Self-moving lawn mower and self-moving lawn mower system

Abstract

A self-moving lawn mower, comprising a chassis, drive wheel assemblies and a blade assembly. The drive wheel assemblies are configured to support the chassis. The blade assembly is installed on the chassis. When the self-moving lawn mower is on the ground, the height of the chassis relative to the ground can be adjusted, and the adjustable range is larger than or equal to 6 cm.

Description

Self-moving lawn mower and self-moving lawn mower system

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on November 22, 2023, with application number 202311573639.4. The entire contents of the above application are incorporated by reference into this application. Technical Field

[0002] The present application relates to a garden tool, for example, to a self-propelled lawn mower and a self-propelled lawn mower system. Background Art

[0003] A lawn mower in the related art requires controlling the cutting height to achieve the desired mowing effect due to varying grass heights. This adjustment is typically achieved by adjusting the height of the cutterhead. However, due to the limited range of adjustment for the cutterhead height, a single, large-scale mowing operation must be converted into multiple, smaller cuts to achieve the desired height. This significantly increases the complexity of the mowing operation, reduces mowing efficiency, and reduces user experience.

[0004] This section provides background information related to the present application which is not necessarily prior art.

[0005] Summary of the Invention

[0006] An object of the present application is to solve or at least alleviate some or all of the above problems. To this end, an object of the present application is to provide a self-propelled lawn mower that can adjust the height of the chassis, thereby increasing the adjustment range of the mowing height and reducing the difficulty of adjusting the mowing height.

[0007] Another object of the present application is to provide a self-propelled lawn mower system, which can adjust the height of the chassis of the self-propelled lawn mower, so that the adjustment range of the mowing height is large and the adjustment difficulty of the mowing height is small.

[0008] In order to achieve the above objectives, this application adopts the following technical solutions:

[0009] A self-propelled lawn mower comprises: a chassis; a travel wheel assembly configured to support the chassis; and a blade assembly mounted to the chassis. When the self-propelled lawn mower is on the ground, the height of the chassis relative to the ground is adjustable, and the adjustable range is greater than or equal to 6 cm.

[0010] In some embodiments, the maximum height to which the chassis can be adjusted relative to the ground is greater than or equal to 8 cm.

[0011] In some embodiments, the height adjustment of the chassis relative to the ground is achieved by manual adjustment.

[0012] In some embodiments, the walking wheel assembly includes multiple walking wheels with different wheel diameters, and the height of the chassis relative to the ground is adjusted by manually replacing the walking wheels with different wheel diameters to support the chassis; or, the walking wheel assembly includes multiple nested walking wheels with wheel diameters increasing from the inside to the outside, and the walking wheels located on the outermost layer support the ground, and the height of the chassis relative to the ground is adjusted by manually increasing or decreasing the number of the walking wheels; or, the self-propelled lawn mower also includes a connecting rod mechanism, and the connecting rod mechanism includes a first rod, a second rod and a third rod that are connected in rotation in sequence, the first rod and the third rod are arranged in parallel, and the second rod is fixedly connected to the chassis, and the height of the chassis relative to the ground is adjusted by manually rotating the first rod or the second rod.

[0013] In some embodiments, the height adjustment of the chassis relative to the ground is achieved by automatic adjustment.

[0014] In some embodiments, the travel wheel assembly includes a plurality of travel wheels with different wheel diameters, and the travel wheels with different wheel diameters are replaced by an automatic wheel changing device to support the chassis to achieve height adjustment of the chassis relative to the ground; or, the travel wheel assembly includes a plurality of travel wheels arranged at intervals below the chassis, a first electric lifting mechanism, a first hydraulic lifting mechanism or a first pneumatic lifting mechanism is provided between the travel wheels and the chassis, and the height adjustment of the chassis relative to the ground is achieved by the first electric lifting mechanism, the first hydraulic lifting mechanism or the first pneumatic lifting mechanism; or, the self-propelled lawn mower further includes a connecting rod mechanism, the connecting rod mechanism includes a first rod, a second rod and a third rod that are connected in rotation in sequence, the first rod and the third rod are arranged in parallel, the second rod is fixedly connected to the chassis, and the first rod or the second rod is driven to rotate by a rotation output device to achieve height adjustment of the chassis relative to the ground; or, the travel wheel assembly includes a plurality of travel wheels arranged at intervals below the chassis, a compression spring mechanism is provided between the travel wheels and the chassis, and the height adjustment of the chassis relative to the ground is achieved by adjusting the compression amount of the compression spring mechanism by a compression device.

[0015] A self-propelled lawn mower comprises: a chassis; a travel wheel assembly configured to support the chassis; a blade assembly mounted to the chassis, the blade assembly comprising a blade and a drive shaft for driving the blade to rotate; when the self-propelled lawn mower is on the ground, the height of the chassis relative to the ground is adjustable, and the height of the blade relative to the chassis is adjustable.

[0016] In some embodiments, the height adjustment range a of the blade edge relative to the chassis is 3 mm to 20 mm.

[0017] In some embodiments, the height adjustment range b of the chassis relative to the ground is 7 mm to 100 mm.

[0018] In some embodiments, the height adjustment range a of the blade edge relative to the chassis is 3 mm to 20 mm; the height adjustment range b of the chassis relative to the ground is 7 mm to 100 mm.

[0019] In some embodiments, the height of the blade relative to the ground can be adjusted within a range c of 10 mm to 120 mm.

[0020] In some embodiments, the height adjustment of the chassis relative to the ground is achieved by manual adjustment.

[0021] In some embodiments, the walking wheel assembly includes multiple walking wheels with different wheel diameters, and the height of the chassis relative to the ground is adjusted by manually replacing the walking wheels with different wheel diameters to support the chassis; or, the walking wheel assembly includes multiple nested walking wheels with wheel diameters increasing from the inside to the outside, and the walking wheels located on the outermost layer support the ground, and the height of the chassis relative to the ground is adjusted by manually increasing or decreasing the number of the walking wheels; or, the self-propelled lawn mower also includes a connecting rod mechanism, and the connecting rod mechanism includes a first rod, a second rod and a third rod that are connected in rotation in sequence, the first rod and the third rod are arranged in parallel, and the second rod is fixedly connected to the chassis, and the height of the chassis relative to the ground is adjusted by manually rotating the first rod or the second rod.

[0022] In some embodiments, the height adjustment of the chassis relative to the ground is achieved by automatic adjustment.

[0023] In some embodiments, the travel wheel assembly includes a plurality of travel wheels with different wheel diameters, and the travel wheels with different wheel diameters are replaced by an automatic wheel changing device to support the chassis to achieve height adjustment of the chassis relative to the ground; or, the travel wheel assembly includes a plurality of travel wheels arranged at intervals below the chassis, a first electric lifting mechanism, a first hydraulic lifting mechanism or a first pneumatic lifting mechanism is provided between the travel wheels and the chassis, and the height adjustment of the chassis relative to the ground is achieved by the first electric lifting mechanism, the first hydraulic lifting mechanism or the first pneumatic lifting mechanism; or, the self-propelled lawn mower further includes a connecting rod mechanism, the connecting rod mechanism includes a first rod, a second rod and a third rod that are connected in rotation in sequence, the first rod and the third rod are arranged in parallel, the second rod is fixedly connected to the chassis, and the first rod or the second rod is driven to rotate by a rotation output device to achieve height adjustment of the chassis relative to the ground; or, the travel wheel assembly includes a plurality of travel wheels arranged at intervals below the chassis, a compression spring mechanism is provided between the travel wheels and the chassis, and the height adjustment of the chassis relative to the ground is achieved by adjusting the compression amount of the compression spring mechanism by a compression device.

[0024] In some embodiments, height adjustment of the blade relative to the chassis is achieved by manual adjustment.

[0025] In some embodiments, the blade assembly includes multiple drive shafts with different drive lengths, and the height adjustment of the blade relative to the chassis is achieved by manually replacing the drive shafts with different drive lengths; or, the blade assembly includes multiple coaxially connected drive shafts, and the drive shaft located at the bottom is connected to the blade, and the height adjustment of the blade relative to the chassis is achieved by manually increasing or decreasing the number of drive shafts; or, the drive shaft is a telescopic structure, and the height adjustment of the blade relative to the chassis is achieved by manually adjusting the telescopic amount of the drive shaft; or, a telescopic mechanism is provided between the drive shaft and the blade, and the height adjustment of the blade relative to the chassis is achieved by manually adjusting the telescopic amount of the telescopic mechanism.

[0026] In some embodiments, height adjustment of the blade relative to the chassis is achieved by automatic adjustment.

[0027] In some embodiments, the blade assembly includes multiple drive shafts with different drive lengths, and the height adjustment of the blade relative to the chassis is achieved by replacing the drive shafts with different drive lengths through automatic tool changing equipment; or, the blade assembly also includes a second electric lifting mechanism, a second hydraulic lifting mechanism or a second pneumatic lifting mechanism arranged between the drive shaft and the blade, and the height adjustment of the blade relative to the chassis is achieved through the second electric lifting mechanism, the second hydraulic lifting mechanism or the second pneumatic lifting mechanism.

[0028] A self-propelled lawn mower comprises: a chassis; a travel wheel assembly configured to support the chassis; a blade assembly mounted to the chassis; a height adjustment assembly coupled to the chassis and configured to adjust the height of the chassis relative to the ground; a sensor assembly, the sensor assembly comprising at least one of an infrared sensor, a pressure sensor, a laser sensor, and a camera; a controller electrically connected to the sensor assembly and the height adjustment assembly, the controller being configured to calculate the height of grass on the ground based on data detected by the sensor assembly, and to adjust the height of the chassis relative to the ground through the height adjustment assembly based on the height of the grass.

[0029] In some embodiments, the height adjustment assembly includes a connecting rod mechanism and a rotation output device, the connecting rod mechanism includes a first rod, a second rod and a third rod that are rotatably connected in sequence, the first rod and the third rod are arranged in parallel, and the second rod is fixedly connected to the chassis. The rotation output device drives the first rod or the second rod to rotate to achieve height adjustment of the chassis relative to the ground.

[0030] In some embodiments, the walking wheel assembly includes a plurality of walking wheels spaced apart below the chassis, and the height adjustment assembly is a first electric lifting mechanism, a first hydraulic lifting mechanism, or a first pneumatic lifting mechanism arranged between the walking wheels and the chassis. The height adjustment of the chassis relative to the ground is achieved through the first electric lifting mechanism, the first hydraulic lifting mechanism, or the first pneumatic lifting mechanism.

[0031] In some embodiments, the walking wheel assembly includes a plurality of walking wheels spaced apart below the chassis, and the height adjustment assembly includes a compression spring mechanism and a compression device, wherein the compression spring mechanism is arranged between the walking wheels and the chassis, and the compression device is configured to adjust the compression amount of the compression spring mechanism to achieve height adjustment of the chassis relative to the ground.

[0032] A self-propelled lawn mower system comprises: a self-propelled lawn mower, comprising: a chassis; a walking wheel assembly, configured to support the chassis; a blade assembly, mounted to the chassis; a height adjustment assembly, coupled to the chassis, configured to adjust the height of the chassis relative to the ground; a controller, electrically connected to the height adjustment assembly, the controller being configured to, in response to a first indication, adjust the height of the chassis relative to the ground via the height adjustment assembly; and an interactive device, configured for a user to operate in order to issue the first indication to the controller.

[0033] In some embodiments, the interaction device is an external device, and the sending of the first indication is achieved through an APP.

[0034] In some embodiments, the interaction device is a remote control.

[0035] In some embodiments, the interaction device is provided on the self-propelled lawn mower.

[0036] In some embodiments, the interaction device is a gear shifter or a button.

[0037] In some embodiments, the height adjustment assembly includes a connecting rod mechanism and a rotation output device, the connecting rod mechanism includes a first rod, a second rod and a third rod that are rotatably connected in sequence, the first rod and the third rod are arranged in parallel, and the second rod is fixedly connected to the chassis. The rotation output device drives the first rod or the second rod to rotate to achieve height adjustment of the chassis relative to the ground.

[0038] In some embodiments, the walking wheel assembly includes a plurality of walking wheels spaced apart below the chassis, and the height adjustment assembly is a first electric lifting mechanism, a first hydraulic lifting mechanism, or a first pneumatic lifting mechanism arranged between the walking wheels and the chassis. The height adjustment of the chassis relative to the ground is achieved through the first electric lifting mechanism, the first hydraulic lifting mechanism, or the first pneumatic lifting mechanism.

[0039] In some embodiments, the walking wheel assembly includes a plurality of walking wheels spaced apart below the chassis, and the height adjustment assembly includes a compression spring mechanism and a compression device, wherein the compression spring mechanism is arranged between the walking wheels and the chassis, and the compression device is configured to adjust the compression amount of the compression spring mechanism to achieve height adjustment of the chassis relative to the ground.

[0040] The benefits of this application are:

[0041] The self-propelled lawn mower provided in this application includes a chassis, a travel wheel assembly, and a blade assembly. The travel wheel assembly is configured to support the chassis, and the blade assembly is mounted to the chassis. When the self-propelled lawn mower is on the ground, the height of the chassis relative to the ground is adjustable, and the adjustable range is greater than or equal to 6 cm. By setting the height of the chassis relative to the ground to be adjustable, and the adjustable range is greater than or equal to 6 cm, the self-propelled lawn mower expands the adjustment range of the single mowing height of the self-propelled lawn mower, which can meet the mowing needs of most grass strains, thereby reducing the operational difficulty of mowing operations, improving mowing efficiency and user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] FIG1 is a schematic diagram of a self-propelled lawn mower system provided by the present application;

[0043] FIG2 is a schematic diagram of a first structure of the self-propelled lawn mower provided by the present application;

[0044] FIG3 is a schematic diagram of a second structure of the self-propelled lawn mower provided by the present application;

[0045] FIG4 is a schematic diagram of a second structure of the self-propelled lawn mower provided by the present application;

[0046] FIG5 is a schematic diagram showing the dimensions of the self-propelled lawn mower provided in the present application.

[0047] In Figures 1 to 5:

[0048] 10. Self-propelled lawn mower; 20. Interactive device; 30. Grass plants;

[0049] 110, chassis;

[0050] 120, running wheel assembly; 121, front running wheel; 122, rear running wheel;

[0051] 130. Blade assembly; 131. Blade; 132. Drive shaft;

[0052] 140. Sensor assembly; 141. Laser sensor; 142. Camera; 143. Pressure sensor; 144. Infrared sensor;

[0053] 150, controller;

[0054] 160, connecting rod mechanism; 161, first rod; 162, second rod; 163, third rod;

[0055] 170. Compression spring mechanism;

[0056] 180. First electric lifting mechanism;

[0057] 190. Second electric lifting mechanism. DETAILED DESCRIPTION

[0058] Before any embodiments of the present application are explained in detail, it is to be understood that the application is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the foregoing drawings.

[0059] In this application, the terms "comprises," "includes," "has," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0060] In this application, the term "and / or" describes a relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Additionally, the character " / " in this application generally indicates that the related objects are in an "and / or" relationship.

[0061] In this application, the terms "connect," "combine," "couple," and "install" may refer to direct connection, combination, coupling, or installation, or indirect connection, combination, coupling, or installation. For example, a direct connection refers to two parts or components being connected together without an intermediary, and an indirect connection refers to two parts or components being connected to at least one intermediary, with the two parts or components being connected via the intermediary. Furthermore, "connect" and "couple" are not limited to physical or mechanical connections or couplings and may include electrical connections or couplings.

[0062] In this application, it will be understood by those skilled in the art that relative terms (e.g., "about," "approximately," "substantially," etc.) used in conjunction with quantities or conditions include the values ​​and have the meaning indicated by the context. For example, the relative terms include at least the degree of error associated with the measurement of a specific value, the tolerance caused by manufacturing, assembly, use, etc. associated with a specific value. Such terms should also be considered to disclose a range defined by the absolute values ​​of the two endpoints. Relative terms may refer to plus or minus a certain percentage (e.g., 1%, 5%, 10% or more) of the indicated value. Numerical values ​​that do not use relative terms should also be disclosed as specific values ​​with tolerances. In addition, "substantially" may refer to plus or minus a certain degree (e.g., 1 degree, 5 degrees, 10 degrees or more) on the basis of the indicated angle when expressing a relative angular position relationship (e.g., substantially parallel, substantially perpendicular).

[0063] In this application, it will be understood by those skilled in the art that the function performed by an assembly can be performed by one assembly, multiple assemblies, one part, or multiple parts. Similarly, the function performed by a part can also be performed by one part, one assembly, or a combination of multiple parts.

[0064] In the present application, the terms "upper", "lower", "left", "right", "front", "back" and other directional words are described based on the orientation and positional relationship shown in the accompanying drawings, and should not be understood as limiting the embodiments of the present application. In addition, in the context, it is also necessary to understand that when it is mentioned that an element is connected to another element "upper" or "lower", it can not only be directly connected to the other element "upper" or "lower", but also be indirectly connected to the other element "upper" or "lower" through an intermediate element. It should also be understood that directional words such as upper side, lower side, left side, right side, front side, back side, etc. not only represent the positive orientation, but can also be understood as the lateral orientation. For example, below can include directly below, lower left, lower right, lower front and lower back, etc.

[0065] In this application, the terms "controller," "processor," "central processing unit," "CPU," and "MCU" are used interchangeably. Where a unit "controller," "processor," "central processing unit," "CPU," or "MCU" is used to perform a particular function, unless otherwise specified, the function may be performed by a single unit or multiple units.

[0066] In this application, the terms "device", "module" or "unit" can be implemented in the form of hardware or software to achieve specific functions.

[0067] In this application, the terms "calculate", "judge", "control", "determine", "identify", etc. refer to the operations and processes of a computer system or similar electronic computing device (e.g., controller, processor, etc.).

[0068] As shown in Figures 1 to 4, the present application provides a self-propelled lawn mower 10, which is configured to mow grass plants 30 and can adjust the mowing height of the grass plants 30 over a wide range according to the height of the grass plants 30 and the needs of the user, so that the user can cut the grass plants 30 to the target height in one mowing operation. Specifically, the self-propelled lawn mower 10 includes a chassis 110, a wheel assembly 120 and a blade assembly 130. The chassis 110 is a disc-shaped structure that can carry other components. The wheel assembly 120 supports the chassis 110, and the wheel assembly 120 includes a plurality of wheels. Depending on the setting position, the wheels are divided into front wheels 121 and rear wheels 122. The blade assembly 130 is mounted to the chassis 110, and the blade assembly 130 includes a blade 131 and a drive shaft 132 configured to drive the blade 131 to rotate around a straight line.

[0069] In some embodiments, when the self-propelled lawn mower 10 is on the ground, the height of the chassis 110 relative to the ground is adjustable, and the adjustable range is greater than or equal to 6 cm. By setting the height of the chassis 110 relative to the ground to be adjustable, and the adjustable range is greater than or equal to 6 cm, the self-propelled lawn mower 10 expands the adjustment range of the single mowing height of the self-propelled lawn mower 10, and can meet the mowing needs of most grass plants 30, thereby reducing the operational difficulty of the mowing operation, improving mowing efficiency and user experience. Of course, in other embodiments, when the self-propelled lawn mower 10 is on the ground, the adjustable range of the height of the chassis 110 relative to the ground can also be greater than or equal to 5 cm, 7 cm, or set to other values ​​according to needs.

[0070] Optionally, the maximum height to which the chassis 110 can be adjusted relative to the ground is greater than or equal to 8 cm. In one specific embodiment, the height of the chassis 110 relative to the ground can be adjusted to 8 cm; in one specific embodiment, the height of the chassis 110 relative to the ground can be adjusted to 9 cm; in one specific embodiment, the height of the chassis 110 relative to the ground can be adjusted to 10 cm; and in one specific embodiment, the height of the chassis 110 relative to the ground can be adjusted to 11 cm.

[0071] In some parallel embodiments, as shown in FIG5 , the height of the chassis 110 relative to the ground can be adjusted within a range b of 7 mm to 100 mm. In one specific embodiment, the height of the chassis 110 relative to the ground can be adjusted to 7 mm; in one specific embodiment, the height of the chassis 110 relative to the ground can be adjusted to 20 mm; in one specific embodiment, the height of the chassis 110 relative to the ground can be adjusted to 50 mm; in one specific embodiment, the height of the chassis 110 relative to the ground can be adjusted to 70 mm; and in one specific embodiment, the height of the chassis 110 relative to the ground can be adjusted to 100 mm.

[0072] The height of the chassis 110 relative to the ground can be adjusted in two ways: manual adjustment and automatic adjustment.

[0073] When manual adjustment is used to adjust the height of the chassis 110 relative to the ground, the following solutions can be used.

[0074] In some embodiments, the wheel assembly 120 includes multiple wheels of varying diameters. Manually replacing wheels of varying diameters supports the chassis 110, thereby adjusting the height of the chassis 110 relative to the ground. Because the distance between the rotational center of the wheel and the chassis 110 remains constant, when the wheel diameter changes, the bottom of the wheel supports the ground, causing the wheel's rotational center to rise and fall, thereby changing the height of the chassis 110 relative to the ground. Manually replacing wheels is similar to changing tires on a car and will not be discussed in detail here.

[0075] In some parallel embodiments, the walking wheel assembly 120 includes a plurality of walking wheels that are nested and whose wheel diameters increase from the inside to the outside. The walking wheels located on the outermost layer support the ground. By manually increasing or decreasing the number of walking wheels, different walking wheels support the ground, thereby realizing the height adjustment of the chassis 110 relative to the ground.

[0076] In some parallel embodiments, the traveling wheel is an elastic structure with a variable wheel diameter. For example, air can be inflated into the traveling wheel to expand the traveling wheel, thereby achieving the purpose of increasing the wheel diameter, and air can be discharged outward through the traveling wheel to cause the traveling wheel to contract, thereby achieving the purpose of reducing the wheel diameter.

[0077] In some parallel embodiments, as shown in Figure 2, the self-propelled lawn mower 10 also includes a connecting rod mechanism 160, which includes a first rod 161, a second rod 162 and a third rod 163 that are rotatably connected in sequence. The first rod 161 and the third rod 163 are arranged in parallel, and the second rod 162 is fixedly connected to the chassis 110. The height of the chassis 110 relative to the ground can be adjusted by manually rotating the first rod 161 or the second rod 162.

[0078] Optionally, one end of the first rod 161 away from the second rod 162 is rotatably connected to the rotation center of the front running wheel 121 , and one end of the third rod 163 away from the second rod 162 is rotatably connected to the rotation center of the rear running wheel 122 .

[0079] In some embodiments, the front travel wheel 121 is a universal wheel, and the diameter of the front travel wheel 121 ranges from 50 mm to 150 mm. In one specific embodiment, the diameter of the front travel wheel 121 is 50 mm; in one specific embodiment, the diameter of the front travel wheel 121 is 80 mm; in one specific embodiment, the diameter of the front travel wheel 121 is 100 mm; in one specific embodiment, the diameter of the front travel wheel 121 is 120 mm; and in one specific embodiment, the diameter of the front travel wheel 121 is 150 mm.

[0080] In some embodiments, the rear travel wheel 122 is a drive wheel, and the diameter of the rear travel wheel 122 ranges from 100 mm to 300 mm. In one specific embodiment, the diameter of the rear travel wheel 122 is 100 mm; in one specific embodiment, the diameter of the rear travel wheel 122 is 150 mm; in one specific embodiment, the diameter of the rear travel wheel 122 is 200 mm; in one specific embodiment, the diameter of the rear travel wheel 122 is 250 mm; and in one specific embodiment, the diameter of the rear travel wheel 122 is 300 mm.

[0081] Furthermore, the self-propelled lawn mower 10 includes an operating member and a locking structure. The operator drives the operating member to rotate the first rod 161 or the second rod 162, thereby raising or lowering the second rod 162. When the second rod 162 and the chassis 110 are raised or lowered relative to the ground to a target height, the locking structure can lock the first rod 161 or the second rod 162, so that the first rod 161 or the third rod 163 maintains the current tilt angle. The locking structure can be a combination of a locking rod and a locking hole.

[0082] When the height adjustment of the chassis 110 relative to the ground is achieved by automatic adjustment, it can be achieved through the following solutions.

[0083] In some embodiments, the running wheel assembly 120 includes multiple running wheels of varying diameters. An automatic wheel-changing device replaces running wheels of varying diameters to support the chassis 110, thereby adjusting the height of the chassis 110 relative to the ground. Because the distance between the rotational center of the running wheel and the chassis 110 remains constant, when the wheel diameter changes, the bottom of the running wheel supports the ground, causing the rotational center of the running wheel to rise and fall, thereby changing the height of the chassis 110 relative to the ground. The specific structure of the automatic wheel-changing device and the method for replacing running wheels are related technologies and will not be described in detail here.

[0084] In some parallel embodiments, the walking wheel assembly 120 includes a plurality of walking wheels spaced apart below the chassis 110, and a first electric lifting mechanism 180, a first hydraulic lifting mechanism or a first pneumatic lifting mechanism is provided between the walking wheels and the chassis 110, and the height adjustment of the chassis 110 relative to the ground is achieved by the first electric lifting mechanism 180, the first hydraulic lifting mechanism or the first pneumatic lifting mechanism.

[0085] Optionally, the first electric lifting mechanism 180 includes a drive motor and a transmission structure capable of converting rotational motion into linear motion, such as a rack and pinion structure or a screw-nut structure. Optionally, the first hydraulic lifting mechanism is a hydraulic rod, one end of which is fixed relative to the running wheels and the other end is fixed to the chassis 110. The hydraulic drive changes the position of the chassis 110 relative to the running wheels, thereby changing the height of the chassis 110 relative to the ground. Optionally, the first pneumatic lifting mechanism is a pneumatic lifting column.

[0086] In some parallel embodiments, as shown in Figure 2, the self-propelled lawn mower 10 also includes a connecting rod mechanism 160, which includes a first rod 161, a second rod 162 and a third rod 163 that are rotatably connected in sequence. The first rod 161 and the third rod 163 are arranged in parallel, and the second rod 162 is fixedly connected to the chassis 110. The height of the chassis 110 relative to the ground is adjusted by driving the first rod 161 or the second rod 162 to rotate through the rotation output device.

[0087] Optionally, the end of the first rod 161 away from the second rod 162 is rotatably connected to the rotation center of the front running wheel 121, and the end of the third rod 163 away from the second rod 162 is rotatably connected to the rotation center of the rear running wheel 122. Optionally, the rotation output device is a drive motor, and the motor shaft of the drive motor is directly connected to the first rod 161 or the third rod 163. Under the drive of the drive motor, the first rod 161 or the third rod 163 can rotate around the motor shaft.

[0088] Furthermore, the self-propelled lawn mower 10 includes an operating member and a locking mechanism. An operator drives the operating member to rotate the first lever 161 or the second lever 162, thereby raising or lowering the second lever 162. When the second lever 162 and the chassis 110 are raised or lowered relative to the ground to a target height, the locking mechanism locks the first lever 161 or the second lever 162, maintaining the first lever 161 or the third lever 163 at the current tilt angle. Optionally, the operating member is a rotating handle, and the locking mechanism is the cooperation of a locking lever and a locking hole.

[0089] In some parallel embodiments, the running wheel assembly 120 includes a plurality of running wheels spaced apart below the chassis 110. As shown in FIG3 , a compression spring mechanism 170 is disposed between the running wheels and the chassis 110. The height of the chassis 110 relative to the ground is adjusted by adjusting the compression of the compression spring mechanism 170 via a compression device. Optionally, the running wheels are provided with guide rods extending vertically without affecting their rotation. The chassis 110 is provided with guide holes, through which the guide rods pass. The compression spring mechanism 170 is sleeved on the guide rods and elastically presses against the chassis 110.

[0090] To further expand the range of adjustment for the mowing height of the self-propelled lawn mower 10, in some embodiments, when the self-propelled lawn mower 10 is on the ground, the height of the chassis 110 relative to the ground is adjustable, and the height of the blade 131 relative to the chassis 110 is also adjustable. This arrangement allows the self-propelled lawn mower 10 to first roughly adjust the mowing height by adjusting the height of the chassis 110 relative to the ground before mowing, and then fine-tune the mowing height by adjusting the height of the blade 131 relative to the chassis 110. This improves the accuracy and efficiency of the mowing height adjustment, enhancing the user experience.

[0091] In some embodiments, as shown in FIG5 , the height of the blade 131 relative to the chassis 110 can be adjusted within a range a of 3 mm to 20 mm. In one embodiment, the height of the blade 131 relative to the chassis 110 can be adjusted to 3 mm; in one embodiment, the height of the blade 131 relative to the chassis 110 can be adjusted to 6 mm; in one embodiment, the height of the blade 131 relative to the chassis 110 can be adjusted to 9 mm; in one embodiment, the height of the blade 131 relative to the chassis 110 can be adjusted to 17 mm; and in one embodiment, the height of the blade 131 relative to the chassis 110 can be adjusted to 20 mm.

[0092] In some embodiments, as shown in FIG5 , the height of the blade 131 relative to the ground can be adjusted within a range c of 10 mm to 120 mm. In one embodiment, the height of the blade 131 relative to the ground can be adjusted to 10 mm; in one embodiment, the height of the blade 131 relative to the ground can be adjusted to 40 mm; in one embodiment, the height of the blade 131 relative to the ground can be adjusted to 70 mm; in one embodiment, the height of the blade 131 relative to the ground can be adjusted to 90 mm; and in one embodiment, the height of the blade 131 relative to the ground can be adjusted to 120 mm.

[0093] The height of the blade 131 relative to the chassis 110 can be adjusted in two ways: manual adjustment and automatic adjustment.

[0094] When manual adjustment is used to adjust the height of the blade 131 relative to the chassis 110 , the following solutions can be used.

[0095] In some embodiments, the blade assembly 130 includes a plurality of drive shafts 132 with different drive lengths, and the height of the blade 131 relative to the chassis 110 is adjusted by manually replacing the drive shafts 132 with different drive lengths.

[0096] In some parallel embodiments, the blade assembly 130 includes multiple coaxially connected drive shafts 132, the lowest drive shaft 132 is connected to the blade 131, and the height of the blade 131 relative to the chassis 110 is adjusted by manually increasing or decreasing the number of drive shafts 132.

[0097] In some parallel embodiments, the drive shaft 132 is a telescopic structure, and the height of the blade 131 relative to the chassis 110 is adjusted by manually adjusting the telescopic amount of the drive shaft 132.

[0098] In some parallel embodiments, a telescopic mechanism is provided between the drive shaft 132 and the blade 131, and the height of the blade 131 relative to the chassis 110 is adjusted by manually adjusting the telescopic amount of the telescopic mechanism. Optionally, the telescopic mechanism is a compression spring.

[0099] When the automatic adjustment method is used to adjust the height of the blade 131 relative to the chassis 110, it can be achieved through the following solutions.

[0100] In some embodiments, the blade assembly 130 includes multiple drive shafts 132 of different drive lengths. The height of the blade 131 relative to the chassis 110 is adjusted by replacing the drive shafts 132 of different drive lengths with an automatic tool changing device. The specific structure of the automatic tool changing device is related art and will not be described in detail here.

[0101] In some parallel embodiments, the blade assembly 130 also includes a second electric lifting mechanism 190, a second hydraulic lifting mechanism or a second pneumatic lifting mechanism arranged between the drive shaft 132 and the blade 131, and the height adjustment of the blade 131 relative to the chassis 110 is achieved through the second electric lifting mechanism 190, the second hydraulic lifting mechanism or the second pneumatic lifting mechanism.

[0102] Optionally, the second electric lifting mechanism 190 includes a drive motor and a transmission structure capable of converting rotational motion into linear motion, such as a rack and pinion structure or a screw-nut structure. Optionally, the second hydraulic lifting mechanism is a hydraulic rod, one end of which is fixed relative to the drive shaft 132 and the other end is fixed to the blade 131. The hydraulic drive adjusts the position of the blade 131 relative to the chassis 110, thereby changing the height of the blade 131 relative to the ground. Optionally, the second pneumatic lifting mechanism is a pneumatic lifting column.

[0103] In order to detect the height of the grass plant 30 so as to determine the adjustment value of the blade 131 and the chassis 110 in the height direction, an embodiment of the present application also provides a self-propelled lawn mower 10, which includes a chassis 110, a wheel assembly 120, a blade assembly 130, a height adjustment assembly, a sensor assembly 140 and a controller 150. The chassis 110 is a disc-shaped structure capable of carrying other components. The wheel assembly 120 is configured to support the chassis 110, and the wheel assembly 120 includes a plurality of wheels. Depending on the setting position, the wheels are divided into front wheels 121 and rear wheels 122. The blade assembly 130 is mounted to the chassis 110, and the blade assembly 130 includes a blade 131 and a drive shaft 132 configured to drive the blade 131 to rotate around a straight line. The height adjustment assembly is coupled to the chassis 110 and is configured to adjust the height of the chassis 110 relative to the ground. Continuing with FIG1 , the sensor assembly 140 includes at least one of an infrared sensor 144, a pressure sensor 143, a laser sensor 141, and a camera 142. The controller 150 is electrically connected to the sensor assembly 140 and the height adjustment assembly. The controller 150 is configured to calculate the height of the grass 30 on the ground based on data detected by the sensor assembly 140 and adjust the height of the chassis 110 relative to the ground based on the height of the grass 30 via the height adjustment assembly.

[0104] It should be noted that when the height of the grass stalk 30 varies, the pressure sensor 143 responds to the grass stalk 30 at different points, generating different pressure values. The controller 150 can calculate the height of the grass stalk 30 based on the specific pressure values. The camera 142 captures an image of the grass stalk 30, and the controller 150 calculates the height of the grass stalk 30 based on the image. In one embodiment, the height of the grass stalk 30 is determined by extracting point cloud features from the image. In another embodiment, the outline of the grass stalk 30 is obtained through machine learning-based image recognition and panoramic segmentation algorithms, and the height of the grass stalk 30 is calculated based on the outline. In yet another embodiment, the height of the grass stalk 30 can also be calculated based on the color of the grass stalk 30 and the background color. The specific calculation process in the controller 150 is related art and will not be described in detail here. It is worth noting that the controller 150 not only determines the height of the grass stalk 30 at the current location, but also, by adjusting the camera 142's shooting angle, reviews the previously mowed area to determine whether any tall grass was missed, and decides whether to re-move after adjusting the height of the chassis 110.

[0105] In some embodiments, the height adjustment assembly includes a linkage mechanism 160 and a rotation output device. The linkage mechanism 160 includes a first rod 161, a second rod 162, and a third rod 163, which are rotatably connected in sequence. The first rod 161 and the third rod 163 are arranged in parallel, and the second rod 162 is fixedly connected to the chassis 110. The rotation output device drives the first rod 161 or the second rod 162 to rotate, thereby adjusting the height of the chassis 110 relative to the ground. Optionally, the end of the first rod 161 away from the second rod 162 is rotationally connected to the rotation center of the front running wheel 121, and the end of the third rod 163 away from the second rod 162 is rotationally connected to the rotation center of the rear running wheel 122. Optionally, the rotation output device is a drive motor, the motor shaft of which is directly connected to the first rod 161 or the third rod 163. Driven by the drive motor, the first rod 161 or the third rod 163 can rotate about the motor shaft.

[0106] In some parallel embodiments, the height adjustment assembly is a first electric lift mechanism 180, a first hydraulic lift mechanism, or a first pneumatic lift mechanism disposed between the running wheels and the chassis 110. The height of the chassis 110 relative to the ground is adjusted by the first electric lift mechanism 180, the first hydraulic lift mechanism, or the first pneumatic lift mechanism. The first electric lift mechanism 180, the first hydraulic lift mechanism, or the first pneumatic lift mechanism have been described above and are not further described here.

[0107] In some parallel embodiments, the walking wheel assembly 120 includes a plurality of walking wheels spaced apart below the chassis 110, and the height adjustment assembly includes a compression spring mechanism 170 and a compression device, the compression spring mechanism 170 is arranged between the walking wheels and the chassis 110, and the compression device is configured to adjust the compression amount of the compression spring mechanism 170 to achieve height adjustment of the chassis 110 relative to the ground.

[0108] Continuing with reference to Figure 1, the present application also provides a self-moving lawn mower system, which includes a self-moving lawn mower 10 and an interactive device 20. The self-moving lawn mower 10 includes a chassis 110, a walking wheel assembly 120, a blade assembly 130, a height adjustment assembly and a controller 150. The chassis 110 is a disc-shaped structure capable of carrying other components. The walking wheel assembly 120 is configured to support the chassis 110, and the walking wheel assembly 120 includes a plurality of walking wheels. Depending on the setting position, the walking wheels are divided into front walking wheels 121 and rear walking wheels 122. The blade assembly 130 is mounted to the chassis 110, and the blade assembly 130 includes a blade 131 and a drive shaft 132 configured to drive the blade 131 to rotate around a straight line. The height adjustment assembly is coupled to the chassis 110 and is configured to adjust the height of the chassis 110 relative to the ground. The specific structure of the height adjustment assembly has been introduced above and will not be repeated here. The controller 150 is electrically connected to the height adjustment assembly and is configured to adjust the height of the chassis 110 relative to the ground via the height adjustment assembly in response to a first instruction. The interaction device 20 is configured to be operated by a user to issue a first instruction to the controller 150 .

[0109] In some embodiments, the interactive device 20 is provided on the self-propelled lawn mower 10. Of course, in other embodiments, the interactive device 20 can also be provided independently of the self-propelled lawn mower 10.

[0110] In some embodiments, the interactive device 20 is an external device, and the first instruction is sent through the APP. In some parallel embodiments, the interactive device 20 is a remote control. In some parallel embodiments, the interactive device 20 is a gear shifter or a button.

[0111] The controller 150 can be a single single chip microcomputer or a distributed plurality of single chip microcomputers. The control program can be run in the single chip microcomputer to control the walking wheel assembly 120, the blade assembly 130, the height adjustment assembly and the sensor assembly 140 to realize their functions respectively.

[0112] The above shows and describes the basic principles, main features and advantages of this application. Those skilled in the art should understand that the above embodiments do not limit this application in any form, and any technical solutions obtained by equivalent replacement or equivalent transformation fall within the scope of protection of this application.

Claims

1. A self-propelled lawn mower, comprising: Chassis (110); A travel wheel assembly (120) configured to support the chassis (110); A blade assembly (130) mounted to the chassis (110); When the self-propelled lawn mower is on the ground, the height of the chassis (110) relative to the ground is adjustable, and the adjustable range is greater than or equal to 6 cm.

2. The self-propelled lawn mower according to claim 1, wherein: The maximum height to which the chassis (110) can be adjusted relative to the ground is greater than or equal to 8 cm.

3. The self-propelled lawn mower according to claim 1, wherein: The height adjustment of the chassis (110) relative to the ground is achieved through manual adjustment.

4. The self-propelled lawn mower according to claim 3, wherein: The running wheel assembly (120) comprises a plurality of running wheels with different wheel diameters, and the height of the chassis (110) relative to the ground can be adjusted by manually replacing the running wheels with different wheel diameters to support the chassis (110); Alternatively, the running wheel assembly (120) comprises a plurality of running wheels arranged in a nested manner and having wheel diameters increasing from the inside to the outside, the running wheels located at the outermost layer supporting the ground, and the height adjustment of the chassis (110) relative to the ground is achieved by manually increasing or decreasing the number of the running wheels; Alternatively, the self-propelled lawn mower further comprises a connecting rod mechanism (160), wherein the connecting rod mechanism (160) comprises a first rod (161), a second rod (162) and a third rod (163) which are rotatably connected in sequence, wherein the first rod (161) and the third rod (163) are arranged in parallel, and the second rod (162) is fixedly connected to the chassis (110), and the height of the chassis (110) relative to the ground can be adjusted by manually rotating the first rod (161) or the second rod (162).

5. The self-propelled lawn mower according to claim 1, wherein: The height adjustment of the chassis (110) relative to the ground is achieved through automatic adjustment.

6. The self-propelled lawn mower according to claim 5, wherein: The running wheel assembly (120) comprises a plurality of running wheels with different wheel diameters, and the running wheels with different wheel diameters are replaced by an automatic wheel changing device to support the chassis (110) so as to achieve height adjustment of the chassis (110) relative to the ground; Alternatively, the running wheel assembly (120) comprises a plurality of running wheels arranged at intervals below the chassis (110); a first electric lifting mechanism (180), a first hydraulic lifting mechanism or a first pneumatic lifting mechanism is arranged between the running wheels and the chassis (110); and the height of the chassis (110) relative to the ground is adjusted by the first electric lifting mechanism (180), the first hydraulic lifting mechanism or the first pneumatic lifting mechanism; Alternatively, the self-propelled lawn mower further comprises a connecting rod mechanism (160), wherein the connecting rod mechanism (160) The invention comprises a first rod (161), a second rod (162) and a third rod (163) which are rotatably connected in sequence, wherein the first rod (161) and the third rod (163) are arranged in parallel, and the second rod (162) is fixedly connected to the chassis (110), and the height of the chassis (110) relative to the ground is adjusted by driving the first rod (161) or the second rod (162) to rotate through a rotation output device; Alternatively, the running wheel assembly (120) comprises a plurality of running wheels arranged at intervals below the chassis (110), a compression spring mechanism (170) is arranged between the running wheels and the chassis (110), and the height of the chassis (110) relative to the ground is adjusted by adjusting the compression amount of the compression spring mechanism (170) through a compression device.

7. A self-propelled lawn mower comprising: Chassis (110); A travel wheel assembly (120) configured to support the chassis (110); A blade assembly (130) is mounted on the chassis (110), wherein the blade assembly (130) comprises a blade (131) and a drive shaft (132) for driving the blade (131) to rotate; When the self-propelled lawn mower is on the ground, the height of the chassis (110) relative to the ground is adjustable, and the height of the blade (131) relative to the chassis (110) is adjustable.

8. The self-propelled lawn mower according to claim 7, wherein: The height of the blade (131) relative to the chassis (110) can be adjusted within a range a of 3 mm to 20 mm.

9. The self-propelled lawn mower according to claim 7, wherein: The height adjustment range b of the chassis (110) relative to the ground is 7 mm to 100 mm.

10. The self-propelled lawn mower according to claim 7, wherein: The height of the blade (131) relative to the chassis (110) can be adjusted within a range a of 3 mm to 20 mm; The height b of the chassis (110) relative to the ground can be adjusted to 7 mm-100 mm.

11. The self-propelled lawn mower according to claim 7, wherein: The height of the blade (131) relative to the ground can be adjusted within a range c of 10 mm to 120 mm.

12. The self-propelled lawn mower according to claim 7, wherein: The height adjustment of the chassis (110) relative to the ground is achieved through manual adjustment.

13. The self-propelled lawn mower according to claim 12, wherein: The running wheel assembly (120) comprises a plurality of running wheels with different wheel diameters, and the height of the chassis (110) relative to the ground can be adjusted by manually replacing the running wheels with different wheel diameters to support the chassis (110); Alternatively, the running wheel assembly (120) comprises a plurality of running wheels arranged in a nested manner and having wheel diameters increasing from the inside to the outside, the running wheels located at the outermost layer supporting the ground, and the height adjustment of the chassis (110) relative to the ground is achieved by manually increasing or decreasing the number of the running wheels; Alternatively, the self-propelled lawn mower further comprises a connecting rod mechanism (160), wherein the connecting rod mechanism (160) comprises a first rod (161), a second rod (162) and a third rod (163) which are rotatably connected in sequence, wherein the first rod (161) and the third rod (163) are arranged in parallel, and the second rod (162) is fixedly connected to the chassis (110), and the height of the chassis (110) relative to the ground can be adjusted by manually rotating the first rod (161) or the second rod (162).

14. The self-propelled lawn mower of claim 7, wherein: The height adjustment of the chassis (110) relative to the ground is achieved through automatic adjustment.

15. The self-propelled lawn mower of claim 14, wherein: The running wheel assembly (120) comprises a plurality of running wheels with different wheel diameters, and the running wheels with different wheel diameters are replaced by an automatic wheel changing device to support the chassis (110) so as to achieve height adjustment of the chassis (110) relative to the ground; Alternatively, the running wheel assembly (120) comprises a plurality of running wheels arranged at intervals below the chassis (110); a first electric lifting mechanism (180), a first hydraulic lifting mechanism or a first pneumatic lifting mechanism is arranged between the running wheels and the chassis (110); and the height of the chassis (110) relative to the ground is adjusted by the first electric lifting mechanism (180), the first hydraulic lifting mechanism or the first pneumatic lifting mechanism; Alternatively, the self-propelled lawn mower further comprises a connecting rod mechanism (160), wherein the connecting rod mechanism (160) comprises a first rod (161), a second rod (162) and a third rod (163) which are rotatably connected in sequence, wherein the first rod (161) and the third rod (163) are arranged in parallel, and the second rod (162) is fixedly connected to the chassis (110), and the height of the chassis (110) relative to the ground is adjusted by driving the first rod (161) or the second rod (162) to rotate through a rotary output device; Alternatively, the running wheel assembly (120) comprises a plurality of running wheels arranged at intervals below the chassis (110), a compression spring mechanism (170) is arranged between the running wheels and the chassis (110), and the height of the chassis (110) relative to the ground is adjusted by adjusting the compression amount of the compression spring mechanism (170) through a compression device.

16. The self-propelled lawn mower of claim 7, wherein: The height adjustment of the blade (131) relative to the chassis (110) is achieved through manual adjustment.

17. The self-propelled lawn mower of claim 16, wherein: The blade assembly (130) comprises a plurality of drive shafts (132) with different drive lengths, and the height adjustment of the blade (131) relative to the chassis (110) is achieved by manually replacing the drive shafts (132) with different drive lengths; Alternatively, the blade assembly (130) comprises a plurality of coaxially connected drive shafts (132), the drive shaft (132) located at the bottom is connected to the blade (131), and the height of the blade (131) relative to the chassis (110) is adjusted by manually increasing or decreasing the number of the drive shafts (132); Alternatively, the drive shaft (132) is a retractable structure, and the drive shaft (132) can be manually adjusted. The extension amount enables the height adjustment of the blade (131) relative to the chassis (110); Alternatively, a telescopic mechanism is provided between the driving shaft (132) and the blade (131), and the height of the blade (131) relative to the chassis (110) is adjusted by manually adjusting the telescopic amount of the telescopic mechanism.

18. The self-propelled lawn mower of claim 7, wherein: The height adjustment of the blade (131) relative to the chassis (110) is achieved through automatic adjustment.

19. The self-propelled lawn mower of claim 18, wherein: The blade assembly (130) comprises a plurality of drive shafts (132) with different drive lengths, and the height of the blade (131) relative to the chassis (110) is adjusted by replacing the drive shafts (132) with different drive lengths through an automatic tool changing device; Alternatively, the blade assembly (130) further comprises a second electric lifting mechanism (190), a second hydraulic lifting mechanism or a second pneumatic lifting mechanism arranged between the drive shaft (132) and the blade (131), and the height of the blade (131) relative to the chassis (110) is adjusted by the second electric lifting mechanism (190), the second hydraulic lifting mechanism or the second pneumatic lifting mechanism.

20. A self-propelled lawn mower comprising: Chassis (110); A travel wheel assembly (120) configured to support the chassis (110); A blade assembly (130) mounted to the chassis (110); A height adjustment component, coupled to the chassis (110), configured to adjust the height of the chassis (110) relative to the ground; A sensor assembly (140), wherein the sensor assembly (140) comprises at least one of an infrared sensor (144), a pressure sensor (143), a laser sensor (141), and a camera (142); A controller (150) is electrically connected to the sensor assembly (140) and the height adjustment assembly. The controller (150) is configured to calculate the height of the grass (30) on the ground based on the data detected by the sensor assembly (140), and to adjust the height of the chassis (110) relative to the ground through the height adjustment assembly based on the height of the grass (30).

21. The self-propelled lawn mower of claim 20, wherein: The height adjustment assembly comprises a connecting rod mechanism (160) and a rotation output device, wherein the connecting rod mechanism (160) comprises a first rod (161), a second rod (162) and a third rod (163) which are rotatably connected in sequence, the first rod (161) and the third rod (163) are arranged in parallel, the second rod (162) is fixedly connected to the chassis (110), and the height adjustment of the chassis (110) relative to the ground is achieved by driving the first rod (161) or the second rod (162) to rotate through the rotation output device.

22. The self-propelled lawn mower of claim 20, wherein: The running wheel assembly (120) comprises a plurality of running wheels arranged at intervals below the chassis (110); the height adjustment assembly is a first electric lifting mechanism (180), a first hydraulic lifting mechanism or a first pneumatic lifting mechanism arranged between the running wheels and the chassis (110); the height adjustment of the chassis (110) relative to the ground is achieved by means of the first electric lifting mechanism (180), the first hydraulic lifting mechanism or the first pneumatic lifting mechanism.

23. The self-propelled lawn mower of claim 20, wherein: The running wheel assembly (120) comprises a plurality of running wheels arranged at intervals below the chassis (110); the height adjustment assembly comprises a compression spring mechanism (170) and a compression device; the compression spring mechanism (170) is arranged between the running wheels and the chassis (110); the compression device is configured to adjust the compression amount of the compression spring mechanism (170) to achieve height adjustment of the chassis (110) relative to the ground.

24. A self-propelled lawn mower system comprising: Self-propelled lawn mower, comprising: Chassis (110); A travel wheel assembly (120) configured to support the chassis (110); A blade assembly (130) mounted to the chassis (110); A height adjustment component, coupled to the chassis (110), configured to adjust the height of the chassis (110) relative to the ground; A controller (150) electrically connected to the height adjustment component, wherein the controller (150) is configured to adjust the height of the chassis (110) relative to the ground through the height adjustment component in response to a first indication; The interactive device (20) is configured to be operated by a user to send the first instruction to the controller (150).

25. The self-propelled lawn mower system of claim 24, wherein: The interactive device (20) is an external device, and implements the sending of the first instruction through an APP.

26. The self-propelled lawn mower system of claim 24, wherein: The interactive device (20) is a remote controller.

27. The self-propelled lawn mower system of claim 24, wherein: The interactive device (20) is arranged on the self-propelled lawn mower.

28. The self-propelled lawn mower system of claim 24, wherein: The interactive device (20) is a gearshift adjuster or a button.

29. The self-propelled lawn mower system of claim 24, wherein: The height adjustment assembly comprises a connecting rod mechanism (160) and a rotation output device, wherein the connecting rod mechanism (160) comprises a first rod (161), a second rod (162) and a third rod (163) which are rotatably connected in sequence, the first rod (161) and the third rod (163) are arranged in parallel, the second rod (162) is fixedly connected to the chassis (110), and the height adjustment of the chassis (110) relative to the ground is achieved by driving the first rod (161) or the second rod (162) to rotate through the rotation output device.

30. The self-propelled lawn mower system of claim 24, wherein: The running wheel assembly (120) comprises a plurality of running wheels arranged at intervals below the chassis (110); the height adjustment assembly is a first electric lifting mechanism (180), a first hydraulic lifting mechanism or a first pneumatic lifting mechanism arranged between the running wheels and the chassis (110); the height adjustment of the chassis (110) relative to the ground is achieved by means of the first electric lifting mechanism (180), the first hydraulic lifting mechanism or the first pneumatic lifting mechanism.

31. The self-propelled lawn mower system of claim 24, wherein: The running wheel assembly (120) comprises a plurality of running wheels arranged at intervals below the chassis (110); the height adjustment assembly comprises a compression spring mechanism (170) and a compression device; the compression spring mechanism (170) is arranged between the running wheels and the chassis (110); the compression device is configured to adjust the compression amount of the compression spring mechanism (170) to achieve height adjustment of the chassis (110) relative to the ground.

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