mowing machine

Abstract

Lawn mower characterized in that it includes the following: a movement mechanism; a device body that is connected to the movement mechanism; a grass combing mechanism connected to the device body, wherein the grass combing mechanism is designed to allow the grass to be cut to pass through it, and wherein at least a part of the grass combing mechanism is arranged at a first end of the device body along the forward direction (X); a detection mechanism located at the first end and movably connected to the device body, wherein the grass combing mechanism is located on a first side of the detection mechanism and the first side faces a working surface of the movement mechanism; wherein the detection mechanism is configured to detect at least one obstacle located in front of the device body; wherein the movement mechanism is configured to drive the machine body to avoid the obstacle when the obstacle is in a first height range (R1) directly in front of the lawnmower in its forward direction (X), and to drive the machine body to move towards the obstacle when the obstacle is in a second height range (R2) directly in front of the lawnmower in its forward direction (X) and the obstacle is not present in the first height range (R1); where the first altitude range (R1) is located below the second altitude range (R2).

Description

TECHNICAL FIELD

[0001] The present application relates, inter alia, to the field of weed control devices, in particular a lawn mower. STATE OF THE ART

[0002] The core function of a lawn mower is to mow and maintain a lawn, and a lawn mower's grass combing assembly can effectively comb the lawn and remove dead and wilted grass and other debris. Furthermore, the grass combing assembly can straighten fallen grass, allowing the mower's cutting mechanism to better engage the grass and ensure the mower's mowing efficiency.

[0003] With some technical solutions, the grass combing assembly of the lawn mower can be easily damaged, has poor ability to cross obstacles and low weed control efficiency. DISCLOSURE OF THE UTILITY MODEL

[0004] To solve the above-mentioned technical problem, the application provides a lawnmower. This application is implemented using the following technical solution: One embodiment of the application provides a lawn mower. It comprises a device body, a grass combing mechanism, a detection mechanism, and a movement mechanism. The device body is connected to the movement mechanism. The grass combing mechanism is connected to the device body, wherein the grass combing mechanism is configured to allow the grass to be cut to pass through, and wherein at least a portion of the grass combing mechanism is arranged at a first end of the device body along the forward direction. The detection mechanism is located at the first end and is movably connected to the device body, wherein the grass combing mechanism is located on a first side of the detection mechanism, and the first side faces a working surface of the movement mechanism. The detection mechanism is configured to detect at least one obstacle located in front of the device body.wherein the movement mechanism is configured to drive the device body to avoid the obstacle when the obstacle is located in a first height range directly in front of the lawn mower in its forward direction, and to drive the device body to move toward the obstacle when the obstacle is located in a second height range directly in front of the lawn mower in its forward direction and the obstacle is not present in the first height range; wherein the first height range is below the second height range.

[0005] In some possible implementations of the application, it is provided that the distance of the maximum height position of the first height range from the work surface is a first distance and the first distance is less than a first threshold value; wherein the distance of the minimum height position of the second height range from the work surface is a second distance, wherein the second distance is greater than or equal to a second threshold value; and wherein the distance of the maximum height position of the lawnmower from the work surface is a third distance and the second distance is less than the third distance.

[0006] In some implementation options of the application, it is provided that the distance of the maximum height position of the second height range to the work surface is a fourth distance and the fourth distance is smaller than the third distance.

[0007] In some implementations of the application, it is provided that the first threshold is 12 cm and the second threshold is 18 cm; alternatively, the first threshold is 10 cm and the second threshold is 20 cm.

[0008] In some implementations of the application, it is provided that along the height direction of the lawnmower, the second side of the detection mechanism has a first height relative to the working surface, wherein the third side of the device body has a second height relative to the working surface, wherein the second side and the third side are opposite the working surface and the first height is greater than the second height, and the first height forms the third distance.

[0009] In some embodiments of the application, the detection mechanism is connected to the device body so as to be rotatable relative thereto, and the detection mechanism includes a detection end; wherein the detection mechanism is configured such that the detection end rotates away from the work surface in response to a force upon impact with an obstacle.

[0010] In some possible implementations of the application, it is provided that the movement mechanism is designed such that, when the detection mechanism detects that the obstacle is located in the first height range, it drives the device body so that the device rotates about a first axis of rotation, wherein the first axis of rotation is perpendicular to the work surface; and / or that the movement mechanism is configured such that, when the detection mechanism detects that the obstacle is located in the first height range, it drives the device body so that the device moves away from the obstacle.

[0011] In some possible implementations of the application, it is provided that the movement mechanism is designed in such a way that, when the detection mechanism collides with the obstacle in the second height range, it drives the device body in such a way that the device body moves back and forth along at least one movement path towards or away from the obstacle and collides with the obstacle.

[0012] In some embodiments of the application, the grass combing mechanism comprises a grass combing assembly, while the lawn mower further comprises a cutting assembly, wherein the grass combing assembly comprises a plurality of grass combing teeth, wherein a grass combing channel is formed between adjacent grass combing teeth, wherein the grass combing channel is used for passing the grass to be cut; wherein the cutting assembly is configured to cut the grass to be cut, wherein the cutting assembly is located in the central region of the device body, or wherein the device body has a second end adjacent to the first end, wherein the cutting assembly is located at the second end; wherein the grass combing assembly is rotatably connected to the device body, and wherein the grass combing assembly is configured to rotate towards the work surface in response to a force from the obstacle.

[0013] In some implementations of the application, the detection mechanism comprises a mounting element and an optical sensor, wherein the mounting element is movably connected to the device body and the optical sensor is connected to a detection end of the mounting element; wherein the detection mechanism comprises a single optical sensor; or wherein the detection mechanism comprises at least two optical sensors evenly distributed along a mounting surface of the mounting element.

[0014] In some implementations of the application, the lawn mower further includes an alarm mechanism electrically connected to the detection mechanism and configured to issue an alarm when the lawn mower encounters an obstacle for more than a preset time.

[0015] In the lawn mower according to the embodiment of the present application, the grass combing mechanism and the detection mechanism are connected to the device body, and at least a part of the grass combing mechanism and the detection mechanism are located at the first end of the device body along the forward direction. The device body is connected to the movement mechanism that can set the device body in motion.On this basis, the detection mechanism can detect an obstacle in the first height range, and the movement mechanism can drive the device body to avoid the obstacle when the detection mechanism detects the presence of the obstacle in the first height range, so as to reduce the possibility of collision between the grass combing mechanism and the obstacle in the first height range, thus protecting the grass combing mechanism, reducing the possibility of damage to the grass combing mechanism, and extending the service life of the grass combing mechanism.

[0016] The function of the grass combing mechanism is to comb the grass. Based on the above function, a notch or opening must be formed on the grass combing mechanism to allow the grass to pass through. This results in the strength of the grass combing mechanism being lower than other parts of the device body. If the grass combing mechanism frequently encounters an obstacle, it may cause deformation and even breakage of the grass combing mechanism, affecting the working performance of the lawn mower. The design of the present application can reduce the probability of collision between the grass combing mechanism and the obstacle, thereby extending the service life of the grass combing mechanism.

[0017] In addition, a yard environment also includes overhanging obstacles such as rope structures positioned at low positions. Once these rope structures come into contact with the grass combing mechanism, they can easily become entangled with the grass combing mechanism, resulting in rope breakage or pinching of the lawn mower, which impairs mowing efficiency. The rope wrapped around the grass combing teeth is also difficult to remove.

[0018] For the yard scene, the hanging obstacles could also be branches or leaves hanging from the trees. Although these obstacles are lower than the highest point of the lawnmower, the movement mechanism causes the device body to move, which can push softer obstacles such as branches away and increase the probability of the lawnmower overcoming the obstacles. Because the detection mechanism is movably connected to the device body, the detection mechanism can also move relative to the device body. If an obstacle is in the second height range of the detection mechanism, on the one hand, the detection mechanism will avoid the obstacle, providing a buffer for the detection mechanism and protecting the detection mechanism; on the other hand, the movement of the detection mechanism changes the shape of the lawnmower, which can improve the possibility of the lawnmower overcoming obstacles.In addition, the movement of the detection mechanism changes its field of view, increasing the likelihood of detecting obstacles.Compared with the scheme in which the grass combing assembly of the lawn mower is easily damaged and the lawn mower has poor negotiability and low efficiency, in the embodiment of the present application, when an obstacle is detected in the first height range, the lawn mower can avoid the obstacle in time to protect the grass combing mechanism; by colliding with obstacles in the second height range, the ability to overcome obstacles is improved, and the detection mechanism can also change the field of view, which is convenient for adjusting the strategy of the lawn mower to deal with obstacles, which is more intelligent and flexible, and the obstacle-overcoming ability of the lawn mower is stronger, which improves the continuity of operation and then increases the operation efficiency. Presentation of the registration Fig. 1 is a front view of the lawn mower according to the embodiment of the present application; Fig. 2 is a schematic diagram of the first height range and the second height range of the lawn mower according to the embodiment of the present application; Fig. 3 is a schematic diagram of the lawn mower in which the detection mechanism rotates away from the work surface according to the embodiment of the present application; Fig. 4 is a left view of the lawn mower according to the embodiment of the present application; Fig. 5 is a bottom view of the lawn mower according to the embodiment of the present application; Fig. 6 is a schematic diagram of the connection of the grass combing assembly in the lawn mower according to the embodiment of the present application; Fig. 7 is a schematic diagram of the lawn mower in which the grass combing assembly rotates toward the work surface according to the embodiment of the present application.

[0019] Reference symbol: 100-Equipment body; 110-First end; 120-Third side; 130-Second end; 200-Moving mechanism; 210-Working surface; 300-Grass combing mechanism; 310-Grass combing assembly; 311-Grass combing tooth; 312-Grass combing channel; 320-Cutting assembly; 400-Detection mechanism; 410-Mounting element; 411-Mounting surface; 420-Optical sensor; 430-Second side; 440-First side; 500-Alarm mechanism; 600-Obstacle; R1-First height range; R2-Second height range; S1-First distance; S2-Second distance; S3-Third distance; S4-Fourth distance; H1-First height; H2-Second height; X-Forward direction; Y-width direction; Z-height direction. CONCRETE EMBODIMENTS

[0020] In order to clarify the problem, the technical solution, and the advantages of the embodiments of the present application, the specific technical solution of the application will be discussed in more detail below with reference to the accompanying drawings. The following embodiments serve to explain the present application without limiting the scope of the application.

[0021] In the embodiments of the application, the terms "first" and "second" should not be understood as an implicit or explicit reference to the relative importance or number of the feature concerned. Instead, they serve merely as a descriptive term. Thus, a feature specified as "first" or "second" may explicitly or implicitly mean that the number of that feature is one or more. In the description of the embodiments of the present application, the term "multiple" refers to a number of two or more, unless otherwise stated.

[0022] Furthermore, in the embodiment of the present application, the directional terms such as "top", "bottom", "left", and "right" are defined relative to the orientation of the schematic placement of the parts in the drawing, and it should be understood that these directional terms are relative concepts, and they are used for relative description and clarification and may change according to the change of the orientation of the parts in the drawing.

[0023] In the embodiment of the present application, the term "connect" is to be understood in a broader sense, unless expressly stated otherwise. For example, this can refer to a fixed connection, a detachable connection, or a one-piece connection. Direct connections, as well as indirect connections or connections established via an intermediate piece, are also conceivable.

[0024] In the embodiment of the present application, the terms "comprise," "include," or any variations thereof are intended to be non-exclusive, such that processes, methods, articles, or devices comprising a set of elements may include, in addition to such elements, other elements not explicitly listed or elements that the processes, methods, articles, or devices include as standard. Without further limitation, when an element is further specified with the phrase "comprises a...", it is understood that other similar elements may be present in the processes, methods, articles, or devices comprising the element.

[0025] In the embodiment of the present application, the words "for example" or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplary" or "e.g." in the embodiment of the present application should not be construed as more preferred or advantageous than other embodiments or design schemes. Specifically, the use of words such as "for example" or "e.g." is intended to illustrate the relevant concept in a concrete manner.

[0026] The embodiment of the application provides a lawn mower. The lawn mower can be used in various lawn care scenarios such as home gardens, parks and green spaces, golf courses, etc., for mowing and cleaning lawns. The lawn mower can be powered by an internal combustion engine, electric, hybrid, or other means.

[0027] The core function of a lawn mower is to mow and maintain a lawn, and a lawn mower's grass combing assembly can effectively comb the lawn and remove dead and wilted grass and other debris. Furthermore, the grass combing assembly can straighten fallen grass, allowing the mower's cutting mechanism to better engage the grass and ensure the mower's mowing efficiency.

[0028] In some technical solutions, the lawn mower is equipped with a grass combing assembly that can comb the lawn, but the grass combing assembly is prone to colliding with hard obstacles such as stones or getting caught in flexible obstacles such as ropes, which easily leads to damage and a short service life. The lawn mower is equipped with an obstacle detection mechanism, but due to the limited field of view of the detection mechanism, it is difficult to cross complex obstacles, which reduces the lawn mower's ability to cross obstacles and affects operating efficiency.

[0029] Before the embodiments of the present application are described in further detail, the terms and concepts included in the embodiments of the present application will be described, and the terms and concepts included in the embodiments of the present application are applicable to the following explanation. 1) Direction of the lawn mower: The forward direction refers to the direction of movement of the lawn mower along the ground during operation, and can also be understood as the line between the head and tail of the lawn mower, pointing in the head direction; the width direction is the direction parallel to the ground and perpendicular to the forward direction; the height direction is the direction perpendicular to the plane in which the forward direction and the width direction are located. 2) Working surface: The surface on which the mower's moving mechanism is in contact with the ground, such as the surface where the mower's wheels or tracks touch the ground. It should be noted that if the moving mechanism has multiple contact points with the ground, these multiple contact points are used to form the working surface. 3) Description of direction: "Up" and "down" refer to the position of the component / area relative to the work surface, and "up" is the orientation of the element or area away from the work surface; "down" is the orientation of the component or area near the work surface. "Front" and "rear" refer to the forward direction of the lawn mower, and "front" refers to the forward direction away from the lawn mower. "Directly in front" is specifically the direction in front of the lawn mower and is located on the central axis parallel to the forward direction of the lawn mower. The front area is the space within the area in front of the lawn mower; "rear" refers to the direction facing away from the lawn mower in the opposite direction of the forward direction. 4) Path of travel: The path of travel of the lawnmower along the ground. The path of travel can be a straight path, a curved path, or a combination of both. The lawnmower can move from the first end of the path of travel to the second end, and it can also move from the second end to the first end. 5) Obstacle: Obstacle refers to an object located in the forward direction of the lawn mower that may hinder or interfere with the movement of the lawn mower. The obstacle may be stationary, such as buildings, rocks, fences, etc.; the obstacle may also be movable or flexible, such as branches, bushes, ropes, objects placed on the ground, etc. Obstacles may also include free-hanging obstacles. 6) Hanging Obstacles: Obstacles that are in the forward direction of the lawn mower and are off the ground, such as low-hanging branches, vines, curtains, clotheslines, cables, swing stands, etc. 7) Grass to be cut: Plants that are combed and / or cut flat by a lawnmower. The grass to be cut can be weeds, wilted grass, dead grass, shrubs, fallen leaves, moss, and so on. 8) Maximum height: the maximum distance between the side of the component or area facing away from the work surface and the work surface (i.e., the maximum distance) perpendicular to the work surface. The maximum height position is the position where the distance between the component or area and the work surface is greatest. 9) Minimum height: the minimum distance between the side of the component or area facing the work surface and the work surface (i.e., the minimum clearance) perpendicular to the work surface. The minimum height position is the position where the distance between the component or area and the work surface is the smallest.

[0030] With reference to Fig. 1, Fig. 2 and Fig. 3, the lawn mower of the embodiment of the present application comprises a device body 100, a grass combing mechanism 300, a detection mechanism 400, and a movement mechanism 200. The grass combing mechanism 300 is connected to the device body 100, wherein the grass combing mechanism 300 is configured to allow the grass to be cut to pass through, and wherein at least a part of the grass combing mechanism 300 is arranged at a first end 110 of the device body 100 along the forward direction X; The detection mechanism 400 is located at the first end 110 and is movably connected to the device body 100, wherein the grass combing mechanism 300 is located at a first side 440 of the detection mechanism 400, and the first side 440 faces a working surface 210 of the movement mechanism 200; wherein the detection mechanism 400 is configured to detect at least one obstacle 600 located in front of the device body 100;wherein the movement mechanism 200 is configured to drive the device body 100 to avoid the obstacle 600 when the obstacle 600 is located in a first height range R1 directly in front of the lawn mower in its forward direction X, and to drive the device body 100 to move toward the obstacle 600 when the obstacle 600 is located in a second height range R2 directly in front of the lawn mower in its forward direction X and the obstacle 600 is not present in the first height range R1; wherein the first height range R1 is below the second height range R2.

[0031] In the embodiment of the present application, the device body 100 provides an installation base for the grass combing mechanism 300 and the detection mechanism 400, and the device body 100 may include a housing, a control circuit disposed in the housing, a power supply device, a grass clipping treatment mechanism, a transmission mechanism, etc. Here, the control circuit may receive the detection result of the detection mechanism 400, control the operation of the grass combing mechanism 300 and the movement mechanism 200, and their communication with the outside world, etc. The power supply device may include a fuel tank, a power supply, etc.

[0032] In the embodiment of the application, the grass combing mechanism 300 is used to comb the grass to be cut, and the grass combing mechanism 300 can be integrally arranged at the first end 110 of the device body 100 and can also be partially arranged at the first end 110. Specifically, the first end 110 is the front end of the device body 100 in the forward direction X during operation of the lawn mower.

[0033] In the embodiment of the present application, the first height range R1 and the second height range R2 are two ranges related to the size of the lawn mower. The first height range R1 and the second height range R2 are arranged along the height direction Z of the lawn mower. The first height range R1 is closer to the working surface 210 than the second height range R2, and the minimum heights of the first height range R1 and the second height range R2 are smaller than the dimensions of the lawn mower along the height direction Z. The size of the first height range R1 along the width direction Y is greater than or equal to the size of the lawn mower in the width direction Y, and the size of the second height range R2 in the width direction Y is greater than or equal to the maximum size of the lawn mower in the width direction Y. There is no limitation on the size of the first height range R1 and the second height range R2 along the formation direction.It is understandable that in the case of the obstacle 600 in the first height range R1 and the second height range R2, the obstacle 600 may collide with the lawn mower, e.g., the size of the obstacle Y in the width direction is 1-2 times the size of the lawn mower in the width direction Y, e.g., 1 time, 1.5 times, 2 times, etc.

[0034] In the embodiment of the present application, the first height range R1 is located below the second height range R2. Specifically, the maximum distance between the first height range R1 and the work surface 210 is smaller than the minimum distance between the second height range R2 and the work surface 210, i.e., the first height range R1 and the second height range R2 are spaced apart. Alternatively, the first height range R1 and the second height range R2 are in contact, i.e., the maximum distance between the first height range R1 and the work surface 210 is equal to the minimum distance between the second height range R2 and the work surface 210.

[0035] In the embodiment of the application, the detection mechanism 400 may be a video camera, a distance sensor, etc. The detection mechanism 400 may be an optoelectronic type, an electromagnetic type, an infrared type, etc. The detection mechanism 400 may identify whether the object is an obstacle 600 based on the object's shape, color, etc.For example, if the color of the object is different from the color of the grass to be cut, the object is judged to be an obstacle 600. If the color of the object is the same as or similar to the color of the grass to be cut, the detection mechanism 400 cannot distinguish the grass to be cut from the object. This irregular situation in which the grass to be cut cannot be distinguished from the object is outside the scope of the claims of the present application, and the application claims the situation in which the detection mechanism 400 can normally distinguish the grass to be cut from the object. The movable connection between the detection mechanism 400 and the device body 100 can be a threaded connection, a rotatable connection, a sliding connection, a transmission connection, and so on. For example, the detection mechanism 400 is rotatably connected to the device body 100.

[0036] In the embodiment of the application, the detection mechanism 400 is configured to detect an obstacle 600 in the first height range R1, and the detection mechanism 400 can also detect an obstacle 600 in the second height range R2 or in other areas under the condition that the detection mechanism 400 moves relative to the device body 100 and changes the field of view. Furthermore, the detection mechanism 400 can also be configured to detect obstacles in the second height range R2.

[0037] In the embodiment of the application, when the detection mechanism 400 detects an obstacle 600 that is not located in the first height range R1, for example, when an obstacle 600 is detected in the second height range R2, the movement mechanism 200 may drive the device body 100 to avoid the obstacle 600, and may also drive the device body 100 to continue traveling so that the device body 100 or the detection mechanism 400 collides with the obstacle 600 and crosses a flexible obstacle 600, such as a tree branch.

[0038] In the embodiment of the application, the movement mechanism 200 drives the device body 100 to avoid the obstacle 600, and the movement mechanism 200 can stop the movement and prevent the lawn mower from coming into contact with the obstacle 600; or the movement mechanism 200 drives the device body 100 to move away from the obstacle 600 to readjust the movement trajectory.

[0039] In the technical solution according to the embodiment of the present application, the grass combing mechanism 300 and the detection mechanism 400 are connected to the device body 100, and at least a part of the grass combing mechanism 300 and the detection mechanism 400 are located at the first end of the device body 110 of the device body 100 along the forward direction X. The device body 100 is connected to the moving mechanism 200, which can set the device body 100 in motion.

[0040] Based on this, the detection mechanism 400 can detect an obstacle 600 in the first height range R1, and the moving mechanism 200 can drive the device body 100 to avoid the obstacle 600 when the detection mechanism 400 detects the presence of the obstacle 600 in the first height range R1, so as to reduce the possibility of collision between the grass combing mechanism 300 and the obstacle 600 in the first height range R1, thus protecting the grass combing mechanism 300, reducing the possibility of damage to the grass combing mechanism 300, and extending the service life of the grass combing mechanism 300.

[0041] The function of the grass combing mechanism 300 is to comb the grass. Based on the above function, a notch or opening must be formed on the grass combing mechanism 300 to allow the grass to pass through. This results in the strength of the grass combing mechanism 300 being lower than other parts of the device body 100. If the grass combing mechanism 300 frequently encounters an obstacle 600, this may cause deformation and even breakage of the grass combing mechanism 300, affecting the working performance of the lawn mower. The design of the present application can reduce the probability of collision between the grass combing mechanism 300 and the obstacle 600, thereby extending the service life of the grass combing mechanism 300.

[0042] In addition, a yard environment further includes freely hanging obstacles such as rope structures arranged at low positions. Once these rope structures come into contact with the grass combing mechanism 300, they can easily become entangled with the grass combing mechanism 300, resulting in rope breakage or pinching of the lawn mower, which impairs mowing efficiency. The rope wrapped around the grass combing teeth 311 of the grass combing mechanism 300 is also difficult to remove.

[0043] For the yard scene, the hanging obstacles can also be branches or leaves hanging from the trees. Although these obstacles 600 are lower than the highest point of the lawnmower, the movement mechanism 200 sets the device body 100 in motion, which can push softer obstacles 600 such as branches away and increase the likelihood that the lawnmower will overcome the obstacles 600. Since the detection mechanism 400 is movably connected to the device body 100, the detection mechanism 400 can also move relative to the device body 100 when the detection mechanism 400 encounters the obstacle 600 in the second height range R2.On the one hand, the detection mechanism 400 avoids the obstacle 600, which provides a buffer for the detection mechanism 400 and protects the detection mechanism 400; on the other hand, the movement of the detection mechanism 400 changes the shape of the lawnmower, which can improve the possibility of the lawnmower overcoming obstacles 600. Furthermore, the movement of the detection mechanism 400 changes its field of view, thereby increasing the probability of detecting obstacles 600.

[0044] Compared with the scheme in which the grass combing assembly 310 of the lawn mower is easily damaged and the lawn mower has poor negotiability and low efficiency, in the embodiment of the present application, when an obstacle is detected in the first height range R1, the lawn mower can avoid the obstacle 600 in time to protect the grass combing mechanism 300; by colliding with obstacles 600 in the second height range R2, the ability to overcome obstacles 600 is improved, and the detection mechanism 400 can also change the field of view, which is convenient for adapting the lawn mower's strategy to dealing with obstacles 600, which is more intelligent and flexible, and the obstacle-overcoming ability of the lawn mower is stronger, which improves the continuity of operation and then increases the operation efficiency.

[0045] With reference to Fig. 2 and Fig. 3, in some embodiments of the present application, the distance between the maximum height position of the first height range R1 and the work surface 210 (the maximum distance between the first height range R1 and the work surface 210) is a first distance S1, and the first distance S1 is less than the first threshold; the distance between the minimum height position of the second height range R2 and the work surface 210 (the minimum distance between the second height range R2 and the work surface 210) is a second distance S2, and the second distance S2 is greater than or equal to the second threshold. The distance between the maximum height position of the lawn mower and the work surface 210 (the maximum distance between the lawn mower and the work surface 210) is a third distance S3, and the second distance S2 is less than the third distance S3.

[0046] In some embodiments, the distance between the maximum height position of the second height range R2 and the work surface 210 (the maximum distance between the second height range R2 and the work surface 210) is a fourth distance S4, the second distance S2 is less than the third distance S3, and the fourth distance S4 is less than the third distance S3.

[0047] In the embodiment of the present application, the maximum distance between the first height range R1 and the work surface 210 corresponds to the suspended obstacle 600 in the first height range R1, specifically, the minimum distance between the suspended obstacle 600 and the work surface 210, that is, the distance between the bottom surface of the suspended obstacle 600 and the work surface 210 in the first height range R1, and the lower surface of the suspended obstacle 600 is its ground-facing surface. Under the condition that the distance between the lower surface of the suspended obstacle 600 and the work surface 210 is less than the first threshold, the moving mechanism 200 drives the device body 100 to avoid the obstacle 600.

[0048] In the embodiment of the present application, the minimum distance and the maximum distance between the second height range R2 and the work surface 210 correspond to the suspended obstacle 600 in the second height range R2, specifically, the minimum distance between the suspended obstacle 600 and the work surface 210, that is, the distance between the bottom surface of the suspended obstacle 600 in the second height range R2 and the work surface 210. Under the condition that the distance between the bottom surface of the suspended obstacle 600 and the work surface 210 is greater than the second threshold value and less than the third distance S3, the moving mechanism 200 drives the device body 100 in forward movement.

[0049] In the embodiment of the present application, the second side 430 of the lawn mower may be a side of the detection mechanism 400 facing away from the working surface 210, or it may be the side of the device body 100 facing away from the working surface 210, in particular the one with a greater distance from the working surface 210 in the two to act as a scale of the third distance S3.

[0050] In the embodiment of the application, the first threshold may be related to the dimensions of the portion of the grass combing mechanism 300 at the first end 110 along the height direction Z. For example, the grass combing mechanism 300 includes a grass combing assembly 310, and the first threshold may be related to the size of the grass combing assembly 310 along the height direction Z. The first threshold may also be related to the position of the detection mechanism 400 relative to the device body 100, for example, the distance between the detection mechanism 400 and the work surface 210.

[0051] In the embodiment of the application, the second threshold may be related to the position of the detection mechanism 400 relative to the device body 100, such as the distance between the detection mechanism 400 and the work surface 210; The second threshold may also be related to the height of the lawn mower relative to the ground, e.g., the size of the lawn mower along the height direction Z.

[0052] In some embodiments of the present application, the field of view of the detection mechanism 400 is at an angle to the working surface 210, and the distance between the detection mechanism 400 and the obstacle 600 along the forward direction X will affect the detection effect. For example, when the obstacle 600 is far from the detection mechanism 400, the obstacle 600 is outside the field of view of the detection mechanism 400, and when the obstacle 600 is close to the detection mechanism 400, the obstacle 600 enters the field of view and can be detected. Setting the first threshold and the second threshold may also be related to the installation angle of the detection mechanism 400 relative to the device body 100.

[0053] In some embodiments of the present application, the maximum size of the lawn mower along the height direction Z is the first size, and the dimensions of the detection mechanism 400 and the working surface 210 are the second sizes; the first threshold is less than or equal to the second size, and the second threshold is greater than or equal to the second size and less than or equal to the first size.

[0054] In some embodiments of the present application, the first size is 27 centimeters (centimeter, cm) and the range of the second size is 21 cm to 23 cm, such as 21 cm, 22 cm, 23 cm, etc.

[0055] In some embodiments of the present application, the first threshold is 12 cm and the second threshold is 18 cm.

[0056] For example, the lower surface of the obstacle 600 is less than 12 cm from the working surface 210, and the moving mechanism 200 drives the device body 100 to avoid the obstacle 600; the height of the detection mechanism 400 is greater than the height of the device body 100. The lower surface of the obstacle 600 is within the range of 18 cm to 23 cm from the working surface 210, and the moving mechanism 200 drives the device body 100 to move further.

[0057] In other embodiments of the present application, the first threshold is 10 cm and the second threshold is 20 cm.

[0058] For example, the lower surface of the obstacle 600 is less than 10 cm away from the working surface 210, and the moving mechanism 200 drives the device body 100 to avoid the obstacle 600; the height of the detection mechanism 400 is greater than the height of the device body 100. The lower surface of the obstacle 600 is within the range of 20 cm to 23 cm from the working surface 210, and the moving mechanism 200 drives the device body 100 to move further.

[0059] In the technical solution according to the embodiment of the application, by limiting the dimensions of the first height range R1 and the second height range R2 within a reasonable range, it is not only convenient for the detection mechanism 400 to detect the obstacle 600 in the first height range R1, but also convenient for the lawn mower to collide with the obstacle 600 in the second height range R2 to improve the obstacle overcoming ability.

[0060] With reference to Fig. 1 and Fig. 2, in some embodiments of the application, it is provided that along the height direction Z of the lawn mower, the second side 430 of the detection mechanism 400 has a first height H1 relative to the working surface 210, wherein the third side 120 of the device body 100 has a second height H2 relative to the working surface 210, wherein the second side 430 and the third side 120 are opposite the working surface 210 and the first height H1 is greater than the second height H2, and the first height H1 forms the third distance S3.

[0061] In the embodiment of the application, the distance between the second side 430 of the detection mechanism 400 facing away from the working surface 210 and the working surface 210 is the first height H1. The distance between the third side 120 of the device body 100 facing away from the working surface 210 and the working surface 210 is the second height H2. Under the condition that the first height H1 is greater than the second height H2, i.e., the detection mechanism 400 is taller than the device body 100, the third distance S3 is equal to the first height H1; accordingly, if the first height H1 is less than the second height H2, i.e., the device body 100 is taller than the detection mechanism 400, the third distance S3 is equal to the second height H2.

[0062] In the technical solution according to the embodiment of the application, by making the first height H1 of the detection mechanism 400 greater than the second height H2 of the device body 100, on the one hand, it is convenient for the detection mechanism 400 to collide with the obstacle 600 to change the field of view, and the strategy for overcoming the obstacle 600 is adjusted in a timely manner; on the other hand, the detection mechanism 400 collides with and overcomes the obstacle 600, which is difficult to cause an obstruction to the device body 100, thereby protecting the device body 100.

[0063] With reference to Fig. 2 and Fig. 3, in some embodiments of the application, the detection mechanism 400 is rotatably connected to the device body 100 relative thereto, and the detection mechanism 400 includes a detection end; wherein the detection mechanism 400 is configured such that the detection end rotates away from the work surface 210 in response to a force upon impact with obstacle 600.

[0064] In the embodiment of the application, the rotation axis of the detection mechanism 400 and the device body 100 is a second rotation axis, and the second rotation axis may be parallel to the work surface 210. The detection end of the detection mechanism 400 swings up and down along the vertical plane, and the detection end rotates toward or away from the work surface 210, thereby avoiding the obstacle 600 and changing the field of view. Based on this, the second rotation axis may be parallel to the forward direction X or parallel to the width direction Y, or the second rotation axis may be at an acute angle or an obtuse angle to the forward direction X.

[0065] In some other embodiments of the present application, the second rotation axis may also be arranged at an angle to the work surface 210. For example, the second rotation axis is perpendicular to the work surface 210, and the sensing end pivots left and right in the horizontal plane, thereby bypassing the obstacle 600 and changing the field of view.

[0066] In the embodiment of the application, the detection mechanism 400 and the device body 100 may be connected by rotary shafts, bearings, etc., and a damping structure such as friction parts, elastic parts, etc. may be arranged between the detection mechanism 400 and the device body 100, which prevents the relative movement between the detection mechanism 400 and the device body 100 by means of friction or elastic force. Under the condition that the force exerted by the obstacle 600 on the detection mechanism 400 is greater than the friction force or driving force, the detection mechanism 400 rotates relative to the device body 100. In this way, the detection mechanism 400 does not need to move relatively when passing a softer obstacle 600, and the field of view of the detection mechanism 400 does not need to be adjusted when passing the obstacle 600, which provides ease of use.

[0067] In the embodiment of the present application, after the detection mechanism 400 passes the obstacle 600, the detection end of the detection mechanism 400 can rotate toward the work surface 210 under the action of gravity; or the detection mechanism 400 is further connected to a drive assembly, such as a cylinder, motor, etc., that can drive the detection mechanism 400 to move relative to the device body 100, so that the field of view of the detection mechanism 400 is accurately adjusted to an appropriate angle.

[0068] In the embodiment of the application, a limiting structure may be arranged on the device body 100, such as a limiting groove or a limiting block, to limit the stroke of rotation of the detection mechanism 400 relative to the device body 100 by the limiting structure, and thus reduce the possibility that the detection mechanism 400 is excessively rotated and difficult to reset.

[0069] In the technical solution according to the embodiment of the application, when the detection mechanism 400 collides with the obstacle 600, it can be rotated far away from the working surface 210 under the force of the obstacle 600, so that the field of view of the detection mechanism 400 is set far away from the working surface 210, which helps to detect the suspended obstacle 600.

[0070] In some embodiments of the application, it is provided that the movement mechanism 200 is configured such that, when the detection mechanism 400 detects that the obstacle 600 is located in the first height range R1, it drives the device body 100 such that it rotates about a first axis of rotation, wherein the first axis of rotation runs perpendicular to the work surface 210; and / or that the movement mechanism 200 is configured such that, when the detection mechanism 400 detects that the obstacle 600 is located in the first height range R1, it drives the device body 100 such that it moves away from the obstacle 600.

[0071] In the embodiment of the application, the movement mechanism 200 rotates about the first rotation axis. Specifically, the movement mechanism 200 rotates in place, and the orientation of the lawnmower head can be changed. The device body 100 drives the detection mechanism 400 to change the orientation along the working surface 210, so that the detection mechanism 400 receives the environmental characteristics of various directions of the device body 100, allowing the lawnmower to select an obstacle-free direction 600 to plan the movement path.

[0072] In the embodiment of the application, the movement mechanism 200 drives the device body 100 to move away from the obstacle 600. Specifically, the movement mechanism 200 drives the device body 100 to move along the ground, and the movement direction is the direction away from the obstacle 600. For example, the movement mechanism 200 moves in the opposite direction along the forward direction X.

[0073] In the embodiment of the application, when the detection mechanism 400 detects that an obstacle 600 is present in the first height range R1, the movement mechanism 200 can also stop driving and hold the device body 100 in a corresponding position; for example, if the detection mechanism 400 detects that an obstacle 600 is present in the second height range R2 and there is no obstacle 600 in the first height range R1, the detection mechanism 400 or the device body 100 pushes the obstacle 600 away, so that the lawn mower passes through the obstacle 600.

[0074] In some embodiments of the present application, when the detection mechanism 400 detects that an obstacle 600 is present in the first height range R1, the movement mechanism 200 may hold the device body 100 in a corresponding position; or the movement mechanism 200 may drive the device body 100 to move away from the obstacle 600; or the movement mechanism 200 may drive the device body 100 to rotate about the first rotation axis.

[0075] In other embodiments of the present application, when the detection mechanism 400 detects that an obstacle 600 is present in the first height range R1, the movement mechanism 200 drives the device body 100 to rotate about the first rotation axis, and in the event that the rotation ends, the device body 100 moves away from the obstacle 600; or the movement mechanism 200 drives the device body 100 to move to a safe distance from the obstacle 600 and then drives the device body 100 to rotate about the first rotation axis.

[0076] In the technical solution according to the embodiment of the present application, the moving mechanism 200 drives the device body 100 to rotate along the first rotation axis, so that the device body 100 drives the detection mechanism 400 to rotate, thereby changing the field of view around the device body 100 to facilitate finding the traveling direction; the moving mechanism 200 drives the device body 100 to move away from the obstacle 600, then it is convenient to avoid the obstacle 600, and the possibility of collision is reduced.

[0077] In some embodiments of the present application, the movement mechanism 200 is configured such that, when the detection mechanism 400 collides with the obstacle 600 in the second height range R2, the movement mechanism 200 drives the device body 100 to reciprocate along at least one movement path toward or away from the obstacle 600 and collide with the obstacle.

[0078] In the embodiment of the application, the movement mechanism 200 drives the device body 100 to reciprocate. Specifically, the detection mechanism 400 drives the device body 100 to reciprocate toward or away from the obstacle 600. Multiple collisions increase the possibility of passing through the obstacle 600. Reciprocation should be understood broadly and is not limited to the same movement path. The movement mechanism 200 can drive the device body 100 to reciprocate along various movement paths, such as colliding with the obstacle 600 from different angles.

[0079] In some embodiments of the application, the detection mechanism 400 may also be connected to a force sensor, an angle sensor, or a distance sensor, so that the lawnmower detects whether the detection mechanism 400 collides with the obstacle 600, and the force of the impact, the direction, etc., to provide a basis for the decision for the moving mechanism 200. If the moving mechanism 200 determines that it can overcome the obstacle 600, the moving mechanism 200 adjusts the direction, speed, etc., and continues to drive the device body 100 to reciprocate. If the moving mechanism 200 determines that it is difficult to overcome the obstacle 600, the device body 100 is driven to avoid the obstacle 600. In some embodiments, force sensors, angle sensors, distance sensors, and the like may also be arranged on the device body 100.

[0080] In the technical solution according to the embodiment of the application, the movement mechanism 200 drives the device body 100 to reciprocate toward or away from the obstacle 600. Through continuous attempts, the possibility of passing through the obstacle 600 can be improved. The movement mechanism 200 reciprocates along a plurality of different movement paths, and thus the collision orientation of the movement mechanism 200 and the obstacle 600 can be changed, and through a plurality of attempts at different angles, the possibility of overcoming the obstacle 600 can be further improved.

[0081] Referring to Fig. 4 and Fig. 5, in some embodiments of the present application, the grass combing mechanism 300 includes a grass combing assembly 310, while the lawn mower further includes a cutting assembly 320. The grass combing assembly 310 includes a plurality of grass combing teeth 311, with a grass combing channel 312 formed between adjacent grass combing teeth 311, the grass combing channel 312 being used to pass the grass to be cut; the grass combing assembly 310 is positioned on the first side 440 of the detection mechanism 400; the cutting assembly 320 is configured to cut the grass to be cut, the cutting assembly 320 is located in the center of the device body 100, or the device body 100 has a second end 130 adjacent to the first end 110, and the cutting assembly 320 is located at the second end 130.

[0082] In the embodiment of the application, a plurality of grass combing teeth 311 of the grass combing assembly 310 can be arranged linearly, for example, a plurality of grass combing teeth 311 are arranged one after the other along the width direction Y. The plurality of grass combing teeth 311 of the grass combing assembly 310 can also form a plurality of grass combing rows. The plurality of grass combing teeth 311 in each grass combing row are arranged sequentially along the width direction Y, the plurality of grass combing rows are arranged one after the other along the forward direction X, and the grass combing teeth 311 in the adjacent grass combing rows can be arranged in a coordinated manner or can be offset from one another.

[0083] In the embodiment of the application, the grass combing tooth 311 may be rod-shaped, leaf-shaped, etc., the cross section of the grass combing tooth 311 may be circular, triangular, oval, teardrop-shaped, etc., and a plurality of grass combing teeth 311 may adopt the same or different structure, size.

[0084] In the embodiment of the present application, the cutting assembly 320 may include a cutter disc provided with a blade, the blade being driven to rotate relative to the device body 100 by the cutter disc, thereby cutting the grass to be cut; the cutter disc may also drive the blade to reciprocate relative to the device body 100; or, the cutting assembly 320 may include a cutting cable that is a flexible structure, and one end of the cutting cable is connected to a drive mechanism and driven to rotate under the drive of the drive mechanism, thereby cutting the grass to be cut.

[0085] In the embodiment of the present application, the second end 130 is the two ends of the device body 100 along the width direction Y, ie, the left or right side of the device body 100 along the forward direction X, wherein the cutting assembly 320 may be arranged on the left side of the device body 100 or the right side of the device body 100. Alternatively, the cutting assembly 320 is arranged on both sides of the device body 100 along the width direction Y.

[0086] In the technical solution according to the embodiment of the application, the grass combing assembly 310 can comb the grass to be cut through the grass combing teeth 311, so that the grass to be cut is regulated and its cutting is facilitated by the cutting assembly 320. The combing assembly 310 is located on the first side 440 of the detection mechanism 400, and the obstacle 600 in front of it is easily detected by the detection mechanism 400. The cutting assembly 320 is used to cut the grass to be cut so that the grass to be cut is flatter, and the cutting assembly 320 is arranged in various positions of the device body 100 according to requirements, can adapt to different operating requirements, and improve the adaptability of the lawn mower.

[0087] With reference to Fig. 6 and Fig. 7, in some embodiments of the present application, the grass combing assembly 310 is rotatably connected to the device body 100, and wherein the grass combing assembly 310 is configured to rotate toward the work surface 210 in response to a force from the obstacle 600.

[0088] In the embodiment of the application, the rotation axis of the grass combing assembly 310 and the device body 100 is a third rotation axis. The third rotation axis may be parallel to the work surface 210. The grass combing assembly 310 oscillates up and down along the vertical plane, and the grass combing assembly 310 rotates toward or away from the work surface 210, thereby avoiding the obstacle 600. Based on this, the third rotation axis may be parallel to the forward direction X or parallel to the width direction Y, or the third rotation axis may be at an acute angle or an obtuse angle to the forward direction X.

[0089] In the embodiment of the application, the grass combing assembly 310 and the device body 100 may be connected by rotating shafts, bearings, etc., and a damping structure such as friction parts, elastic parts, etc. may be arranged between the grass combing assembly 310 and the device body 100, which prevents the relative movement between the grass combing assembly 310 and the device body 100 by means of friction or elastic force. Under the condition that the force exerted by the obstacle 600 on the grass combing assembly 310 is greater than the friction force or driving force, the grass combing assembly 310 rotates relative to the device body 100. This is not only convenient for the grass combing assembly 310 to comb the grass to be cut, but also convenient for the grass combing assembly 310 to bypass the obstacle 600.

[0090] In the embodiment of the application, the grass combing assembly 310 may be further connected to a drive assembly such as a cylinder, a motor, etc., and the drive assembly may drive the grass combing assembly 310 to move relative to the device body 100 to accurately adjust the angle of the grass combing assembly 310 to a suitable angle.

[0091] In the embodiment of the application, a limiting structure may be arranged on the device body 100, such as a limiting groove or a limiting block, to limit the stroke of rotation of the grass combing assembly 310 relative to the device body 100 by the limiting structure, and thus reduce the possibility that the grass combing assembly 310 is excessively rotated and difficult to reset.

[0092] Since, in the technical solution according to the embodiment of the application, the grass combing assembly 310 can rotate relative to the device body 100, in the event that the grass combing assembly 310 collides with the obstacle 600, a movement by means of the force of the obstacle 600 relative to the device body 100 is possible to provide a buffer for the grass combing assembly 310, protect the grass combing assembly 310 and also change the shape of the grass combing assembly 310, and improve the possibility of the lawn mower passing through the obstacle 600.

[0093] With reference to Fig. 1 and Fig. 4, in some embodiments of the present application, the detection mechanism 400 comprises a mounting member 410 and an optical sensor 420, wherein the mounting member 410 is movably connected to the device body 100 and the optical sensor 420 is connected to a detection end of the mounting member 410; wherein the detection mechanism 400 comprises a single optical sensor 420; or wherein the detection mechanism 400 comprises at least two optical sensors 420 evenly distributed along a mounting surface 411 of the mounting member 410.

[0094] In the embodiment of the application, the mounting member 410 may be a frame structure, a shell structure, a block structure, a rod-shaped structure, etc. The optical sensor 420 is arranged on the mounting surface 411 of the mounting member 410, and the mounting surface 411 of the mounting member 410 is the surface of the mounting member 410 facing away from the device body 100.

[0095] In the embodiment of the present application, the detection mechanism 400 may include one or more optical sensors 420, such as monocular cameras, binocular cameras, and the like. A plurality of optical sensors 420 may be distributed in linear arrays, circular arrays, rectangular arrays, etc., along the mounting surface 411. For example, the two optical sensors 420 of the detection mechanism 400 are distributed one behind the other along the width direction Y.

[0096] In the technical solution according to the embodiment of the application, the provision of the mounting member 410 facilitates the disassembly and assembly of the optical sensor 420 and the device body 100. The optical sensor 420 can be provided singly or in multiples, and a plurality of optical sensors 420 can be uniformly arranged. Thus, the detection capability can be improved, and the detection structure of the plurality of optical sensors 420 can confirm each other, and the error tolerance rate is improved.

[0097] With reference to Fig. 1, in some embodiments of the present application, the lawn mower further includes an alarm mechanism 500 electrically connected to the detection mechanism 400 and configured to issue an alarm when the lawn mower encounters an obstacle 600 for more than a preset time.

[0098] In the embodiment of the application, the lawnmower collides with the obstacle 600 for more than the preset time. Specifically, when the lawnmower collides with the obstacle 600 for the first time, a timing measurement is started. If the measured time reaches the preset time, the alarm mechanism 500 emits an alarm. The timing can be performed in an up-counting or down-counting manner. For example, the timing is performed in an up-counting manner, the preset time is 1 minute, and if the lawnmower collides with an obstacle 600 for the first time for more than 1 minute, the alarm mechanism 500 emits an alarm.In some other embodiments of the present application, the alarm mechanism 500 may trigger an alarm when the detection mechanism 400 detects an obstacle 600, and may also issue an alarm when no obstacle 600 is detected but the device body 100 is obstructed by an obstacle 600. For example, a feasible trajectory is still not planned after attempting one rotation around the first rotation axis. Or, under the condition that the number of reciprocating movements of the movement mechanism 200 reaches the preset number of times, for example, the preset threshold number of times is 5 times and the movement mechanism 200 unsuccessfully attempts to cross the obstacle 600 five times, the alarm mechanism 500 issues an alarm.

[0099] In the embodiment of the application, the alarm mechanism 500 may include a visual device, an acoustic device, a communication device, and the like. The visual device may be a warning lamp, a strobe light, etc., to warn the user by emitting light; the acoustic device may be a buzzer, speaker, etc., that warns the user by sounding; the communication device may be a wireless network, Bluetooth, nearlink, and other devices that send warning information to a user's remote terminal to remind the user.

[0100] By providing the alarm mechanism 500 in the technical solution according to the embodiment of the application, it is facilitated to inform the user in a timely manner when the lawnmower is difficult to cross the obstacle, so that the user can remove the obstacle or adjust the movement path in a timely manner.

[0101] In one possible embodiment of the application, the lawn mower comprises a device body 100, a movement mechanism 200, a grass combing mechanism 300, and a detection mechanism 400, wherein the device body 100 is connected to the movement mechanism 200 and driven to move by the movement mechanism 200; the detection mechanism 400 is a binocular camera. The detection mechanism 400 is connected to the device body 100 for rotation about the second rotation axis. The grass combing mechanism 300 includes a grass combing assembly 310 arranged at the first end 110. The grass combing assembly 310 is connected to the device body 100 for rotation about the third rotation axis, and the third rotation axis and the second rotation axis are both parallel to the width direction Y of the lawn mower.

[0102] Depending on the height of the detection mechanism 400 relative to the working surface 210, the lawn mower has a first height range R1 and a second height range R2. The first height range R1 is located between the detection mechanism 400 and the working surface 210, and the first distance S1 of the first height range R1 is less than the first threshold; the second distance S2 of the second height range R2 is greater than or equal to the second threshold. The fourth distance S4 of the second height range R2 is less than the third distance S3.

[0103] If an obstacle 600 is present in the first height range R1, the obstacle 600 can be detected by the detection mechanism 400. The movement mechanism 200 detects the obstacle 600 in the first height range R1 based on the detection mechanism 400 and drives the device body 100 to maintain a corresponding position, rotate about the first rotation axis, or move away from the obstacle 600 to reduce the possibility of the obstacle 600 colliding with the grass combing assembly 310. If the obstacle 600 collides with the grass combing assembly 310, the grass combing assembly 310 rotates toward the work surface 210 relative to the device body 100, thereby buffering and avoiding the obstacle 600, thus reducing the possibility of damage to the grass combing assembly 310 and improving the service life of the grass combing assembly 310.

[0104] When an obstacle 600 is present in the second height range R2 and no obstacle 600 is present in the first height range R1, the detection mechanism 400 can rotate relative to the device body 100 away from the work surface 210 in the event of a collision with the obstacle 600 to avoid the obstacle 600 and adjust the field of view so that the obstacle 600 can be detected. The movement mechanism 200 can drive the device body 100 to avoid the obstacle 600 of the second height range R2, and can also move the device body more than 100 times to move toward the obstacle 600 to push the obstacle 600 away and improve the obstacle crossing capability.

[0105] The above embodiments of the application are for descriptive purposes only and in no way indicate the quality of the respective embodiments. Thus far, only preferred embodiments of the present application have been explained without limiting the scope of the application. Any equivalent structural or procedural modifications made based on the description and the accompanying drawings of the application or used directly or indirectly in other relevant fields are also intended to be encompassed within the scope of the application. SUMMARY

[0106] The present application discloses a lawn mower. The lawn mower comprises a device body, a grass combing mechanism, a detection mechanism, and a movement mechanism. The grass combing mechanism is at least partially disposed at a first end of the device body along the forward direction. The detection mechanism is located at the first end and is movably connected to the device body, wherein the grass combing mechanism is located on a first side of the detection mechanism, and the first side faces a working surface of the movement mechanism; wherein the detection mechanism is configured to detect at least one obstacle located in front of the device body.The movement mechanism is configured to drive the device body to avoid the obstacle when the obstacle is located in a first height range directly in front of the lawn mower in its forward direction, and to drive the device body to move toward the obstacle when the obstacle is located in a second height range directly in front of the lawn mower in its forward direction and the obstacle is not present in the first height range; wherein the first height range is below the second height range. The lawn mower of the application has a long service life, strong obstacle-crossing ability, and high operating efficiency.

Claims

[1] Lawnmower, characterized by that it includes: a movement mechanism; a device body connected to the movement mechanism; a grass combing mechanism connected to the device body, wherein the grass combing mechanism is designed so that the grass to be cut can be passed through, and wherein at least a part of the grass combing mechanism is arranged at a first end of the device body along the forward direction (X); a detection mechanism located at the first end and movably connected to the device body, wherein the grass combing mechanism is located on a first side of the detection mechanism, the first side facing a working surface of the moving mechanism; wherein the detection mechanism is configured to detect at least one obstacle located in front of the device body; wherein the movement mechanism is configured to drive the device body to avoid the obstacle when the obstacle is located in a first height range (R1) directly in front of the lawn mower in its forward direction (X), and to drive the device body to move towards the obstacle when the obstacle is located in a second height range (R2) directly in front of the lawn mower in its forward direction (X) and the obstacle is not present in the first height range (R1); wherein the first height range (R1) is located below the second height range (R2). [2] Lawnmower according to claim 1, characterized by that the distance of the maximum height position of the first height range (R1) to the working surface is a first distance (S1) and the first distance (S1) is smaller than a first threshold value; wherein the distance of the minimum height position of the second height range (R2) to the work surface is a second distance (S2), wherein the second distance (S2) is greater than or equal to a second threshold value; and wherein the distance of the maximum height position of the lawnmower to the working surface is a third distance (S3) and the second distance (S2) is smaller than the third distance (S3). [3] Lawnmower according to claim 2, characterized by that the distance of the maximum height position of the second height range (R2) to the work surface is a fourth distance (S4) and the fourth distance (S4) is smaller than the third distance (S3). [4] Lawnmower according to claim 2, characterized by that the first threshold is 12 cm and the second threshold is 18 cm; alternatively, the first threshold is 10 cm and the second threshold is 20 cm. [5] Lawnmower according to claim 2, characterized bythat along the height direction of the lawn mower, the height of a second side of the detection mechanism relative to the working surface is a first height (H1), wherein the height of a third side of the device body relative to the working surface is a second height (H2), wherein the second side and the third side are opposite the working surface and the first height (H1) is greater than the second height (H2), and the first height (H1) forms the third distance (S3). [6] Lawnmower according to one of claims 1 to 5, characterized by that the detection mechanism is connected to the device body for rotation relative thereto and the detection mechanism comprises a detection end; wherein the detection mechanism is configured such that the detection end rotates away from the work surface due to a force upon impact with the obstacle. [7] Lawnmower according to one of claims 1 to 5, characterized bythat the movement mechanism is designed such that, when the detection mechanism detects that the obstacle is located in the first height range (R1), it drives the device body so that it rotates about a first axis of rotation, wherein the first axis of rotation runs perpendicular to the work surface; and / or that the movement mechanism is configured such that, when the detection mechanism detects that the obstacle is located in the first height range (R1), it drives the device body so that it moves away from the obstacle. [8] Lawnmower according to one of claims 1 to 5, characterized by that the movement mechanism is designed such that, when the detection mechanism collides with the obstacle in the second height range (R2), it drives the device body so that it moves back and forth along at least one movement path towards or away from the obstacle and collides with the obstacle. [9] Lawnmower according to one of claims 1 to 5, characterized by in that the grass combing mechanism comprises a grass combing assembly comprising a plurality of grass combing teeth, wherein a grass combing channel is formed between adjacent grass combing teeth, wherein the grass combing channel is used for passing the grass to be cut; wherein the grass combing assembly is rotatably connected to the device body, and wherein the grass combing assembly is configured to rotate towards the work surface in response to a force from the obstacle; wherein the lawn mower further comprises a cutting assembly configured to cut the grass to be cut, wherein the cutting assembly is located in the central region of the device body, or wherein the device body has a second end adjacent to the first end, wherein the cutting assembly is located at the second end. [10] Lawnmower according to one of claims 1 to 5, characterized byin that the detection mechanism comprises a mounting element and an optical sensor, wherein the mounting element is movably connected to the device body and the optical sensor is connected to a detection end of the mounting element; wherein the detection mechanism comprises a single optical sensor; or wherein the detection mechanism comprises at least two optical sensors evenly distributed along a mounting surface of the mounting element.

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