Intelligent mower

Abstract

An intelligent mower (100), comprising a boundary sensor (6) used for detecting a boundary wire (200) and a radio-frequency identification reader (7) used for positioning. The radio-frequency identification reader (7) comprises an antenna module (71) and a read module (72). The antenna module (71) emits a radio-frequency wave so as to activate an electronic tag (201) to send a radio-frequency signal and receive a radio-frequency signal; the read module (72) reads identification information in the radio-frequency signal; the electronic tag (201) is mounted in a working area of the intelligent mower (100); and the boundary sensor (6) and the antenna module (71) are spaced from each other in both the front-back direction and the height direction of the intelligent mower (100). The antenna module (71) and the boundary sensor (6) of the intelligent mower (100) are spaced from each other, and the magnetic field generated by the antenna module (71) after being energized does not interfere with the boundary sensor (6), thus avoiding a reduction in the intensity of the magnetic field detected by the boundary sensor (6). Therefore, the intelligent mower (100) can accurately identify the boundary wire (200) and normally operate within the working area.

Description

Smart lawn mower Technical Field

[0001] The present invention relates to the technical field of garden tools, and in particular to an intelligent lawn mower capable of preventing electromagnetic interference. Background Art

[0002] Smart lawn mowers are a common gardening tool, widely used for mowing lawns. To prevent the smart mower from roaming around and damaging the lawn, users must define a work area before the mower begins mowing. Existing methods for defining a work area primarily involve setting a boundary line around the lawn. The inner area formed by the boundary line is the work area. The smart mower uses boundary sensors to detect the boundary line and maintain mowing operations within the work area.

[0003] When a smart lawn mower performs mowing operations within its work area, it frequently needs to locate its current position to accurately navigate. Existing positioning methods primarily involve installing multiple electronic tags along the boundary line. Each tag has unique identification information. The smart lawn mower stores the absolute coordinates of each tag's installation location and is equipped with a radio frequency identification (RFID) reader. When the smart lawn mower passes an electronic tag within its work area, the RFID reader reads the identification information of the tag at its current location and retrieves its corresponding absolute coordinates, which are then updated to reflect the smart mower's current location.

[0004] However, the above-mentioned smart lawn mower positioning solution has the following problems: the magnetic field generated by the RFID reader will interfere with the boundary sensor, reducing the strength of the magnetic field detected by the boundary sensor so that the smart lawn mower cannot detect the boundary line, thereby affecting the normal operation of the smart lawn mower.

[0005] In view of this, it is indeed necessary to provide an improved intelligent lawn mower to overcome the defects of the prior art.

[0006] Summary of the Invention

[0007] In view of the deficiencies in the prior art, an object of the present invention is to provide an intelligent lawn mower that is resistant to electromagnetic interference.

[0008] The present invention solves the problems of the prior art by adopting the following technical solutions: an intelligent lawn mower is used to autonomously move and mow grass within a working area defined by a boundary line, an electronic tag is provided on the boundary line, and the intelligent lawn mower comprises: a shell; a boundary sensor, the boundary sensor is installed in the shell and is used to detect the electromagnetic field generated by the boundary line and generate a detection signal; a radio frequency identification reader, the radio frequency identification reader is installed in the shell and comprises an antenna module and a reading module, the antenna module emits radio frequency waves to activate the electronic tag to emit radio frequency signals and receive the radio frequency signals, and the reading module reads the identification information in the radio frequency signals; the boundary sensor and the antenna module are spaced apart in the front-to-back direction of the intelligent lawn mower, and the boundary sensor and the antenna module are spaced apart in the height direction of the intelligent lawn mower.

[0009] Furthermore, in the height direction of the intelligent lawn mower, the boundary sensor is located above the antenna module, and the distance between the lowermost end of the boundary sensor and the uppermost end of the antenna module in the height direction is not less than 10 mm.

[0010] Furthermore, in the front-to-back direction of the intelligent lawn mower, the boundary sensor is located in front of the antenna module, and the distance between the rearmost end of the boundary sensor and the frontmost end of the antenna module in the front-to-back direction is not less than 20 mm.

[0011] Furthermore, the smart lawn mower also includes a first support surface for installing the boundary sensor and a second support surface for installing the antenna module. The first support surface and the second support surface both extend along the front and rear directions of the smart lawn mower, and the distance between the first support surface and the second support surface in the height direction of the smart lawn mower is not less than 10 mm.

[0012] Furthermore, the shell includes a top surface and a bottom surface that are arranged opposite to each other, and the antenna module is arranged on the bottom surface.

[0013] Furthermore, the shell also includes a front end face and a rear end face that are relatively arranged, and a protective surface connected between the bottom face and the front end face. The protective surface extends upward from the bottom face until it is connected to the front end face, and the antenna module is arranged behind the protective surface.

[0014] Furthermore, the intelligent lawn mower further includes a first supporting surface. In the height direction of the intelligent lawn mower, the first supporting surface is between the top surface and the bottom surface. The boundary sensor is located on the first supporting surface.

[0015] Furthermore, the intelligent lawn mower further includes a first supporting surface. In the height direction of the intelligent lawn mower, the first supporting surface is above the protective surface, and the boundary sensor is located on the first supporting surface.

[0016] Furthermore, the intelligent lawn mower further includes a control board installed in the shell, the boundary sensor and the reading module are both installed on the control board, and the antenna module is separately provided from the control board and electrically connected to the control board via a wire.

[0017] Furthermore, the shell includes a top surface and a bottom surface that are relatively arranged, a front surface and a rear surface that are relatively arranged, and a protective surface connected between the bottom surface and the front surface, the protective surface extends upward from the bottom surface until it is connected to the front surface, the antenna module is arranged behind the protective surface and installed on the bottom surface, and the wire extends from the antenna module through the space above the protective surface until it is connected to the control board.

[0018] Furthermore, the intelligent lawn mower is provided with two boundary sensors.

[0019] Furthermore, the boundary sensor is an inductive sensor.

[0020] Furthermore, a plurality of electronic tags are arranged at intervals on the boundary, and the electronic tags are RFID beacons.

[0021] Furthermore, the smart lawn mower also includes a laser radar and a brushless motor that drives the laser radar to rotate. The brushless motor and the antenna module are spaced apart in the front-to-back direction of the smart lawn mower, and the brushless motor and the antenna module are spaced apart in the height direction of the smart lawn mower.

[0022] Furthermore, the antenna module is located in front of the brushless motor, and in the front-to-back direction of the intelligent lawn mower, the distance between the rearmost end of the antenna module and the frontmost end of the brushless motor is not less than 30 mm.

[0023] Furthermore, the brushless motor is located above the antenna module, and in the height direction of the intelligent lawn mower, the spacing distance between the lower end of the brushless motor and the upper end of the antenna module is not less than 6 mm.

[0024] Furthermore, the smart lawn mower also includes a control component installed in the shell, and the control component is configured to pre-process the detection signal to obtain a gain signal and determine that when the signal strength of the gain signal is less than a first threshold, the control component controls the antenna module to stop working.

[0025] Furthermore, the control component is further configured to control the intelligent lawn mower to stop moving when the signal strength of the gain signal is less than a second threshold; wherein the first threshold is greater than the second threshold.

[0026] Furthermore, the control component is further configured to control the reading module to stop working when it is determined that the signal strength of the gain signal is less than a first threshold.

[0027] Also provided is an intelligent robot for autonomously moving and operating within a working area defined by a boundary line, wherein an electronic tag is provided on the boundary line. The intelligent robot comprises: a shell; a boundary sensor, wherein the boundary sensor is installed in the shell and is used to detect the electromagnetic field generated by the boundary line; an antenna module, wherein the antenna module is installed in the shell and emits radio frequency waves to activate the electronic tag to emit radio frequency signals and receive the radio frequency signals; the boundary sensor and the antenna module are spaced apart in the front-to-rear direction of the intelligent robot, and the boundary sensor and the antenna module are spaced apart in the height direction of the intelligent robot.

[0028] Compared with the prior art, the present invention has the following beneficial effects: the intelligent lawn mower includes a boundary sensor for detecting a boundary line and a radio frequency identification reader for positioning, the radio frequency identification reader includes an antenna module and a reading module, the antenna module emits radio frequency waves to activate an electronic tag to emit a radio frequency signal and receive the radio frequency signal, and the reading module reads the identification information in the radio frequency signal, the electronic tag is installed in the working area of ​​the intelligent lawn mower, and the boundary sensor and the antenna module are spaced apart in the front-to-back direction and the height direction of the intelligent lawn mower; thus, the antenna module and the boundary sensor are spaced apart from each other, and the magnetic field generated by the antenna module after being powered on will not interfere with the boundary sensor and reduce the intensity of the magnetic field detected by the boundary sensor, so that the intelligent lawn mower can accurately identify the boundary line and operate normally within the working area. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The specific embodiments of the present invention are further described in detail below with reference to the accompanying drawings:

[0030] FIG1 is a schematic diagram of the overall structure of an intelligent lawn mower in a preferred embodiment of the present invention;

[0031] FIG2 is a cross-sectional view of the intelligent lawn mower shown in FIG1 ;

[0032] FIG3 is a schematic structural diagram of the intelligent lawn mower shown in FIG1 with part of the housing removed;

[0033] FIG4 is a partial schematic diagram of a cross-sectional view of the intelligent lawn mower shown in FIG3 ;

[0034] FIG. 5 is a partial schematic diagram of a top view of the intelligent lawn mower shown in FIG. 3 . DETAILED DESCRIPTION

[0035] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. In the description of this specification, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in an appropriate manner.

[0036] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. For example, terms such as "upper," "lower," "front," and "rear" indicating orientation or positional relationships are based solely on the orientation or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the disclosure. They do not indicate or imply that the device or element referred to must have a specific orientation or be constructed or operated in a specific orientation. Therefore, they should not be construed as limiting the disclosure.

[0037] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0038] Please refer to Figures 1 to 5, which show an intelligent robot according to an embodiment of the present invention, specifically an intelligent lawn mower 100, including a housing 1, a walking component 2 for supporting the movement of the housing 1, a cutting component 3 arranged at the bottom of the housing 1, a control component 4 installed in the housing 1 for controlling the automatic operation of the walking component 2 and the automatic operation of the cutting component 3, and an energy component 5 for supplying energy to the intelligent lawn mower 100.

[0039] The housing 1 comprises a first outer shell and a second outer shell connected to the first. The first outer shell houses functional mechanisms and components, such as the travel assembly 2, cutting assembly 3, control assembly 4, and energy assembly 5. The second outer shell is configured to at least partially cover the first outer shell, primarily enhancing the aesthetics and recognizability of the intelligent lawn mower 100. It should be noted that the first outer shell serves as a base for mounting various functional mechanisms and components, while the second outer shell serves as a cover. This is merely an optional embodiment of the present invention. In other embodiments, the second outer shell may serve as the base, while the first outer shell serves as the cover.

[0040] The travel assembly 2 is used to drive the intelligent lawn mower 100 within the work area and includes a drive wheel assembly and a universal wheel assembly mounted on the housing 1. Specifically, two drive wheel assemblies are provided, each connected to a corresponding travel motor (not shown). The travel motor drives the drive wheel assembly to rotate, enabling the intelligent lawn mower 100 to move automatically. The universal wheel assembly primarily serves as auxiliary support. There are one or two universal wheel assemblies located at the front of the intelligent lawn mower 100. The universal wheel assembly is not connected to the travel motor, but it is driven to roll when supporting the intelligent lawn mower 100. Through this structural arrangement, the intelligent lawn mower 100 can be controlled by the control assembly 4 and flexibly move and turn on the work surface. During normal travel, the two travel motors output the same speed, directly driving the intelligent lawn mower 100 or indirectly through a transmission structure such as gears or belts, and the universal wheel assembly also rolls with it. When turning, the two travel motors output different speeds, causing the intelligent lawn mower 100 to turn toward the drive wheel with the lower speed, or toward the drive wheel corresponding to the direction of travel.

[0041] The cutting assembly 3 includes at least a cutting element 31 for cutting grass and a cutting motor 32 for driving the cutting element 31. Specifically, the cutting motor 32 is mounted on the first outer shell of the housing 1 and is electrically connected to the control assembly 4. The control assembly 4 can control the start and stop of the cutting motor 32 and adjust the speed of the cutting motor 32. The cutting motor 32 is housed in a motor barrel 33. A four-bar linkage 34 is provided between the motor barrel 33 and the first outer shell. The four-bar linkage 34 rotatably connects the motor barrel 33 and the first outer shell. As a result, when the intelligent lawn mower 100 encounters obstacles such as stones and low shrubs during operation, the cutting element 31 does not collide with the obstacles. Instead, it is pushed by the obstacles and drives the motor barrel 33 to move in the vertical direction. This can prevent the cutting element 31 from being damaged by a hard collision with the obstacles and improve the intelligent lawn mower 100's obstacle-crossing capability. It should be noted that the cutting member 31 can be a cutting disc and a plurality of cutting blades mounted on the cutting disc, or can be a single cutting blade, which is not limited here.

[0042] The control component 4 is used to control the automatic movement and operation of the smart lawn mower 100. The functions it performs include controlling the cutting component 3 to start or stop working, generating a walking path and controlling the walking component 2 to walk accordingly, receiving environmental signals detected by the smart lawn mower 100, judging the power level of the energy component 5 and promptly controlling the smart lawn mower 100 to return to the charging station for automatic docking and charging, etc.

[0043] The energy component 5 is used to power the intelligent lawn mower 100 and is mounted within the housing 1. Specifically, the energy component 5 is constructed as a battery pack. The first housing includes a battery pack compartment (not shown) into which the battery pack is removably mounted. The battery pack is electrically connected to the compartment, and wires (not shown) extend from the compartment for electrical connection to the travel component 2, cutting component 3, and control component 4, thereby enabling the battery pack to power these functional components.

[0044] For ease of understanding, in the present invention, the horizontal working surface that the smart lawn mower 100 passes through during the cutting operation is used as a reference object, the plane parallel to the horizontal working surface is used as the horizontal plane, the direction perpendicular to the horizontal working surface is used as the height direction of the smart lawn mower 100, the forward direction of the smart lawn mower 100 is used as the forward direction, and correspondingly, the opposite direction of the forward direction is used as the backward direction, and the direction parallel to the forward and backward directions is used as the front and rear directions of the smart lawn mower 100.

[0045] The smart lawn mower 100 also includes a boundary detection device for detecting a boundary line 200. Specifically, the working area of ​​the smart lawn mower 100 is enclosed by the boundary line 200, which divides the specific area into two areas: the working area within the boundary line 200, and the non-working area outside the boundary line 200. The boundary line 200 is constructed as a cable, through which a corresponding periodic current flows. This current generates a periodic magnetic field near the boundary line 200. The magnetic field has directionality and strength. The directions on both sides of the boundary line 200 are opposite, that is, the directions are opposite inside and outside the working range. The closer to the boundary line 200, the stronger the magnetic field signal.

[0046] Among them, the boundary detection device includes at least two boundary sensors 6, which are installed in the shell 1. In this embodiment, the boundary sensor 6 is constructed as an inductive sensor, which can detect the electromagnetic field and generate a detection signal. The control component 4 pre-processes it to obtain a gain signal. According to the strength and direction of the gain signal, the smart lawn mower 100 can identify whether it is inside or outside the boundary line 200 and perform motion control accordingly.

[0047] It should be noted that in this embodiment, the above-mentioned periodic current signal can be a square wave pulse signal, because its generation and identification are relatively easy, which can reduce costs and improve efficiency. Of course, in other embodiments, the current signal type can be selected and adaptively adjusted according to specific circumstances.

[0048] The smart lawn mower 100 also includes an RFID reader 7, which cooperates with an electronic tag 201 installed in the work area to locate the smart lawn mower 100. Specifically, the RFID reader 7 is installed in the housing 1 and includes an antenna module 71 and a reader module 72. The antenna module 71 emits radio frequency waves to activate the electronic tag 201 to emit and receive radio frequency signals, while the reader module 72 reads the identification information in the radio frequency signal.

[0049] In this embodiment, a plurality of electronic tags 201 are arranged at intervals along the boundary line 200. These electronic tags 201 are constructed as RFID beacons, and each electronic tag 201 has unique identification information pre-stored therein. When creating a boundary map, the control component 4 controls the smart lawn mower 100 to move along the boundary line 200. During the mapping process, when the smart lawn mower 100 passes by an electronic tag 201, it reads the identification information of the electronic tag 201, establishes a correspondence between this identification information and the absolute coordinates of the current position, and stores it in the memory of the smart lawn mower 100. Radio frequency waves are electromagnetic waves, and radio frequency signals are electromagnetic signals. In this way, when the smart lawn mower 100 performs cutting operations according to the planned path, the antenna module 71 emits electromagnetic waves to activate the electronic tag 201 to emit an electromagnetic signal and receive the electromagnetic signal. The reading module 72 reads the identification information in the electromagnetic signal, and the control component 4 retrieves the correspondence between the identification information and the absolute coordinates pre-stored in the memory, and then updates the absolute coordinates corresponding to the current electronic tag 201 to the coordinates of the current position of the smart lawn mower 100 to achieve positioning.

[0050] The boundary sensor 6 is spaced apart from the antenna module 71 in both the front-to-back direction and the height direction of the intelligent lawn mower 100. Specifically, the boundary sensor 6 is located above the antenna module 71, and the distance between the lowest end of the boundary sensor 6 and the highest end of the antenna module 71 in the height direction of the intelligent lawn mower 100 is no less than 10 mm. The boundary sensor 6 is located in front of the antenna module 71, and the distance between the rearmost end of the boundary sensor 6 and the frontmost end of the antenna module 71 in the front-to-back direction of the intelligent lawn mower 100 is no less than 20 mm.

[0051] In this embodiment, not only the distance between the antenna module 71 and the boundary sensor 6 is increased in the front-to-back direction, but also the distance between the antenna module 71 and the boundary sensor 6 is increased in the height direction, thereby reducing the weakening of the magnetic field signal of the boundary line 200 detected by the boundary sensor 6 by the magnetic field generated by the antenna module 71 when it is working, thereby avoiding the intelligent lawn mower 100 from being unable to accurately detect the boundary line 200 due to electromagnetic interference.

[0052] Especially when the smart lawn mower 100 walks to a relatively central area of ​​the working area, the smart lawn mower 100 is now far away from the boundary line 200, and the magnetic field signal strength detected by the boundary sensor 6 is itself weak. By increasing the distance between the antenna module 71 and the boundary sensor 6 in the front-to-back direction and the height direction at the same time in this embodiment, the magnetic field of the antenna module 71 will not further weaken the magnetic field signal detected by the boundary sensor 6, making the boundary sensor 6 unable to detect the magnetic field signal. In this way, the smart lawn mower 100 will not frequently trigger the shutdown protection due to the inability to detect the boundary line 200, thereby improving the stability of the smart lawn mower 100's walking operation.

[0053] The smart lawn mower 100 also includes a laser radar 8 and a brushless motor (not shown) that drives the laser radar 8. The brushless motor and antenna module 71 are spaced apart in both the front-to-back direction and the height direction of the smart lawn mower 100. Specifically, the antenna module 71 is located in front of the brushless motor, and the distance between the rearmost end of the antenna module 71 and the frontmost end of the brushless motor in the front-to-back direction of the smart lawn mower 100 is no less than 30 mm. The brushless motor is located above the antenna module 71, and the distance between the bottom end of the brushless motor and the top end of the antenna module in the height direction of the smart lawn mower 100 is no less than 6 mm.

[0054] In this embodiment, not only the distance between the antenna module 71 and the brushless motor is increased in the front-to-back direction, but also the distance between the antenna module 71 and the brushless motor is increased in the height direction. In this way, the antenna module 71 is prevented from being unable to detect the electromagnetic signal emitted by the electronic tag 201 due to the influence of the magnetic field generated when the brushless motor rotates, thereby preventing the smart lawn mower 100 from being unable to accurately position itself due to electromagnetic interference, thereby affecting the planned cutting operation of the smart lawn mower 100.

[0055] The control component 4 is configured to pre-process the magnetic field signal detected by the boundary sensor 6, i.e., the detection signal, and obtain a gain signal. When the signal strength of the gain signal is less than a first threshold, the radio frequency identification reader 7 is controlled to stop working; when the strength of the gain signal is less than a second threshold, the intelligent lawn mower 100 is controlled to stop moving; the first threshold is greater than the second threshold.

[0056] Specifically, after the boundary sensor 6 detects and obtains the magnetic field signal of the boundary line 200, the control component 4 will perform pre-processing such as denoising and enhancement on the magnetic field signal through modules such as the amplification circuit and the filtering circuit to obtain the above-mentioned gain signal; the control component 4 will detect the strength of the gain signal in real time and compare it with the first threshold and the second threshold. When the strength of the gain signal is less than the first threshold, it is determined that the boundary sensor 6 may be affected by the electromagnetic interference of the antenna module 71 of the RFID reader 7 and the external environment. At this time, the RFID reader 7 is controlled to stop working to avoid further reduction in the strength of the above-mentioned gain signal, which may make the smart lawn mower 100 unable to normally detect the boundary line 200; when the strength of the gain signal is less than the above-mentioned second threshold, it is determined that the smart lawn mower 100 is already in the area outside the boundary line 200 or is in an abnormal electromagnetic interference state, and the control component 4 controls the smart lawn mower 100 to stop moving to avoid the safety hazards caused by continued movement.

[0057] In this embodiment, a first threshold value greater than the second threshold value is set. When the strength of the gain signal reaches the first threshold value, the RFID reader 7 is controlled to stop operating, thereby further reducing the interference of the RFID reader 7 on the magnetic field signal detected by the boundary sensor 6, thereby giving priority to ensuring that the intelligent lawn mower 100 can accurately detect the boundary line 200 and maintain normal walking operation.

[0058] Furthermore, in this embodiment, controlling the RFID reader 7 to stop working only controls the antenna module 71 to stop working. Thus, after the smart lawn mower 100 exits an abnormal state, the RFID reader 7 can quickly resume normal operation, thereby improving the operating efficiency of the smart lawn mower 100. Of course, it should be noted that in other embodiments, both the antenna module 71 and the reader module 72 can be controlled to stop working simultaneously, thereby further reducing the energy consumption of the smart lawn mower 100 and improving energy utilization.

[0059] The control component 4 is further configured to: record the duration during which the signal strength of the smart lawn mower gain signal is less than the second threshold value of the smart lawn mower to obtain a first duration;

[0060] It is determined whether the first duration of the smart lawn mower reaches a first time threshold. If the first duration of the smart lawn mower reaches the first time threshold, the smart lawn mower 100 is controlled to stop cutting and an error reminder instruction is issued.

[0061] Specifically, if the signal strength of the gain signal further decreases until it falls below the second threshold after the RFID reader 7 is stopped, and the second threshold is less than the first threshold, the intelligent lawn mower 100 is stopped to prevent the intelligent lawn mower 100 from continuing to move outside the boundary line 200 and causing a safety hazard. At this time, the RFID reader 7 is kept stopped, and the duration during which the signal strength of the gain signal is less than the second threshold is recorded as the first duration. When the first duration reaches the first time threshold, and the gain signal strength is still less than the second threshold, the intelligent lawn mower 100 is determined to be in an abnormal state, and the intelligent lawn mower 100 is controlled to stop cutting and an error reminder instruction is issued.

[0062] Furthermore, after controlling the RFID reader 7 of the smart lawn mower to stop working, the control component 4 is further configured to:

[0063] Recording the duration during which the signal strength of the gain signal of the intelligent lawn mower is less than the first threshold of the intelligent lawn mower to obtain a second duration;

[0064] Determine whether the second duration of the smart lawn mower reaches the second time threshold, and if the second duration of the smart lawn mower reaches the second time threshold, control the smart lawn mower 100 to find the smart lawn mower boundary line 200;

[0065] When the smart lawn mower 100 moves to the smart lawn mower boundary line 200, if the signal strength of the smart lawn mower gain signal is greater than or equal to the first threshold of the smart lawn mower, the smart lawn mower RFID reader resumes operation and controls the smart lawn mower 100 to continue planned cutting.

[0066] When the smart lawn mower 100 reaches the smart lawn mower boundary line 200 , if the signal strength of the smart lawn mower gain signal is always less than the first threshold of the smart lawn mower, the smart lawn mower 100 is controlled to stop moving and an error reminder instruction is issued.

[0067] Specifically, when it is detected that the gain signal strength is less than the first threshold, the RFID reader 7 is controlled to stop working, and the smart lawn mower 100 continues to cut according to the original path and starts to record the duration of the gain signal strength being less than the first threshold, that is, the second duration. When the second duration reaches the second time threshold, if the gain signal strength is still less than the first threshold, it is determined that there is an abnormality in the current working state, such as being affected by abnormal electromagnetic waves in the surrounding environment or being trapped in an area far away from the boundary line 200 and unable to return to the normal walking path; at this time, a rescue action is performed, that is, the smart lawn mower 100 is controlled to The smart lawn mower 100 searches for the boundary line 200 and moves toward the nearest boundary line 200. When the smart lawn mower 100 moves to the boundary line 200, if the signal strength of the detected gain signal is again greater than or equal to the first threshold of the smart lawn mower, it is determined that the smart lawn mower 100 is out of trouble, the RFID reader 7 resumes operation, and the planned cutting continues. When the smart lawn mower 100 reaches the boundary line 200, if the signal strength of the gain signal is always less than the first threshold, it is determined that the smart lawn mower 100 is in an abnormal state, the smart lawn mower is controlled to stop moving, and an error reminder instruction is issued.

[0068] The control component 4 is also configured to turn off the brushless motor that drives the laser radar 8 when the smart lawn mower 100 executes a mapping instruction. Specifically, before the smart lawn mower 100 officially starts cutting, the user can issue a mapping instruction through an external terminal or the operation panel of the smart lawn mower 100. After receiving the mapping instruction, the control component 4 turns off the brushless motor and controls the smart lawn mower 100 to walk along the boundary line 200 to build the map. In this way, when the smart lawn mower 100 walks past the electronic tag 201, it can accurately read the identification information of the electronic tag 201, establish a corresponding relationship between the identification information and the absolute coordinates of the current position, and store it in the memory of the smart lawn mower 100. The electronic tag 201 will not be unable to be recognized due to the influence of the magnetic field generated by the rotation of the brushless motor, thereby avoiding the omission of the electronic tag 201 during the mapping process of the smart lawn mower 100, which may cause subsequent planned cutting anomalies.

[0069] The intelligent lawn mower 100 also includes a control board 40 mounted within the housing 1. The boundary sensor 6 and the reader module 72 are both mounted on the control board 40. The antenna module 71 is separate from the control board 40 and electrically connected via a wire 73. In this embodiment, the reader module 72 and the boundary sensor 6 are integrated onto the same control board 40, while the antenna module 71 is mounted separately and spaced apart from the control board 40. This facilitates the spacing of the boundary sensor 6 and the antenna module 71 in both the front-to-back direction and the height direction of the intelligent lawn mower 100. Furthermore, the reader module 72 and the boundary sensor 6 share a common circuit board, eliminating the need for a separate circuit board for mounting the reader module 72. This simplifies the mounting structure of the RFID reader 7 and the boundary sensor 6, reduces costs, and reduces the internal space occupied by the intelligent lawn mower 100.

[0070] The housing 1 includes a top surface 11 and a bottom surface 12 that are oppositely disposed, a front surface 13 and a rear surface 14 that are oppositely disposed, and a protective surface 15 connected between the bottom surface 12 and the front surface 13 . Specifically, the protective surface 15 extends upward from the bottom surface 12 until it is connected to the front end surface 13, the antenna module 71 is arranged behind the protective surface 15, the antenna module 71 is installed on the bottom surface 12, and the wire 73 extends from the antenna module 71 through the space above the protective surface 15 until it is connected to the control board 40. In this way, on the one hand, the protective surface 15 is constructed as a slope extending forward, which can improve the climbing ability of the smart lawn mower 100. At the same time, the protective surface 15 is located in front of the antenna module 71. When the smart lawn mower 100 encounters a low obstacle, the protective surface 15 preferentially contacts the obstacle and forms a buffer, thereby reducing the impact transmitted to the antenna module 71; on the other hand, a large amount of space is defined above the forward-inclined protective surface 15 for the wire 73 to be freely routed and no other components will come into contact with the wire 73, thereby avoiding the wire 73 being torn off by tension or being worn out due to long-term contact with other components during the walking operation of the smart lawn mower 100.

[0071] The smart lawn mower 100 also includes a first support surface 16 for mounting the control board 40 and a second support surface 17 for mounting the antenna module 71. The first support surface 16 is located above the second support surface 17. Both the first support surface 16 and the second support surface extend in the front-to-back direction of the smart lawn mower. The first support surface 16 is located between the top surface 11 and the bottom surface 12 of the smart lawn mower. The first support surface 16 of the smart lawn mower is above the protective surface 15 of the smart lawn mower. In the height direction of the smart lawn mower 100, the distance between the first support surface 16 and the second support surface 17 is no less than 10 mm. Specifically, the first support surface 16 is used to support the control board 40. It is located above the bottom surface 12 and is integrally formed or connected to the bottom surface 12. Correspondingly, the second support surface 17 is integrally formed with the bottom surface 12. By setting the distance between the first support surface 16 and the second support surface 17 to be no less than 10 mm, the magnetic field generated by the antenna module 71 during operation further reduces the attenuation of the magnetic field signal of the boundary line 200 detected by the boundary sensor 6.

[0072] The present invention is not limited to the above-described specific embodiments. Those skilled in the art will readily appreciate that many alternatives to the intelligent lawn mower of the present invention exist without departing from the principles and scope of the present invention. The scope of protection of the present invention shall be determined by the claims.

Claims

1. An intelligent lawn mower for autonomously moving and mowing grass within a working area defined by a boundary line, wherein an electronic tag is provided on the boundary line, characterized in that, The intelligent lawn mower includes: A housing; A boundary sensor installed inside the housing for detecting the electromagnetic field generated by the boundary line and generating a detection signal; An RFID reader installed inside the housing and including an antenna module and a reading module. The antenna module emits radio frequency waves to activate the electronic tag to emit a radio frequency signal and receive the radio frequency signal, and the reading module reads the identification information in the radio frequency signal; The boundary sensor and the antenna module are spaced apart in the front-rear direction of the intelligent lawn mower, and the boundary sensor and the antenna module are spaced apart in the height direction of the intelligent lawn mower.

2. The intelligent lawn mower according to claim 1, wherein: In the height direction of the intelligent lawn mower, the boundary sensor is located above the antenna module, and the distance between the lowermost end of the boundary sensor and the uppermost end of the antenna module in the height direction is not less than 10 mm.

3. The intelligent lawn mower according to claim 1, characterized in that: In the front-rear direction of the intelligent lawn mower, the boundary sensor is located in front of the antenna module, and the distance between the rearmost end of the boundary sensor and the foremost end of the antenna module in the front-rear direction is not less than 20 mm.

4. The intelligent lawn mower according to claim 1, wherein: The intelligent lawn mower further includes a first support surface for installing the boundary sensor and a second support surface for installing the antenna module. Both the first support surface and the second support surface extend along the front-rear direction of the intelligent lawn mower, and the distance between the first support surface and the second support surface in the height direction of the intelligent lawn mower is not less than 10 mm.

5. The intelligent lawn mower according to claim 1, characterized in that: The housing includes a top surface and a bottom surface arranged oppositely, and the antenna module is arranged on the bottom surface.

6. The intelligent lawn mower according to claim 5, characterized in that: The housing further includes a front end surface and a rear end surface arranged oppositely and a protective surface connected between the bottom surface and the front end surface. The protective surface extends obliquely upward from the bottom surface until it is connected to the front end surface, and the antenna module is arranged behind the protective surface.

7. The intelligent lawn mower according to claim 5, wherein: The intelligent lawn mower further includes a first support surface. In the height direction of the intelligent lawn mower, the first support surface is between the top surface and the bottom surface, and the boundary sensor is located on the first support surface.

8. The intelligent lawn mower according to claim 6, characterized in that: The intelligent lawn mower further includes a first support surface. In the height direction of the intelligent lawn mower, the first support surface is above the protective surface, and the boundary sensor is located on the first support surface.

9. The intelligent lawn mower according to claim 1, wherein: The intelligent lawn mower further includes a control board installed inside the housing. The boundary sensor and the reading module are both installed on the control board. The antenna module is separately arranged from the control board and is electrically connected through a wire.

10. The intelligent lawn mower according to claim 1, characterized in that: The intelligent lawn mower further includes a lidar and a brushless motor for driving the lidar to rotate. The brushless motor and the antenna module are spaced apart in the front-rear direction of the intelligent lawn mower, and the brushless motor and the antenna module are spaced apart in the height direction of the intelligent lawn mower.

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