection, magnetic induction, etc., and the setting position and number of sensors and corresponding signal generators are also diverse and related to the path planning mode.

[0064] The power module is used to provide power for the work of the automotive device 1, which includes a rechargeable battery and a charging connection structure, and the charging connection structure is usually a charging electrode.

[0065] The control module 31 is used to control the automotive device 1 to drive and operate automatically. It is the core component of the automotive device 1. Its functions include controlling the main work module to start or stop work, controlling the movement module to start or stop, controlling the movement direction, judging the power of the power module and immediately instructing the automotive device 1 to return to the charging station for automatic docking, and so on. The control module typically includes a microcontroller and memory, as well as other peripheral circuits.

[0066] In addition to the above-mentioned module, the automotive device 1 further includes a housing 21 that accommodates and installs the individual modules, a control panel for the user to operate, etc., and the automotive device 1 may also include various environmental sensors such as a humidity sensor, a temperature sensor, an acceleration sensor, a light sensor, etc., and these sensors can help the automotive device judge the working environment to execute the corresponding program.

[0067] In one embodiment, the self-propelled device 1 comprises an auxiliary work module 33 for performing the auxiliary work task of the self-propelled device 1. If the self-propelled device 1 is an automatic lawn mower, the auxiliary work module optionally comprises an auxiliary cutting module or a fertilizing module or a leaf collecting module, etc. If the self-propelled device 1 is a cleaning robot, the auxiliary work module comprises a sprinkler module or a wiping module.

[0068] The docking station 5 is typically located within the work area, such as near the boundary 3 or on the boundary 3, and provides the system connection to mains power or other electrical energy for charging the automotive device 1. The docking station 5 is provided with charging electrodes for docking with the corresponding electrodes of the automotive device 1. Optionally, the docking station 5 is not provided with a charging electrode, but with a wireless charging module that can detect the wireless charging module of the automotive device 1 to realize wireless charging.

[0069] In one embodiment, the automotive device 1 includes a main working mode and an auxiliary working mode, and in the main working mode, the control module 31 autonomously controls the movement module 23 and the main working module 25; in the auxiliary working module, the control module 31 controls the auxiliary working module 33 to operate based on the preset signal generated by the user operation.

[0070] Fig. 9 is a schematic diagram of the structure of the user terminal 9 in an embodiment as shown in FIG. 9, wherein the automatic operating system includes a user terminal 9, and the user terminal 9 can establish a communication connection with the automotive device 1. The user terminal 9 includes a telecommunication module 10, a processing module 12, and an input module 14, and the input module 14 and the telecommunication module 10 are each connected to the processing module 12. Optionally, the user terminal 9 further includes an indicator light 16 connected to the processing module and used to indicate the communication connection status. According to actual needs, the input module 14 can be provided with a plurality of buttons, and each button corresponds to different functions.The automotive device 1 includes a wireless communication module 65 that can establish a communication link with the user terminal 9 and thereby receive a signal. The user terminal 9 can be an independent controller, a control device detachably connected to the automotive device 1, or a user terminal such as a mobile phone or a computer. The user functions at least partially by controlling the automotive device 1 through the operation of the user terminal 9.

[0071] In one embodiment, the input module 14 comprises a first input unit for generating a control signal; the second input unit used to generate a start signal. In an embodiment as in Fig. As shown in Figure 9, the first input unit further comprises a button 141 and the second input unit comprises a button 143, wherein button 141 is a start button that the user presses to generate a start signal, and button 143 is a control button that the user presses to generate a control signal. Optionally, button 143 is a contact sensor that detects that the user is touching user terminal 9 and generates a control signal, so that when the user holds the user terminal in a normal posture, contact sensor 143 can be contacted and the control signal is sent. In this embodiment, the contact sensor is a capacitive sensor.

[0072] In one embodiment, the input module 14 includes a third input unit, in this embodiment, the third input unit includes a stop button 145, generates a stop signal, and the control module 31 stops the movement module 23 and an auxiliary work module 33 based on the stop signal.

[0073] To prevent the failure of the button 143 and the signal transmission circuit or the associated control circuit during operation, the button 143 is connected to the circuit of two independent channels. If the circuit of one channel fails, the circuit of the other channel can guarantee normal user control. In another embodiment, the button 143 includes a first button and a second button. If one of the first button or second button fails, the other can still function normally, ensuring normal user control.

[0074] In one embodiment, when the user terminal 9 is in a working state, if the user presses button 141 and button 143, a start signal and a control signal are generated, and the processing module 12 controls the telecommunications module 10 to send a start signal and a control signal, respectively. In the communication state, the wireless communication module 65 receives a start signal and a control signal, and the control module 31 controls the auxiliary work module 33 to operate based on the start signal and the control signal.

[0075] When the user terminal 9 is in a working state, the processing module 12 receives the start signal and the control signal, respectively, and satisfies the preset conditions. If the user presses the button 141 and the button 143 and satisfies the preset conditions, the processing module 12 controls the telecommunication module 10 to send a control signal. In this embodiment, the preset condition includes that the processing module 12 receives a start signal and a control signal within a preset time. The default time may be 10 seconds, 20 seconds, etc., and can be set according to actual needs. In other embodiments, the preset condition includes that the processing module 12 receives a start signal and a control signal in a preset sequence, and the control module 31 controls the auxiliary work module 33 to operate based on the control signal.The preset sequence can be to receive the start signal first and then the control signal. It can also be used to receive the control signal first and then the start signal. It can also be set to receive start signals and control signals simultaneously, etc.

[0076] In one embodiment, the automotive device 1 includes an interactive module 35 that the user can operate to generate a signal. In this embodiment, the interactive module 35 includes a start button arranged on the housing 21, and the user terminal 9 is provided with a control button. When the user operates the start button, the control module 31 receives the start signal. When the user operates the control button, the user terminal 9 sends the control signal, and the control module 31 receives the control signal through the wireless communication module 65. When the start signal and the control signal received by the control module 31 meet the preset conditions, the control module 31 controls the auxiliary work module 33 to operate.

[0077] The wireless communication module 65 includes an antenna, and the antenna of the wireless communication module 65 is arranged on the upper part of the automotive device 1 and, if necessary, arranged on the upper part of the auxiliary work module 33, thereby avoiding being interfered by metal in the automatic lawn mower 11, thereby affecting the wireless communication module 65 for transmitting and receiving signals.

[0078] In one embodiment, in the auxiliary work mode, the control module 31 controls the operation of the auxiliary work module 33 based on at least one control signal. If the control signal received by the control module 31 is interrupted, the control module 31 controls the auxiliary work module 33 to stop operating.

[0079] In detail, in one embodiment, the control signal interruption may be the case where the time during which the communication module 65 cannot receive the control signal is greater than a preset interruption time. In the present embodiment, the preset interruption time is less than or equal to 3 seconds. Depending on actual needs, the preset interruption time may be 4 seconds, 5 seconds, etc. Here, the case where the wireless communication module 65 cannot receive the control signal includes, among others, the case where the user releases the button of the user terminal 9, or the user terminal 9 loses connection with the automotive device 1, or the user terminal 9 is depowered, or an obstacle exists between the user terminal 9 and the automotive device 1.

[0080] When the user continuously holds the user terminal 9 and touches the button 143, the user terminal 9 continuously transmits the control signal indicating that the user is in the control state, and the control module 31 controls the auxiliary work module 33 to operate according to the received control signal. If the control module 31 confirms that after the user terminal 9 has completed its startup, the control module 31 is interrupted by the control signal received by the wireless communication module 65, the auxiliary work module 33 is controlled to stop operating. Optionally, both the auxiliary module 33 and the movement module 23 are controlled to stop operating.

[0081] In one embodiment, when the control module 31 receives a stop signal, e.g., the user presses the stop button 145, the control module 31 controls the auxiliary work module 33 to stop work. Alternatively, the control module 31 controls the auxiliary work module 33 and the motion module 23, both of which stop working.

[0082] To ensure that the user controls within the effective control range of the automotive device 1, the control module 31 detects the distance between the user terminal 9 and the automotive device 1 according to the received control signal. When the distance between the user terminal 9 and the automotive device 1 is greater than or equal to the preset distance, the auxiliary work module 33 is controlled to stop working. In this embodiment, the preset distance is less than or equal to 20 meters, that is, when the effective distance between the user terminal 9 and the automotive device 1 is less than 20 meters, the user terminal 9 can control the automotive device 1.When the effective distance between the user terminal 9 and the automotive device 1 is greater than 20 meters, the control signal sent from the user terminal 9 cannot make the auxiliary work module 33 work.

[0083] Fig. 12 is a schematic diagram of an automatic lawn mowing system in one embodiment as shown in Fig. 12, and the automatic lawn mower system includes: automatic lawn mower 11; docking station 105 for automatic lawn mower 11 for mooring and charging; a boundary signal generator located on the stop 105 and generating a boundary signal; boundary line 103 connecting the boundary signal generator, the boundary line 103 and the boundary signal generator form a closed loop, the boundary line 103 has a boundary signal, and the working area 107 of the automatic lawn mower 11 is formed within the boundary line 103. The automatic lawn mower 11 includes a housing 61, a motion module 51 arranged on the housing 61, a main cutting module 53, a boundary detection module 55, a power module 57, and a control module 59.

[0084] The main cutting module 53 is a knife disc and includes a bottom disc that rotates around the axis of the rotating shaft, and the bottom disc forms a plane of a vertical rotation axis, and its central opening is pushed on the rotating shaft, and the rotating shaft is positioned in the center of the bottom disc; It further includes a main cutting element arranged on the peripheral edge of the chassis, and the main cutting element rotates around the rotation axis together with the rotation of the chassis, and the chassis and the main cutting element rotate to form the main cutting area with the center of the spool as the first rotating shaft.

[0085] Here, the forward direction of the automatic lawn mower 11 is defined as the longitudinal direction of the housing 61, the direction perpendicular to the ground is defined as the vertical direction of the housing 61, and the direction perpendicular to the longitudinal and vertical directions are defined as the transverse direction of the housing 61. The housing 61 includes a longitudinal axis 111, and the main cutting module 53 is installed on the longitudinal axis 111 of the housing 61, so that the distance between the periphery of the housing 61 and the main cutting module 53 is sufficiently large, thus ensuring the user's safety of use. If the automatic lawn mower 11 moves along the boundary line 103 on the inside of the boundary line 103, it may cause the main cutting area formed by the main cutting module 53 to operate and cannot cover the boundary of the working area 107.

[0086] In one embodiment, the boundary detection module 25 includes a first boundary signal sensor and a second boundary signal sensor symmetrically arranged in the front part of the housing 61, and by detecting the boundary signal, it is determined whether it is inside or outside the boundary line 103. If the detection result of the first boundary signal sensor is displayed as outside the boundary line 103, this means that the automatic lawn mower 11 has moved out of the boundary line 103 on the side where the first boundary signal sensor is located, and the control module 59 controls the automatic lawn mower 11 to steer at this moment, that is, the automatic lawn mower 11 will partially move out of the boundary line 103 and then change direction.In order to prevent the automatic lawn mower 11 from frequently colliding with walls, fences, steps and other obstacles or from entering areas that do not need to be trimmed, the distance between the boundary line 103 set at the edge of the obstacle and the obstacle or other boundary is generally about 30 cm. When the automatic lawn mower 11 returns, if the stop 105 is partly located within the boundary line 103 and part is outside the boundary line 103, that is, when returning through the boundary, the main cutting module 53 can only cut up to the area of ​​about 10 mm outside the boundary line 103, so that the area to be trimmed of approximately 20 mm remaining between the boundary line 103 and the obstacle cannot be handled by the automatic lawn mower 11.In an extreme case, the automatic lawn mower 11 is capable of moving completely along the wall, fence, and other obstacles, and due to the distance between the perimeter of the housing 61 and the main cutting area, it will also be unable to completely manage the area to be trimmed. Therefore, if only the main cutting module 53 is installed, the automatic lawn mower 13 cannot achieve a cut to the edge.

[0087] Fig. 3 is a schematic diagram of the structure of the automatic lawn mower as shown in Fig. 12 and Fig. 3, in order to solve the problem that the main cutting module 53 cannot cut to the edge, the automatic lawn mower 11 also includes an auxiliary cutting module 63. In this embodiment, the auxiliary cutting module 63 includes a trimming head, a wire reel wound with a trimmer line, a retaining seat for receiving a wire reel, and when the trimming head works, the receiving seat is driven to rotate and drive the wire reel, and the trimmer line rotates synchronously, thereby forming an auxiliary cutting section with the center of the wire reel as a second rotating shaft.

[0088] The grass clippings generated by the operation of the auxiliary cutting module 63 are easily adhered to the housing 61, and washing is an important means to solve this problem. To prevent damage from contact with water inside the auxiliary cutting module during washing, the auxiliary cutting module 63 must be designed to be waterproof. With reference to Fig. 3, the auxiliary cutting module 63, in one embodiment, includes an auxiliary cutting motor for driving the trimmer head to rotate. The auxiliary cutting motor is built into the motor shield, which prevents damage to the motor's operation from dust, rain, and snow and ensures normal and continuous operation of the motor. In this embodiment, the motor shield includes an outlet extending from the output shaft of the auxiliary cutting motor. In addition to the outlet, the motor shield is of a sealed structure, meaning it does not include a heat dissipation port for dissipating heat from the power supply machine. Therefore, the materials of the motor shield also include heat-conducting materials such as aluminum shells.In this embodiment, a gap for the auxiliary cutting motor's air outlet is provided between the motor protection cover and the auxiliary cutting motor housing in the height direction to discharge the airflow, and the airflow circulates within the motor protection cover. In one embodiment, the auxiliary cutting module 63 includes a cooling fan installed below the motor protection cover and used for auxiliary heat dissipation. In one embodiment, one side of the motor protection cover faces the main cutting module 53, and the other side faces the outside of the automatic lawn mower 11. Then, on the other side of the above, the motor protection cover includes a heat dissipation hole that helps the auxiliary cutting motor dissipate heat.There is no heat dissipation hole on the side facing the main cutting module 53, so that the grass clippings generated by the operation of the main cutting module 53 are prevented from entering the auxiliary cutting motor.

[0089] In one embodiment, a seal is arranged between the outlet of the motor protection cover and the output shaft of the auxiliary cutting motor, and the internal and external environments of the motor protection cover are further isolated under the premise of maintaining the normal rotation of the output shaft of the auxiliary cutting motor. In one embodiment, the charged body in the auxiliary cutting module 63 is isolated from the external environment by encapsulation, including potting seals such as epoxy resin potting; or a waterproof surface coating such as a protective coating or nanocoating, etc.

[0090] Fig. Figure 4 is a schematic diagram of the working area of ​​each module of the automatic lawn mower in an embodiment as shown in Fig. 4, in order to realize that the automatic lawn mower 11 can cut the area to be trimmed outside the boundary line 103 when moving along the boundary line 103, the auxiliary cutting area formed by the auxiliary cutting module 63 is tangential to the housing 61 or projects beyond the housing 61. If the movement module 51 is located transversely on the housing 61, the distance between the second rotating shaft and the outer edge of the housing 61 in the transverse direction is less than or equal to the radius of the auxiliary cutting area; if the movement module 51 is located transversely outside the housing 61, the distance between the second rotating shaft and the outer edge of the movement module 51 in the transverse direction is less than or equal to the radius of the auxiliary cutting area; so that the auxiliary cutting area extends beyond the housing 61 or the movement module 51 or is tangential to it.In this way, when the automatic lawn mower 11 can move along the obstacle, the auxiliary cutting area can completely cover the obstacle perimeter. When the automatic lawn mower 11 moves along the boundary line 103, as long as the auxiliary cutting area can cover the area to be trimmed outside the boundary line 103 or the boundary line 103 across, the automatic lawn mower 11 can be completely trimmed to the edge, and the user does not need to process it again. One side of the built-in auxiliary cutting module 63 is the left or right side of the automatic lawn mower 11 in the moving direction; if the auxiliary cutting module 63 includes two grass heads, one can be installed on the left and right sides of the self-propelled lawn mower 11 in the moving direction, and the control module 59 can control one of them to work or two to work at the same time.In other embodiments, the auxiliary cutting area can also be cut to the edge by extending the housing 61 in the longitudinal direction, and in particular, if there is an obstacle in the working area 107, if the automatic lawn mower 11 encounters an obstacle in the process of advancing, the automatic lawn mower 11 does not need to change the movement mode and can cover the edge of the obstacle beyond the auxiliary cutting area of ​​the housing 61.

[0091] Fig. Figure 5 is a schematic representation of the working area of ​​each module of the automatic lawn mower in another embodiment, as shown in Fig. 5, the main cutting module 53 is installed on one side of the longitudinal axis 111 of the housing 61 so that the main cutting area can be closer to the obstacle, so that the area that cannot be cut when the main cutting module 53 is installed on the longitudinal axis 111 is cut, but in order to avoid accidental injury, a protective cover is generally arranged on one side that the user can touch the main cutting element to ensure that the user cannot reach in and touch the main cutting element. This causes there to still be a gap between the main cutting module 53 and the protective cover, and causes the automatic lawn mower 11 to be unable to cut to the edge even if it cuts along the obstacle.Therefore, the auxiliary cutting module 63 is also installed on the same side of the longitudinal axis 111 of the housing 61. For example, the main cutting module 53 and the auxiliary cutting module 63 are both installed on the right side of the traveling direction of the automatic lawn mower 11. The main cutting module 53 and the auxiliary cutting module 63 are installed on the housing 61 in such a way that the main cutting module 53 can cut as close to the boundary of the working area 107 as possible, thereby reducing the workload of the auxiliary cutting module 63. Since the main cutting module 53 and the auxiliary cutting module 63 are installed on the same side, in order to move the main cutting module 53 and the auxiliary cutting module 63 to the outside of the working area 107, the moving direction of the automatic lawn mower 11 moving along the boundary line 103 is the same, and there is no need to change directions to process the main cutting module 53 and the auxiliary cutting module 63.

[0092] Fig. Figure 6 is a schematic diagram of the working area of ​​each module of an automatic lawn mower in another embodiment, as shown in Fig. As shown in Figure 6, the main cutting module 53 is installed on one side of the longitudinal axis 111 of the housing 61, and the auxiliary cutting module 63 is installed on the other side of the longitudinal axis 111 of the housing 61. By installing the main cutting module 53 and the auxiliary cutting module 63 on different sides of the longitudinal axis 111, the space of the housing 61 can be fully utilized, so that the structural arrangement of each module of the automatic lawn mower 11 is more compact. In order to realize edge cutting, the direction in which the automatic lawn mower 11 moves along the boundary line 103 when the main cutting module 53 is operating is opposite to the direction in which the automatic lawn mower 11 moves along the boundary line 103 when the auxiliary cutting module 63 is operating.

[0093] In one embodiment, the auxiliary cutting element of the auxiliary cutting module 63 is a trimmer line. When the trimmer head is operating, the working energy of the trimmer line is less than or equal to the full energy, and the safety energy is less than or equal to 5J to ensure that no injury is caused if the person or animal comes into contact. In this embodiment, the trimmer line is made of nylon, and the working energy of the trimmer line is controlled within a safe range by limiting the material and shape of the trimmer line and limiting the working speed of the trimmer head. In other embodiments, the trimmer line may be made of other flexible materials, such as resin, fiber, and other materials. The auxiliary cutting module 63 may also be other cutting devices besides the trimmer head, and may also be a metal element without a cutting edge, a plastic blade, etc., except that it must be able to meet the working energy of the auxiliary cutting element, which is less than the safety energy. In one embodiment, the safe energy is less than or equal to 2J.

[0094] In one embodiment, the maximum movement speed of the automatic lawn mower 11 does not exceed the preset speed range when the auxiliary cutting module 63 is operating. The movement speed of the automatic lawn mower 11 is related to the working energy of the auxiliary cutting module 63, and if the movement speed of the automatic lawn mower 11 is too high, the auxiliary cutting module 63 must cooperate with a greater working energy to reduce the possibility of a missed cut, thereby compromising work safety. In this embodiment, the preset speed range is less than or equal to 25 m / min.

[0095] If the travel speed of the automatic lawn mower 11 is low, the working energy of the auxiliary cutting module 63 can be reduced accordingly, improving safety. However, too low a travel speed impairs the working efficiency of the automatic lawn mower 11, increases the working time, and impairs the user experience. In one embodiment, the preset speed range is greater than or equal to 5 m / min.

[0096] In one embodiment, the drive wheel includes a hub cap, the surface of the hub cap being approximately smooth, and the groove depth being less than or equal to 5 mm. The greater the groove depth of the hub cap, the higher the likelihood of grass clippings accumulating, which must be cleaned by the user. Therefore, the approximately smooth surface of the hub cap can reduce the starting speed of the lawn mower. It is understandable that the surface of the housing 61 near the auxiliary cutting module 63 is also approximately smooth.

[0097] In one embodiment, the housing 61 includes a base and a top cover installed on the base, and since the working area of ​​the auxiliary cutting module 63 partially overlaps with the side edge of the top cover in the height direction, in order to prevent the housing 61 from interfering with the work of the auxiliary cutting module 63, the height difference between the plane in which the housing 61 is located and the working area of ​​the auxiliary cutting module 63 in the height direction is greater than or equal to 5 mm.

[0098] In one embodiment, as in Fig. As shown in Figure 6, the main cutting module 53 and the auxiliary cutting module 63 are positioned on two sides of the longitudinal axis of the housing 61, respectively. The distance between the housing 61 on one side where the auxiliary cutting module 63 is located and the main cutting module 53 in the horizontal direction is greater than or equal to 180 mm, so that the user is prevented from inserting his or her finger and causing injury when the main cutting module 53 is operating.

[0099] In one embodiment, the housing 61 includes a movable shield mounted on the base or on the top cover and located on a side where the auxiliary cutting module 63 is located. When the auxiliary cutting module 63 is installed on the housing 61, the movable shield is moved upward to prevent interference with the operation of the auxiliary cutting module; when the auxiliary cutting module 63 is not installed on the housing 61, the movable shield is moved downward, thereby preventing the user from reaching in with their hand or foot to touch the main cutting module 53. In other embodiments, when the auxiliary cutting module 63 is installed on the housing 61, this part of the top cover is removed from the housing 61, and when the auxiliary cutting module 63 is not installed in the housing 61, this part of the top cover is installed in the housing 61.In one embodiment, the maximum radius of an auxiliary cutting area is set, and this maximum radius is less than or equal to the distance between the second rotating shaft and the other structures of the automatic lawn mower 11. Referring to . Fig. 4, a limiting member 37 is installed at the edge of the auxiliary cutting area, which is used to limit the length of the trimmer line, thereby limiting the maximum radius of the auxiliary cutting area. The auxiliary cutting module 63 is installed on one side of the longitudinal axis 111 of the housing 61. Since the trimmer line wears more during the working process, the trimmer head is frequently pulled out during the working process, and a portion of the trimmer line is released. Under normal circumstances, the length of the trimmer line that is released is relatively fixed, but the general unwinding structure of the trimmer head inevitably releases the trimmer line that is longer than the normal length, so that the trimmer line is hit against other structures of the automatic lawn mower 11 when the trimmer head is working, such as the moving module 51 or the main cutting module 53, which causes a certain degree of damage.In this embodiment, the limiting element 37 is installed in the housing 61, and the limiting element 37 includes a blade for cutting the trimmer line that exceeds the set length. The length of the trimmer line is limited by the limiting element 37, ensuring that the working areas of the auxiliary cutting module 63 and the other modules do not interfere with each other.

[0100] In one embodiment, in the moving direction of the automatic lawn mower 11, the auxiliary wheel is located at the front, the drive wheel is located at the rear, and the rear of the auxiliary wheel and the rear of the auxiliary cutting module 63 form an area A. The installation height of the limiting member 37 is approximately parallel to the cutting area of ​​the auxiliary cutting module 63 and is located in the area A. In this embodiment, the limiting member 37 is installed in the area A and is located near the support wheel, and when the automatic lawn mower 11 encounters an obstacle, the support wheel hits the obstacle in front of the limiting member 37 and crosses it, and the limiting member 37 located at the rear of the support wheel can also cross the obstacle with the auxiliary wheel.In other embodiments, the limiting element 37 is installed in area A and is located near the drive wheel. When the obstacle is located at the rear of the automatic lawn mower 11, the drive wheel is more likely to touch and cross the obstacle, and the limiting element 37 can then cross the obstacle and avoid a collision. In other embodiments, the movement module 51 includes two drive wheels at the front and two drive wheels at the rear, but does not include auxiliary wheels. The limiting element 37 is also located in area A.

[0101] In one embodiment, the limiting element 37 is installed on a movable structure, such as an elastic structure. Upon encountering an obstacle, the limiting element 37 can avoid the obstacle under the drive of the movable structure, and upon leaving the obstacle, the limiting element 37 can automatically return to its original position. In one embodiment, the height of the limiting element 37 is greater than 30 mm, i.e., the distance between the limiting element 37 and the horizontal ground is greater than 30 mm. In one embodiment, the auxiliary cutting module 63 includes a trimmer head, and the control module 59 controls the trimmer head to rotate backward.When the trimmer head is positioned on the left side of the housing 61, the control module 59 controls the trimmer head to rotate counterclockwise, and when the trimmer head is positioned on the right side of the housing 61, the control module 59 controls the trimmer head to rotate clockwise. This is because when the trimmer head rotates and cuts, grass clippings are generated that move in the corresponding rotation direction. When the trimmer head rotates forward, the grass clippings can easily accumulate on the front of the automatic lawn mower 11. When the automatic lawn mower 11 moves forward, the trimmer head acts on the grass clippings, which are then piled up again, and the load on the trimmer head can be increased. Therefore, the reverse rotation of the trimmer head achieves a reduction in the workload of the trimmer head.Furthermore, if the grass clippings accumulate on the auxiliary wheel installed below the housing 61, it is difficult to empty it. If the drive wheel is not covered by the housing 61, the grass clippings can be discharged relatively easily. Therefore, the reverse rotation of the trimmer head can help the agitator module eject the grass clippings, thereby preventing the automatic lawn mower 11 from moving.

[0102] In one embodiment, an insulating cover is disposed between the main cutting module 53 and the auxiliary cutting module 63. The insulating cover at least partially covers the main cutting module 53 or at least partially covers the auxiliary cutting module 63, thereby preventing grass clippings from entering the auxiliary cutting module 63 while the main cutting module 53 is operating or preventing grass clippings from entering the main cutting module 53 while the auxiliary cutting module 63 is operating.

[0103] In one embodiment, the main cutting module 53 includes an inclined blade, and the auxiliary cutting module 63 includes an inclined trimmer head or an inclined trimmer line such that the inclination angle of the trimmer line during operation matches the inclination angle of the blade of the main cutting module 53, so that the cutting section after cutting by the auxiliary cutting module 63 matches the cutting section after the main cutting module 53 to achieve a better cutting effect. In one embodiment, the inclination angle is 3 degrees.

[0104] In one embodiment, two trimmer lines are installed on the trimmer head, and there is a height difference in the vertical direction. When the trimmer head is working, the upper and lower two trimmer lines form the first cutting plane and the second cutting plane, respectively. When the lawn height is higher, the first cutting plane and the second cutting plane can cut the grass. Since the working frequency of the auxiliary cutting module 63 is lower than that of the main cutting module 53, the height of the grass in the area to be trimmed is taller than the grass in the working area 107. When one trimmer line is installed on the trimmer head, the length of the grass clippings after cutting the trimmer head can be refined by installing two trimmer lines, so that the grass clippings do not block the lawn, affecting the aesthetics, and even hindering the growth of the lawn.

[0105] In one embodiment, the control module 59 determines the length of the exposed trimmer line by detecting the working parameters of the trimmer head. If the assessed length is less than the threshold, the trimmer head control is automatically released, i.e., the trimmer line of a certain length is automatically released, allowing the auxiliary cutting area to restore the original working area. In particular, parameters such as the working voltage of the trimmer head can be detected, and the control module 59 determines the relationship between the working voltage and the threshold, thereby controlling the trimmer head operation.

[0106] In one embodiment, the trimmer line is wound onto a spool and installed on the trimmer head. When the trimmer line on the spool is exhausted, a new spool of wire must be replaced to operate the trimmer head. The control module 59 determines whether the trimmer line is exhausted by detecting the trimmer head's operating parameters, and when the trimmer line is exhausted, the user is reminded to replace it. Specifically, the trimmer head includes a drive motor, and the motor speed, current, or power is detected by the sensor. If the measurement signal of the trimmer head drive motor is less than the preset value, it is determined that the trimmer line is exhausted.When the control module 59 detects that the trimmer line is exhausted, it can be reminded by the reminder device such as the photoelectric module installed on the housing 61, and can also be transmitted to the terminal device through the wireless signal transmission mode such as mobile phone, computer and other devices.

[0107] In one embodiment, the direction in which the movement module 51 moves along the boundary line 103 may include two directions to ensure that the auxiliary cutting module 63 can cut in the first direction of the edge and in the second direction opposite to the first direction. The control module 59 controls the movement module 51 to move in the first direction along the boundary line 103, and when the automatic lawn mower 11 moves in the first direction, one side of the auxiliary cutting module 63 is installed to the outside of the work area 107 relative to the other side of the longitudinal axis 111, so that the auxiliary cutting area extends beyond the boundary line 103 or the boundary line 103, thereby cutting into the area that the main cutting module 53 cannot cut.

[0108] Fig. Figure 7 is a schematic diagram of the direction of movement of the automatic lawn mower in an embodiment as shown in Fig. 7, the auxiliary cutting module 63 is arranged on the left side of the longitudinal axis 111, and the control module 59 needs to control the movement module 51 to move clockwise along the boundary line 103, that is, the clockwise direction along the boundary line 103 is the first direction and the counterclockwise direction is the second direction.

[0109] Fig. Fig. 8 is a schematic diagram of the direction of movement of the automatic lawn mower in another embodiment, as shown in Fig. 8, the auxiliary cutting module 63 is installed on the right side of the longitudinal axis 111, and the control module 59 needs to control the movement module 51 to move counterclockwise along the boundary line 103, that is, the counterclockwise direction along the boundary line 103 is the first direction and the right direction is the second direction.

[0110] With reference to Fig. 12, in one embodiment, the boundary detection module 55 includes a first magnetic field sensor and a second magnetic field sensor, and detects the magnetic field signal generated by the current on the boundary line 103 through the first magnetic field sensor and the second magnetic field sensor to judge whether it is in the boundary line 103 or outside the boundary line 103.The first magnetic field sensor is installed on the left side of the longitudinal axis 111, and the second magnetic field sensor is installed on the right side of the longitudinal axis 111. In order to control the automatic lawn mower 11 to move clockwise along the boundary line 103, the control module 59 needs to control the first magnetic field sensor located outside the boundary line 103 and the second magnetic field sensor located inside the boundary line 103. To control the self-propelled lawn mower 11 to move counterclockwise along the boundary line 103, the control module 59 needs to control the first magnetic field sensor positioned inside the boundary line 103 and the second magnetic field sensor positioned outside the boundary line 103.In other embodiments, the control module 59 may be located inside or outside the boundary line 103 by judging the magnetic field signal detected by the first magnetic field sensor and the second magnetic field sensor, and the automatic lawn mower 11 may also be controlled to walk along one side of the boundary line 103 by the magnetic field signal intensity, and the traveling direction is controlled, and the specific details are not repeated.

[0111] It will continue on Fig. 4, Fig. 5 and Fig. 6. In one embodiment, it is provided that the distance between the first rotary shaft and the longitudinal axis 111 is a first distance and the distance between the second rotary shaft and the longitudinal axis 111 is a second distance, wherein the difference between the second distance and the first distance is less than the sum of the radii of the main cutting area and the auxiliary cutting area. When the automatic lawn mower 11 moves along the boundary line 103, an area on the lawn mown by the main cutting module 53 corresponds approximately to an area a whose width is equal to the radius of the main cutting area, and an area mown by the auxiliary cutting module 63 corresponds approximately to an area b whose width is equal to the radius of the auxiliary cutting area.If 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, a gap exists between area a and area b in the transverse direction, so that an uncut area still remains around an obstacle after the operation of the main cutting module 53 and the auxiliary cutting module 63. In this way, when the automatic lawn mower 11 moves in a certain manner along the boundary line 103 and the cutting is completed, the control module 59 also needs to control the relative distance between the movement module 51 and the boundary line 103 according to the detection of the signal strength of the boundary line 103 by the boundary detection module 55, so that the uncut area is cut. This operation not only increases the load on the control module 59 but also reduces the operating efficiency of the automatic lawn mower 11.Therefore, when the difference between the second distance and the first distance is less than 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 the operation of the main cutting module 53 and the auxiliary cutting module 63.

[0112] In order to prevent the auxiliary cutting module 63 from touching the uneven ground and thereby affecting the free movement of the automatic lawn mower 11, in one embodiment, the height of the auxiliary cutting module 63 is greater than or equal to 30 mm, that is, the distance between the auxiliary cutting module 63 and the horizontal ground is greater than or equal to 30 mm. Fig. 10 is a schematic diagram of the height adjustable structure in one embodiment. As shown in Fig. 10, the main cutting module 53 includes a main height adjustment module and is used to adjust the height of the main cutting module 53. Generally, the cutting height of the main cutting module 53 is between 20 mm and 100 mm, and users in different regions such as Europe and America have different requirements. In order to ensure the drivability of the automatic lawn mower 11, the main cutting module 53 is adjusted, and the cutting height of the auxiliary cutting module 63 is greater than or equal to 20 millimeters.In one embodiment, to achieve a cutting effect, the cutting height of the auxiliary cutting module 63 should not be too high to match the main cutting module 53, and the cutting height of the auxiliary cutting module 63 should not be less than or equal to 100 mm. If the maximum cutting height of the main cutting module 53 is 80 mm, the cutting height of the auxiliary cutting module 63 is less than or equal to 80 mm. In one embodiment, to ensure the visual effect, it is necessary to keep the cutting height of the auxiliary cutting module 63 and the cutting height of the main cutting module 53 within a certain range. Optionally, the cutting height of the auxiliary cutting module 63 is set to the average of the lowest cutting height and the highest cutting height of the main cutting module.

[0113] It will continue on Fig. 10. In one embodiment, the auxiliary cutting module 63 includes an auxiliary height adjustment module for adjusting the height of the auxiliary cutting module 63. The height adjustment range of the auxiliary cutting module 63 is the same as that of the main cutting module 53. In one embodiment, the main height adjustment module and the auxiliary height adjustment module are connected by a transmission module so that when the main height adjustment module adjusts the height of the main cutting module 53, the auxiliary height adjustment module can be driven to adjust the height of the auxiliary cutting module 63.

[0114] In one embodiment, during the working process of the auxiliary cutting module 63, the main cutting module 53 is started in a preset mode to prevent the grass clippings generated during the operation of the auxiliary cutting module 63 from accumulating on the main cutting module 53. Therefore, the main cutting module 53 can be started periodically, and the grass clippings fall by rotation; it can also be started when the main cutting module 53 detects that the weight is greater than the preset value; alternatively, it can be started when the distance between the auxiliary cutting module 63 and the user terminal 9 corresponds to the preset distance. In this embodiment, the control module 59 can control the main cutting module to start at the normal working speed, and it can also be started at a faster or slower speed, as long as the grass clippings can be dropped.

[0115] In one embodiment, the housing 61 is provided with an alarm module, and the warning module may include a warning light or buzzer, etc. When the auxiliary cutting module 63 is operating, the control module 59 controls the start of the warning module, reminding the user and preventing accidental contact with the auxiliary cutting module 63. The warning module includes an audible warning or a light warning, etc.

[0116] In one embodiment, when the auxiliary cutting module 63 is operating, the noise intensity generated by the auxiliary cutting module 63 is greater than the preset noise intensity, and the preset noise intensity is greater than that generated when the main cutting module 53 is operating. In this embodiment, at a position one meter away from the auxiliary cutting module 63, the noise intensity generated by the auxiliary cutting module 63 is greater than or equal to 60 dB.

[0117] In one embodiment, the auxiliary cutting element is caused to come into contact with the docking station 105, thereby damaging the docking station 105 or damaging the auxiliary cutting element as it moves along the boundary line 103. Taking the trimmer line as an example, to reduce wear of the trimmer line and damage to the docking station 105, rounded corners can be provided on the surface of the docking station to prevent contact between the trimmer line and the edges and corners of the docking station 105.

[0118] In one embodiment, the height of the docking station 105 is lower than the height at which the auxiliary cutting area of ​​the working stroke of the auxiliary cutting module 63 is located. In one embodiment, for the plane in which the auxiliary cutting area is located, the distance between the docking station 105 and the second rotating shaft is greater than the radius of the auxiliary cutting area, so that the auxiliary cutting element cannot come into contact with the docking station 105.

[0119] In one embodiment, the automatic lawn mowing system has at least two operating modes: a main cutting mode and an auxiliary cutting mode. In the main cutting mode, the control module 59 automatically controls the automatic lawn mower 11 to move and operate within the boundary line 103 or to move and operate along the boundary line 103. In the auxiliary cutting mode, when the control module 59 continuously receives a preset signal, at least based on the preset signal, the auxiliary cutting module 63 is controlled to operate; when the preset signal received by the control module 59 is interrupted, the control module 59 controls the auxiliary cutting module 63 to stop operating.The user indirectly controls whether the auxiliary cutting module 63 operates or not by operating the user terminal 30, ensuring that the auxiliary cutting module 63 operates or not is monitored and decided by the user, ensuring that the user can quickly respond to the abnormal situation. In this way, even if the auxiliary cutting module 63 has the possibility of accidental contact with humans or animals during the work process, the dangerous situation can be eliminated through user monitoring.

[0120] Fig. 13 is a schematic diagram of the structure of the user terminal in an embodiment as shown in Fig. As shown in Figure 13, the user terminal 30 includes a telecommunication module 36, a processing module 32, and a button 34 including a button 341 and a button 343. When the user presses the button 341 and the button 343, a start signal and a control signal are generated, and the processing module 32 transmits a start signal and a control signal through the telecommunication module 36. The automatic lawn mower 11 further includes a wireless communication module 65. When the telecommunication module 36 is connected to the wireless communication module 65, when the control module 59 receives a start signal and a control signal via the wireless communication module 65, the automatic lawn mower 11 is controlled to start the auxiliary cutting mode. In this embodiment, pressing two or more buttons to start can prevent user misoperation. There may also be many ways to start the auxiliary cutting mode, for example,Voice input, password entry, and so on.

[0121] In one embodiment, if the start signal and the control signal received from the control module 59 meet the preset conditions, the automatic control lawn mower switches to the auxiliary cutting mode. In this embodiment, the preset condition includes the processing module 32 receiving a start signal and a control signal within a preset time. In other embodiments, the preset condition includes the processing module 32 receiving a start signal and a control signal in a preset sequence.

[0122] When the user terminal 30 is in a working state, the processing module 32 receives the start signal or control signal and meets the preset conditions. If the user presses button 141 and button 143 and meets the preset conditions, the processing module 32 controls the telecommunication module 32 to send a control signal. When the control module 59 receives the control signal, the automatic lawn mower switches to the auxiliary cutting mode.

[0123] In one embodiment, the housing 21 is provided with a start button, and the user terminal 30 is provided with a control button. When the user presses the start button, the control module 59 receives the start signal. When the user presses the control button, the user terminal 30 transmits the control signal, and the control module 59 receives the control signal through the wireless communication module 59. When the start signal and the control signal received by the control module 59 meet the preset conditions, the control module 59 controls the automatic lawn mower to enter the auxiliary cutting mode.

[0124] When the user terminal 30 establishes a communication link with the automatic lawn mower 11, the processing module 32 transmits a control signal via the telecommunication module 36 when the user continuously presses the button 343. When the control module 59 continuously receives the control signal via the wireless communication module 65 in the auxiliary cutting mode, the control module 59 controls the auxiliary cutting module 63 to operate. In the auxiliary cutting mode, the control module 59 continuously determines whether the control signal is being received, and when the control signal received by the control module 59 is interrupted, the control module 59 controls the auxiliary cutting module 63 to stop operating.

[0125] With reference to Fig. 13 In one embodiment, the user terminal 30 includes a button 341 and a button 343 and also includes a button 345. When the user presses the button 345, the user terminal 30 sends out a stop signal, and the control module 59 controls the auxiliary cutting module 63 to stop work according to the received stop signal.

[0126] In one embodiment, button 343 is a contact sensor, and the user can realize continuous operation of button 343 by continuously contacting button 343, so that user terminal 30 continuously emits a control signal, and when the user no longer touches button 343, user terminal 30 no longer emits a control signal. Optionally, button 341 and / or button 345 can also be used for contact sensors. Contact sensors can be capacitive sensors, piezoelectric sensors, etc. In other embodiments, user terminal 30 is fully or partially provided with a capacitive sensor, so that when the user touches the corresponding position of user terminal 30, the capacitive sensor can detect the user's operation, and user terminal 30 emits a preset signal accordingly.When the user intends to stop the operation of the auxiliary cutting module 63, the button 345 can be pressed to send a stop signal to the user terminal 30, and the user terminal 30 can also be released directly. The present embodiment adopts a contact sensor instead of the conventional button and can improve the user's convenience in continuously operating the user terminal 30. Optionally, the button 341 and / or the button 345 can also be used for other inductive sensors, such as infrared sensors, accelerometers, and so on.

[0127] In one embodiment, the user terminal 30 includes a direction control button, and the user sends a direction signal by pressing the direction control button of the user terminal 30 to control the direction of movement of the automatic lawn mower 11. In this embodiment, the user is allowed to control the direction of movement of the automatic lawn mower 11 using the direction control button when the distance between the user terminal 30 and the automatic lawn mower 11 is less than the direction control distance. In one embodiment, when the distance between the user terminal 30 and the automatic lawn mower 11 is greater than the direction control distance, the control module 59 ignores the direction signal sent by the user terminal 30, i.e., the user is not allowed to control the direction of movement of the automatic lawn mower 11 using the direction control button.In this embodiment, the direction control distance is 6 meters. When the control module 59 receives the direction signal sent from the user terminal 30, the auxiliary cutting module 63 is optionally controlled to stop operating.

[0128] In one embodiment, user terminal 30 is a mobile device, and user terminal 30 may be a device capable of accessing a communication network based on a network protocol and having a data transmission function. Specifically, the client may be, for example, a mobile smartphone, a computer (including a laptop or desktop computer), an electronic tablet device, a personal digital assistant (PDA), or a smart wearable device.

[0129] Fig. 14 is a schematic diagram of the structure of the user terminal in another embodiment, as shown in Fig. As shown in Figure 14, in one embodiment, the user terminal 30 is a mobile device, and the user can send a signal by pressing the virtual button or the physical button of the user terminal 30, and the auxiliary cutting module 63 is controlled to operate or stop by pressing a specific button to send a signal. In other embodiments, the user can control the auxiliary cutting module 63 without pressing a specific button to send a signal. When the user holds the user terminal 30 in their hand, the user terminal 30 uses the existing sensor to detect that the state it maintains is not a static state.When the attitude of the user terminal 30 is detected by a compass or gyroscope, if the attitude continues to change, the user terminal 30 sends a control signal, and the control module 59 controls the auxiliary cutting module 63 to operate. If the setting remains unchanged, the user terminal 30 no longer sends a control signal, and the auxiliary cutting module 63 stops operating. For example, when the image is captured by the camera, if the image changes frequently, the user terminal 30 sends a control signal, and the control module 59 controls the auxiliary cutting module 63 to operate. If the image changes little, the auxiliary cutting module 63 stops operating.As long as the user's handheld state can be detected by the existing sensor of the user terminal 30, it is ensured that the automatic lawn mower 11 operates under the supervision of the user, then the user terminal 30 can send out a control signal via the output of the sensor so that the control module 59 controls the auxiliary cutting module 63 to operate.

[0130] In one embodiment, the user terminal 30 is a mobile terminal, the user terminal 30 includes a pressure measuring module, when the pressure measuring module detects the user's pressing, it is considered that the user is in the state of monitoring the operation of the automatic lawn mower 11, then the user terminal 30 can send a control signal via the output of the pressure sensor so that the control module 59 controls the auxiliary cutting module 63 to operate.

[0131] In one embodiment, the user terminal 30 is a mobile device, and the user terminal 30 includes an interface for establishing an electrical connection with an external device. The user terminal 30 can be connected to the external device via the interface. The external device can include an accelerometer, a gyroscope, etc., and the user of the external device detects the monitoring status of the user. The user terminal 30 sends a control signal via the detection signal output by the external device, so that the control module 59 controls the auxiliary cutting module 63 to operate.

[0132] In one embodiment, the user terminal 30 may also include an application running on one of the devices listed above and capable of sending a function instruction to the automatic lawn mower 11. When the application enters background mode, the control signal sent by the user terminal 30 stops, and the control module 59 controls the auxiliary cutting module 63 to stop working. Or, when the application enters background mode, the user terminal 30 sends a stop signal, and the control module 59 controls the auxiliary cutting module 63 to stop working. Or, when the application enters background mode, the user terminal 30 sends a stop signal, and the control module 59 controls the auxiliary cutting module 63 and the motion module 51 to stop working.The application switches to the running background, including the user terminal that is in the state of answering the phone or reading SMS, etc. In one embodiment, if there is telephone access and the user hangs up the phone within a certain time, the user terminal 30 is not affected by the operation; if the user does not hang up the phone within a certain period of time, the user terminal 30 sends a stop signal, and the auxiliary cutting module 63 and / or the movement module 51 are controlled to stop working.

[0133] In one embodiment, the control module 59 determines the ratio between the signal strength emitted by the user terminal 30 and the preset strength, and if the signal strength received by the wireless communication module 65 is less than the preset strength, the control module 59 controls the auxiliary cutting module 63 to stop working. At this time, the user continues to operate the user terminal 30, and although the user terminal 30 can send a control signal, the wireless communication module 65 cannot receive the control signal, or even if the control signal can be received, the control module 59 also processes it as a state of not being received, that is, the control module 59 controls the auxiliary cutting module 63 to stop working.Here, by comparing the signal strength and the preset strength to keep the user terminal 30 and the automatic lawn mower 11 at a certain distance, the distance relationship can also be determined using parameters other than the signal strength. In other embodiments, the control module 59 determines the distance relationship between the user terminal 30 and the automatic lawn mower 11 through the control signal received from the wireless communication module 65, and when the distance between the user terminal 30 and the automatic lawn mower 11 is greater than the first preset distance, the auxiliary cutting module 63 is controlled to stop operating.

[0134] In one embodiment, the user terminal 30 and the automatic lawn mower 11 are located at different distances, and the working energy of the auxiliary cutting module 63 is different. If the working energy of the auxiliary cutting module 63 is greater, the user terminal 30 and the automatic lawn mower 11 must be kept within the first preset distance to ensure that the user can detect the abnormal situation in time and control it via the user terminal 30. If the distance between the automatic lawn mower 11 and the user terminal 30 is less than the first preset distance, the control module 59 controls the auxiliary cutting module 63 so that the working energy of the auxiliary cutting module 63 is less than the first preset energy.When the distance between the automatic lawn mower 11 and the user terminal 30 is greater than the first preset distance and less than the second preset distance, the control module 59 controls the auxiliary cutting module 63 to reduce the working energy so that the working energy of the auxiliary cutting module 63 is less than the second preset energy and the second preset energy is less than the first preset energy. The first preset energy is 0.5 J, and the second preset energy is 0.25 J.

[0135] For a specific auxiliary cutting module, its working energy is mainly influenced by the working speed, and in one embodiment, the working speed of the auxiliary cutting module 63 is different in different cases. When the distance between the user terminal 30 and the automatic lawn mower 11 is greater than the first preset distance, the working speed of the auxiliary cutting module 63 is low; when the distance between the user terminal 30 and the automatic lawn mower 11 is shorter than the first preset distance, the working speed of the auxiliary cutting module 63 is high. In one embodiment, the working speed of the auxiliary cutting module 63 includes at least two: the first working speed and the second working speed, the first working speed being a high speed and the second working speed being a low speed.The control module 59 determines the relationship between the distance between the user terminal 30 and the telecommunications module 36, which transmits the control signal, and the first preset distance and the second preset distance. If the distance between the user terminal 30 and the automatic lawn mower 11 is greater than the second preset distance, the user terminal 30 and the automatic lawn mower 11 cannot establish an effective communication link, and the control module 59 controls the auxiliary cutting module 63 to stop work.When the distance between the user terminal 30 and the automatic lawn mower 11 is less than the first preset distance, the auxiliary cutting module 63 is controlled to operate at the first working speed. When it is greater than the first preset distance and less than the second preset distance, the auxiliary cutting module 63 is controlled to operate at the second working speed. When it is greater than the second preset distance, the auxiliary cutting module 63 is controlled to stop working. This is because when the auxiliary cutting module 63 operates at the first working speed, the energy generated is greater and may cause harm to people or animals. Therefore, when the user is far away from the self-propelled device 1, the auxiliary cutting module 63 operates at the second working speed, and the energy generated is smaller, reducing or avoiding injury.In this way, when the area of ​​the working area 107 is larger, if the user is not moving during the movement of the automatic lawn mower 11, the distance between the user and the automatic lawn mower 11 exceeds the first preset distance. By switching the working speed, not only can the auxiliary cutting module 63 avoid frequently changing the working state and not working, but it can also remind the user to adjust the position. In this embodiment, the first preset distance is 6 meters, the second preset distance is 20 meters, and in other embodiments, the values ​​of the first preset distance and the second preset distance can be adjusted according to safety requirements and the range of the working area.

[0136] In one embodiment, in the auxiliary cutting mode, if the user does not operate the user terminal 30 within a certain period of time, or the distance between the user terminal 30 and the automatic lawn mower 11 exceeds the preset distance, the control module 59 controls the operation of the auxiliary cutting mode. When the user terminal 30 returns to the effective distance with the automatic lawn mower 11, or the user operates the user terminal 30 again to send a control signal so that the control module 59 receives an effective control signal, the control module 59 controls the operation of the auxiliary cutting mode. If the control module 59 cannot receive the effective control signal for more than the specified time, the auxiliary cutting mode switches to the main cutting mode. If the auxiliary cutting mode is interrupted, the user must send a start signal by operating the user terminal 30, and the auxiliary cutting mode will restart.

[0137] In one embodiment, the automatic lawn mower 11 includes a path recognition module 67 capable of recognizing a preset path specified by the user, and the control module 59 controls the automatic lawn mower 11 to move along the preset path through an output signal of the path recognition module 67. Moving along the preset path may include the movement module 51 being partially located on one side of the preset path, partially located on the other side of the preset path, or the movement module 51 being entirely located on one side of the preset path, and no specific limitation is imposed here.The purpose of setting the preset path is to ensure that when the automatic lawn mower 11 moves along the preset path, the auxiliary cutting module 63 can perform the corresponding work task in the corresponding area. The control module 59 automatically controls the movement of the self-mower through the sensor output, without the user controlling the movement direction of the automatic lawn mower 11. This not only reduces the error caused by user control, but also reduces the complexity of user operation, guarantees the automation level of the automatic lawn mower 11 to the greatest extent, and simultaneously ensures user monitoring.In other embodiments, the preset path set by the user may be a boundary line 103 or a part of the boundary line 103. Then, the control module 59 may control the movement module 51 to move along the preset path through the output of the boundary detection module 55. The preset path may be a specific path set by the user in the work area 107, and may also be a part of the boundary line 103 or the boundary line 103. If the preset path is a part of the boundary line 103 or the boundary line 103, the control module 59 may control the movement module 51 to move along the preset path through the output of the boundary detection module 55. That is, the boundary detection module 55 may output the detection result to the path detection module 67, which the control module 59 can judge.In particular, the boundary line 103 includes an outer boundary line arranged on the outer boundary of the work area 107 and an inner boundary line arranged on the inner boundary of the work area 107.

[0138] In one embodiment, controlling the movement module 51 to move along the preset path is specifically controlling the automatic lawn mower 11 to move along the preset path. In the auxiliary cutting mode, the control module 59 determines whether the automatic lawn mower 11 is on the preset path, and if not, the control module 59 controls the movement module 51 to move and controls the automatic lawn mower 11 to approach the preset path through the output of the path detection module 67. If the automatic lawn mower 11 is on a preset path, the control module 59 controls the movement module 51 to move along the preset path.

[0139] In one embodiment, the preset path may include any one or more combinations of entities or electrons, in particular, a signal generating device for generating a virtual signal, relative coordinates or absolute coordinates stored in the control module 59, etc. Such as: The preset path is defined by a magnetic material, which may be a magnetic nail or a magnetic strip, and the shape of the magnetic strip can be customized according to the user's needs to adapt to the work requirements of the auxiliary cutting module 63. Accordingly, the path detection module 67 includes a sensor that detects the magnetic field generated by the magnetic material and causes the automatic lawn mower 11 to move along the preset path by detecting parameters such as magnetic field strength and direction.

[0140] In one embodiment, in the auxiliary cutting mode, when the control module 59 continuously receives a control signal and the control module 59 determines that the automatic lawn mower 11 is on a preset path, the auxiliary cutting module 63 is controlled to operate; when the control module 59 continuously receives the control signal and the control module 59 determines that the automatic lawn mower 11 is not on the preset path, then the auxiliary cutting module 63 is controlled to stop operating; when the control signal that the control module 59 receives stops, the control module 59 controls the auxiliary cutting module 63 to stop operating, regardless of whether the automatic lawn mower 11 is on the preset path.By judging the positional relationship between the automatic lawn mower 11 and the preset path, the auxiliary cutting module 63 can be controlled to reduce the invalid working time of the auxiliary cutting module 63, thereby saving the energy of the power module 57 and improving work efficiency; Furthermore, the auxiliary cutting module 63 is limited to working only on the preset path, and the working range of the auxiliary cutting module 63 is reduced, so that the possibility of accidental injury caused by the auxiliary cutting module 63 can be reduced.

[0141] Fig. 15 is a schematic diagram of the structure of an automatic lawn mower in an embodiment as shown in Fig. 15, and the auxiliary cutting module 63 includes a trimming module. When the automatic lawn mower 11 moves along the preset path, the auxiliary cutting module 63 is aligned with the area to be trimmed, so that after the automatic lawn mower 11 moves along the preset path, the trimming work of the area to be trimmed can be completed. This allows the user to easily complete the work that would otherwise require the pruner to be moved through the auxiliary cutting mode of the automatic lawn mower 11.

[0142] In one embodiment, the automatic lawn mower 11 includes a notification module 67, wherein the notification module 67 stores additional conditions for starting the auxiliary cutting mode, which may include the work schedule of the automatic lawn mower 11, the remaining energy of the energy module 57, etc. If the notification module 67 determines that additional conditions are met, it sends a notification signal to the user terminal 30. The user can know the working status of the automatic lawn mower 11 from the prompt signal and ensure that manual control is more efficient. The wireless communication module 65 includes Bluetooth communication, Wi-Fi communication, or cellular network communication, etc.

[0143] In one embodiment, the automatic lawn mower 11 includes an edge trimming mode. Fig. Figure 11 is a schematic representation of the relationship between the position of the automatic lawn mower and the obstacle in an embodiment as shown in Fig. As shown in Figure 11, an area to be trimmed includes at least one starting point 100 and at least one end point 200. The user is provided with the first marker 101 corresponding to the starting point 100 and the second marker 201 corresponding to the end point 200 on the boundary line 13 or within a certain range of the boundary line 13. The marker may be a passive magnetic device or a metal piece, etc. The automatic lawn mower 11 is equipped with a marker recognition module used to recognize the first marker 101 and the second marker 201.When the automatic lawn mower 11 departs from the docking station 15 and moves along the boundary line 13 in the first direction, if the marker detection module detects the first marker 101, the auxiliary cutting module 33 is controlled to operate. When the marker detection module detects the second marker 201, the auxiliary cutting module 33 is controlled to stop operating, so that the auxiliary cutting module 33 only operates in the area to be trimmed. When the automatic lawn mower 11 departs from the docking station 15 and moves in the first direction along the boundary line 13, the first marker 101 is detected first by the marker detection module, and the second marker 201 is detected thereafter.Since the area to be trimmed is small, people or animals are less likely to enter the area to be trimmed when the automatic lawn mower 11 is operating, and the possibility of injuring people or animals while the auxiliary cutting module 33 is operating is also reduced.

[0144] With reference to Fig. 11, in one embodiment, the automatic lawn mower 11 is provided with a boundary detection module 27 comprising a distance detection module, and the main direction of the distance detection module is the same as that of the auxiliary cutting module 33 when working, that is, towards the outside of the work area 17. In this embodiment, the area to be trimmed is the area between the boundary line 13 and the obstacle outside the boundary line 13, and when the automatic lawn mower 11 moves along the boundary line 13 and approaches the obstacle, the distance detection module can detect the distance between the automatic lawn mower and the obstacle.When the automatic lawn mower 11 moves in the first direction along the boundary line 13 and the distance detected by the distance detection module is less than the preset distance, the control module 31 controls the auxiliary cutting module 33 to operate; when the detection distance is greater than the preset distance, the control module 31 controls the auxiliary cutting module 33 to stop operating.

[0145] Further with reference to Fig.11, the automatic lawn mower 11, in one embodiment, has a boundary learning mode in which the automatic lawn mower 11 moves in the first direction along the boundary line 13, and the control module 31 is caused to record the first point 101 and the second point 201 on the boundary line through user operation, corresponding to the starting point 100 and the end point 200 of the area to be trimmed. The automatic lawn mower 11 includes a communication module 35, is installed in a housing 21, can communicate with the user terminal 9, and receives a signal.When the automatic lawn mower 11 moves in the first direction along the boundary line 13, when the automatic lawn mower 11 passes the starting point 100 of the area to be trimmed, the user operates the user terminal 9 to send a learning signal so that the control module 31 records the first point 101 on the boundary line 13. When the automatic lawn mower 11 passes the ending point 200 of the area to be trimmed, the user operates the user terminal 9 again to send a learning signal so that the control module 31 records the second point 201 on the boundary line 13. When the automatic lawn mower 11 moves in the first direction along the boundary line 13 in the edge trimming mode, the control module 31 controls the auxiliary cutting module 33 to start working from the first point 101 and stop working when it passes the second point 201.In other embodiments, in order to avoid misoperation and modification of the first point 101 and the second point 201 recorded by the control module 31, the user needs to unlock the record by entering a password and the like to change it.

[0146] As one skilled in the art can imagine, there are other ways to implement the present disclosure, however, as long as the technical essence used is identical or similar to the present disclosure or changes and replacements based on the present disclosure fall within the scope 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 2018110641950

[0001] US 2019105910307

[0001]

Claims

[1] Self-propelled device that moves and operates in a work area and includes: a housing comprising a base and a top cover mounted on the base; a main work module installed on the housing and performing a main work task; an auxiliary work module installed on the housing and performing an auxiliary work task; wherein the main work module comprises a main cutting module, and the auxiliary work module comprises an auxiliary cutting module; characterized by , that the housing comprises a movable shield installed on the base or the top cover, the movable shield being arranged on a side on which the auxiliary cutting module is located, wherein when the auxiliary cutting module is installed on the housing, the movable shield is moved upward or away from the housing, while when the auxiliary cutting module is not installed on the housing, the movable shield is moved downward or installed on the housing. [2] The self-propelled device according to claim 1, wherein the main cutting module and the auxiliary cutting module are arranged on both sides of the longitudinal axis of the housing, and the distance between the housing on a side where the auxiliary cutting module is located and the main cutting module in the horizontal direction is greater than or equal to 180 mm. [3] A self-propelled device according to claim 1 or 2, wherein an insulating cover is arranged between the main cutting module and the auxiliary cutting module, and the insulating cover at least partially covers the main cutting module or at least partially covers the auxiliary cutting module. [4] The self-propelled device according to any one of claims 1 to 3, wherein the auxiliary cutting module comprises a trimmer head, wherein, when the trimmer head is arranged on the left side of the housing, the control module is configured to control the trimmer head to rotate counterclockwise; wherein, when the trimmer head is arranged on the right side of the housing, the control module is configured to control the trimmer head to rotate clockwise. [5] Self-propelled device according to one of claims 1 to 4, wherein the distance between the auxiliary cutting module and the horizontal ground is greater than or equal to 30 mm. [6] The self-propelled device according to any one of claims 1 to 4, wherein the main cutting module comprises a main height adjustment module for adjusting the height of the main cutting module, while the auxiliary cutting module comprises an auxiliary height adjustment module for adjusting the height of the auxiliary cutting module, wherein the height adjustment range of the auxiliary cutting module is the same as that of the main cutting module; wherein the main height adjustment module and the auxiliary height adjustment module are drivingly connected to each other via a transmission module, so that when adjusting the height of the main cutting module, the main height adjustment module drives the auxiliary height adjustment module to adjust the height of the auxiliary cutting module. [7] Self-propelled device according to one of claims 1 to 5, comprising the following elements: a control module for controlling the main work module and the auxiliary work module; a wireless communication module for receiving a control signal generated by a user operation; wherein the automotive device comprises an automatic working mode and an auxiliary working mode, wherein in the auxiliary working mode the control module controls the auxiliary working module to operate based at least on the control signal. [8] The automotive device according to claim 7, wherein the control module is configured to control the auxiliary work module to stop working due to an interruption of the control signal. [9] The automotive device according to claim 7 or 8, wherein the automotive device further comprises a movement module installed on the housing and causing the housing to move, wherein in the auxiliary work mode, the control module controls the movement module to move along a preset path; wherein the automotive device comprises a path detection module for detecting the preset path, and the control module automatically controls the movement direction of the movement module according to an output of the path detection module. [10] The automotive device according to claim 9, wherein the control module determines whether the automotive device is on the preset path according to the output of the path detection module, and, if it is not on the preset path, controls the auxiliary work module to stop working. [11] The automotive device according to claim 9, wherein in the auxiliary working mode, the control module is configured to control the auxiliary cutting module to operate when the control signal is continuously received and it is determined that the automotive device is on the preset path; wherein the control module is further configured to control the auxiliary cutting module to stop operating when the control signal is continuously received and it is determined that the automotive device is not on the preset path; wherein the control module is further configured to control the auxiliary cutting module to stop operating when the received control signal stops. [12] The automotive device according to claim 8, wherein the control signal interruption includes the case where the wireless communication module stops receiving the control signal for a time greater than the preset interruption time. [13] The automotive device according to claim 7 or 8, wherein in the auxiliary work mode, the control module is configured to control the auxiliary work module to stop the work when it is determined that the distance between the signal source of the control signal and the wireless communication module is greater than or equal to the first preset distance. [14] The automotive device according to claim 7 or 8, wherein the control module is configured to control the auxiliary work module to stop working when it is determined that the control signal strength is less than or equal to the preset strength. [15] A self-propelled device according to any one of claims 7 to 14, wherein in the auxiliary work mode the working energy of the auxiliary work module is less than 5 J. [16] A self-propelled device according to any one of claims 7 to 15, wherein in the auxiliary working mode the maximum movement speed of the movement module of the self-propelled device is less than 25 m / min. [17] The automotive device according to any one of claims 7 to 16, wherein the automotive device comprises a boundary learning mode in which the automotive device moves in the first direction along the boundary line of the work area, wherein the control module is configured to record a first point and a second point on the boundary line by the user's operation, the first point and the second point corresponding to the start point and the end point of an area whose edge is to be trimmed, respectively. [18] The automotive device of claim 17, wherein the automotive device comprises an edge trimming mode in which the automotive device moves in the first direction along the boundary line, the control module being configured to control the auxiliary cutting module to operate from the first point and to stop operating upon passing the second point. [19] A self-propelled device according to any one of claims 7 to 16, wherein during operation of the auxiliary cutting module, the main cutting module is started in a preset manner. [20] A self-propelled device according to any one of claims 1 to 4, wherein the self-propelled device further comprises a motion module installed on the housing and driving the housing, the motion module comprising a wheel set mounted on the self-propelled device and a motion motor driving the wheel set, the wheel set comprising a drive wheel connected to the motion motor and an auxiliary wheel serving as an auxiliary support; the drive wheel comprising a hub cap having a smooth surface and a groove, the groove depth being less than or equal to 5 mm.

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