Mowing robot

Abstract

A mowing robot (100), comprising: a first body (10), the first body comprising a first housing (11) and an execution mechanism, which is arranged on the first housing; and a second body (20), the second body comprising a second housing (21) and a control device (22), which is arranged on the second housing, wherein the control device is electrically connected to the execution mechanism, and the second housing is detachably connected to the first housing. By means of designing the mowing robot to comprise the first body and the second body, the control device is arranged on the second housing, the second body is equivalent to the "brain" of the mowing robot, the execution mechanism is mainly mounted on the first housing, the first body is equivalent to the "limbs" of the mowing robot, and the second body controls the behavioral actions of the first body, thereby achieving a modular design for the mowing robot. In addition, the first body and the second body are detachably connected, and when either of the first body and the second body needs to be repaired and maintained, the corresponding part can be disassembled for repair.

Description

lawn mowing robot Technical Field

[0001] The present application relates to the technical field of lawn mowing equipment, and in particular to a lawn mowing robot. Background Art

[0002] A lawn mower robot is a device used to mow lawns. It can follow input commands and mow the lawn in a set area without human intervention, significantly reducing the user's labor intensity.

[0003] Typically, a lawn mower robot mainly includes a housing, a control device, a walking mechanism, and a cutting mechanism. In related technologies, the control device, the walking mechanism, and the cutting mechanism are all installed on the same housing. However, since the control device, the walking mechanism, the cutting mechanism, and other components have great differences in waterproofing, heat dissipation, and installation methods, this brings difficulties to the manufacture and maintenance of the lawn mower robot.

[0004] Summary of the Invention

[0005] The purpose of this application is to propose a lawn mowing robot to alleviate the problem of difficulty in manufacturing and maintaining the lawn mowing robot.

[0006] To achieve the above objectives, the present application provides a lawn mowing robot, which includes:

[0007] a first body, the first body comprising a first housing and an actuator, the actuator being disposed on the first housing;

[0008] The second body includes a second housing and a control device, the control device is arranged on the second housing; the control device is electrically connected to the actuator, the control device is used to control the actuator, and the second housing is detachably connected to the first housing.

[0009] The beneficial effects of the lawn mower robot provided by the present application are at least as follows: by designing the lawn mower robot to include a first body and a second body, the control device is disposed on the second housing, the second body serving as the robot's brain, the actuators are primarily mounted on the first housing, the first body serving as the robot's limbs, and the control device is electrically connected to the actuators, i.e., the second body controls the actions of the first body, thereby achieving a modular design of the lawn mower robot. Each module can be designed accordingly based on its own needs, thereby reducing the overall manufacturing difficulty of the lawn mower robot. Furthermore, the second housing is detachably connected to the first housing, i.e., the first body and the second body are detachably connected. When maintenance is required on one of the two, the corresponding portion can be disassembled for repair. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0011] FIG1 is a schematic diagram of the three-dimensional structure of a lawn mowing robot provided by an embodiment of the present application at one viewing angle;

[0012] FIG2 is a schematic diagram of the three-dimensional structure of the lawn mowing robot provided by one embodiment of the present application from another perspective;

[0013] FIG3 is a schematic diagram of the three-dimensional structure of the lawn mowing robot provided by an embodiment of the present application from another perspective;

[0014] FIG4 is a schematic diagram of the three-dimensional structure of the first body of the lawn mowing robot provided in one embodiment of the present application at one viewing angle;

[0015] FIG5 is a schematic diagram of the three-dimensional structure of the first body of the lawn mowing robot provided by an embodiment of the present application from another perspective;

[0016] FIG6 is a schematic structural diagram of the first body in FIG4 with the cover omitted;

[0017] FIG7 is a schematic structural diagram of the first body in FIG6 omitting the first sealing cover and the second sealing cover;

[0018] FIG8 is a schematic diagram of the three-dimensional structure of the first body of the lawn mowing robot provided by an embodiment of the present application from another perspective;

[0019] FIG9 is a partial enlarged structural diagram of portion A in FIG8 ;

[0020] FIG10 is a schematic diagram of the three-dimensional structure of the chassis of the lawn mowing robot provided by one embodiment of the present application at one viewing angle;

[0021] FIG11 is a schematic diagram of the three-dimensional structure of the chassis of the lawn mowing robot provided by one embodiment of the present application from another perspective;

[0022] FIG12 is a schematic diagram of the three-dimensional structure of the cover of the lawn mowing robot provided by one embodiment of the present application at one viewing angle;

[0023] FIG13 is a schematic diagram of the three-dimensional structure of the driving wheel structure of the lawn mowing robot provided by one embodiment of the present application at one viewing angle;

[0024] FIG14 is a schematic diagram of the three-dimensional structure of the driving wheel structure of the lawn mowing robot provided by one embodiment of the present application from another perspective;

[0025] FIG15 is a schematic diagram of the three-dimensional structure of the driving wheel structure of the lawn mower robot provided by one embodiment of the present application from another perspective, with the decorative outer cover omitted in the figure;

[0026] FIG16 is a schematic diagram of the three-dimensional structure of the traveling wheels of the lawn mowing robot provided in one embodiment of the present application from one viewing angle, with the back cover omitted in the figure;

[0027] FIG17 is a schematic diagram of the three-dimensional structure of the traveling wheels of the lawn mowing robot provided by one embodiment of the present application from another perspective, in which the decorative outer cover and the rigid connecting plate are omitted;

[0028] FIG18 is a schematic diagram of the three-dimensional structure of a walking motor in a lawn mowing robot provided by an embodiment of the present application at one viewing angle;

[0029] FIG19 is a schematic diagram of the three-dimensional structure of the walking motor of the lawn mowing robot provided by one embodiment of the present application from another perspective;

[0030] FIG20 is a schematic diagram of the three-dimensional structure of a rigid connecting piece in a lawn mowing robot provided in one embodiment of the present application;

[0031] FIG21 is a schematic diagram of the three-dimensional structure of the first mounting ear of the lawn mowing robot provided in one embodiment of the present application;

[0032] FIG22 is a schematic diagram of the three-dimensional structure of the universal wheel structure of the lawn mowing robot provided by one embodiment of the present application at one viewing angle;

[0033] FIG23 is a schematic diagram of the three-dimensional structure of the universal wheel structure of the lawn mowing robot provided by one embodiment of the present application from another perspective;

[0034] FIG24 is a schematic diagram of the three-dimensional structure of the universal wheel structure of the lawn mower robot provided by one embodiment of the present application from another perspective, in which part of the structure of the mounting arm body is omitted;

[0035] FIG25 is a schematic cross-sectional view of a universal wheel structure in a lawn mowing robot provided by an embodiment of the present application;

[0036] FIG26 is a schematic diagram of the three-dimensional structure of the cutting mechanism of the lawn mowing robot provided in one embodiment of the present application from one viewing angle;

[0037] FIG27 is a schematic diagram of the three-dimensional structure of the cutting mechanism of the lawn mowing robot provided by one embodiment of the present application from another perspective;

[0038] FIG28 is a schematic cross-sectional view of a cutting mechanism in a lawn mowing robot according to an embodiment of the present application;

[0039] FIG29 is a schematic diagram of a three-dimensional structure of a cutting structure of a lawn mowing robot provided in an embodiment of the present application, in which the cutting member is omitted;

[0040] FIG30 is a schematic diagram of the three-dimensional structure of the cutting mechanism of the lawn mowing robot provided by one embodiment of the present application from another perspective;

[0041] FIG31 is a schematic structural diagram of the cutting mechanism in FIG30 when the fixing seat is omitted;

[0042] FIG32 is a schematic diagram of the three-dimensional structure of the height adjustment structure of the lawn mowing robot provided by one embodiment of the present application at one viewing angle;

[0043] FIG33 is a schematic diagram of the three-dimensional structure of the height adjustment structure of the lawn mowing robot provided by one embodiment of the present application from another perspective;

[0044] FIG34 is a schematic diagram of the three-dimensional structure of the height adjustment structure of the lawn mowing robot provided by one embodiment of the present application from another perspective, in which the fixing base is omitted;

[0045] FIG35 is a schematic diagram of the three-dimensional structure of the height adjustment structure of the lawn mowing robot provided by one embodiment of the present application from another perspective, in which the fixing base is omitted;

[0046] FIG36 is a schematic diagram of the exploded structure of a fixing base in a lawn mowing robot provided in one embodiment of the present application;

[0047] FIG37 is a schematic structural diagram of a fixed body in a lawn mowing robot provided in an embodiment of the present application;

[0048] FIG38 is a schematic diagram of the three-dimensional structure of a collision detection mechanism in a lawn mowing robot provided in an embodiment of the present application;

[0049] FIG39 is a schematic diagram of the exploded structure of a collision detection mechanism in a lawn mowing robot provided in one embodiment of the present application;

[0050] FIG40 is a schematic diagram of the three-dimensional structure of a support frame in a lawn mowing robot provided in an embodiment of the present application;

[0051] FIG41 is a schematic diagram of the exploded structure of the support frame of the lawn mowing robot provided in one embodiment of the present application;

[0052] FIG42 is a schematic diagram of the three-dimensional structure of the floating shell of the lawn mowing robot provided in one embodiment of the present application;

[0053] FIG43 is a schematic diagram of the exploded structure of the floating housing of the lawn mower robot provided by one embodiment of the present application;

[0054] FIG44 is a schematic diagram of a partial structure of the first body of the lawn mowing robot provided in an embodiment of the present application, showing the installation method of the charging head;

[0055] FIG45 is a schematic diagram of the three-dimensional structure of a charging head of a lawn mowing robot provided by an embodiment of the present application at one viewing angle;

[0056] FIG46 is a schematic diagram of the three-dimensional structure of the charging head of the lawn mowing robot provided by one embodiment of the present application from another perspective;

[0057] FIG47 is a schematic top view of the second body of the lawn mowing robot provided in one embodiment of the present application;

[0058] FIG48 is a schematic cross-sectional view taken along line BB in FIG47 ;

[0059] FIG49 is a schematic cross-sectional view taken along the CC line of FIG47 ;

[0060] FIG50 is a schematic cross-sectional view of the structure taken along line DD in FIG47;

[0061] FIG51 is a schematic diagram of a partially enlarged structure of portion E in FIG50;

[0062] FIG52 is a partial enlarged structural diagram of portion F in FIG50;

[0063] FIG53 is a partial enlarged structural diagram of portion G in FIG50;

[0064] FIG54 is a schematic diagram of the three-dimensional structure of the second body of the lawn mowing robot provided by one embodiment of the present application at one viewing angle;

[0065] FIG55 is a schematic diagram of the structure of FIG54 when the middle decorative shell is omitted;

[0066] FIG56 is a schematic diagram of the structure of FIG55 when the upper shell is omitted;

[0067] FIG57 is a schematic diagram of the three-dimensional structure of the second body of the lawn mowing robot provided by one embodiment of the present application from another perspective;

[0068] FIG58 is a schematic diagram of the structure of FIG57 when the bottom shell is omitted;

[0069] FIG59 is a schematic diagram of the three-dimensional structure of a second radiator in a lawn mowing robot provided in one embodiment of the present application;

[0070] FIG60 is a schematic diagram of the three-dimensional structure of the bottom shell of the lawn mowing robot provided by one embodiment of the present application at one viewing angle;

[0071] FIG61 is a schematic diagram of the three-dimensional structure of the bottom shell of the lawn mowing robot provided by one embodiment of the present application from another perspective;

[0072] FIG62 is a schematic diagram of the three-dimensional structure of the upper shell of the lawn mowing robot provided by one embodiment of the present application at one viewing angle;

[0073] FIG63 is a schematic diagram of the three-dimensional structure of the upper shell of the lawn mowing robot provided by one embodiment of the present application from another perspective;

[0074] FIG64 is a schematic diagram of the three-dimensional structure of a control device of a lawn mowing robot provided by an embodiment of the present application at one viewing angle;

[0075] FIG65 is a schematic diagram of the three-dimensional structure of the control device of the lawn mowing robot provided by one embodiment of the present application from another perspective;

[0076] FIG66 is a schematic diagram of a partial structure of the second body of the lawn mowing robot provided in an embodiment of the present application, showing the installation method of the visual device;

[0077] FIG67 is a schematic diagram of the three-dimensional structure of a visual device in a lawn mowing robot provided by an embodiment of the present application at one viewing angle;

[0078] FIG68 is a schematic diagram of the three-dimensional structure of the visual device of the lawn mowing robot provided by one embodiment of the present application from another perspective;

[0079] FIG69 is a schematic diagram of a top view of a visual device in a lawn mowing robot according to an embodiment of the present application;

[0080] FIG70 is a schematic cross-sectional view of the structure taken along line HH in FIG69;

[0081] FIG71 is a schematic diagram of the three-dimensional structure of the visual device of the lawn mowing robot provided by one embodiment of the present application from another perspective, in which the third radiator is omitted;

[0082] FIG72 is a schematic diagram of the structure of FIG71 when the pre-processing circuit board is omitted;

[0083] FIG73 is a schematic diagram of the three-dimensional structure of the visual device of the lawn mowing robot provided by one embodiment of the present application from another perspective, in which the light-transmitting plate is omitted;

[0084] FIG74 is a schematic diagram of the three-dimensional structure of a mounting base in a lawn mowing robot provided in one embodiment of the present application;

[0085] FIG75 is a schematic diagram of the three-dimensional structure of a button device of a lawn mowing robot provided by an embodiment of the present application from one viewing angle;

[0086] FIG76 is a schematic diagram of the three-dimensional structure of the button device of the lawn mowing robot provided by one embodiment of the present application from another perspective;

[0087] FIG77 is a schematic diagram of the three-dimensional structure of a button housing of a lawn mowing robot provided by an embodiment of the present application at one viewing angle;

[0088] FIG78 is a schematic diagram of the three-dimensional structure of the button housing of the lawn mowing robot provided by one embodiment of the present application from another perspective;

[0089] FIG79 is a schematic diagram of the three-dimensional structure of a reset plate in a lawn mowing robot provided by an embodiment of the present application at one viewing angle;

[0090] FIG80 is a schematic diagram of the three-dimensional structure of the reset plate in the lawn mowing robot provided by one embodiment of the present application from another perspective;

[0091] FIG81 is a schematic diagram of the three-dimensional structure of the reset plate in the lawn mowing robot provided by one embodiment of the present application from another perspective;

[0092] FIG82 is a schematic diagram of the three-dimensional structure of the transfer mechanism of the lawn mowing robot provided by one embodiment of the present application from one viewing angle;

[0093] FIG83 is a schematic diagram of the three-dimensional structure of the transfer mechanism of the lawn mowing robot provided by one embodiment of the present application from another perspective;

[0094] FIG84 is a schematic diagram of the three-dimensional structure of the transfer mechanism of the lawn mowing robot provided by one embodiment of the present application from another perspective, with the cover plate omitted in the figure;

[0095] FIG85 is a schematic diagram of the three-dimensional structure of the middle shell of the lawn mower robot provided by one embodiment of the present application at one viewing angle;

[0096] Figure 86 is a schematic diagram of the three-dimensional structure of the middle shell of the lawn mowing robot provided by an embodiment of the present application from another perspective.

[0097] 11. The first housing; 11. The first casing; 11. The chassis; 11. The first mounting slot; 11. The second mounting slot; 11. The third mounting slot; 11. The fourth mounting slot; 11. The first mounting hole; 11. The first avoidance hole; 11. The first fixing hole; 11. The eighth avoidance hole; 11. The fourth connecting hole; 11. The side wing; 11. The connecting plate; 11. The shielding plate; 11. The first sealing cover; 11. The second sealing cover; 11. The pressing plate; 11. The mounting portion; 11. The cover; 11. The second connecting portion; 11. The second avoidance hole; 11. The second mounting hole; 11. The fourth avoiding hole; 11. The fourth fixing hole; 11. The eighth avoidance hole; 11. The fourth connecting hole; 11. The side wing; 11. The connecting plate; 11. The shielding plate; 11. The first sealing cover; 11. The second sealing cover; 11. The pressing plate; 11. The mounting portion; 11. The cover; 11. The second connecting portion; 11. The second avoidance hole; 11. The second mounting hole; 11. The fourth avoiding hole Hole; 113, power supply; 12, walking mechanism; 121, walking wheel; 1211, wheel hub; 1212, tire; 1213, first flange; 1214, rigid connecting piece; 1215, decorative outer cover; 1216, back cover; 1217, oblique protrusion; 1201, second connecting hole; 1202, inner mounting groove; 1203, outer mounting groove; 1204, first connecting hole; 1205, oblique groove; 1206, third connecting hole; 1207, first mounting cavity; 122, walking motor; 1221, first mounting ear; 1222, first sealing ring; 1223, fourth avoidance through hole; 123, mounting arm; 1231, mounting arm body; 1232, wheel axle seat; 1233, reinforcing rib; 123 4. Second fixing hole; 1235. Axle hole; 124. Universal wheel; 1241. Wheel body; 1242. Axle; 13. Cutting mechanism; 131. Cutting element; 1311. Cutter head; 1312. Blade; 132. Cutting motor; 133. Motor cylinder; 1332. Cylinder cover; 1333. First radiator; 1331. Support groove; 134. Protective plate; 135. Swing arm; 1351. Rotating element; 1352. Support arm; 1353. Roller; 136. Height adjustment motor; 137. Transmission assembly; 1371. Worm; 1372. Gear; 1373. Rotating shaft; 138. Fixing seat; 1381. First cavity; 1382. Second cavity; 1383. Opening; 1384. Sixth cavity Avoidance through hole; 1385, seventh avoidance through hole; 1386, fixed body; 1387, end plate; 1388, tail plate; 139, connecting rod assembly; 1391, connecting seat; 1392, connecting rod; 14, lift-off detection mechanism; 141, first detection member; 142, first trigger member; 15, height adjustment detection mechanism; 151, second detection member; 152, third detection member; 153, second trigger member; 154, third trigger member; 155, fourth detection member; 16, collision detection mechanism; 161, support frame; 1611, connecting arm; 1612, support body; 1613, lower sub-body; 1614, upper sub-body; 1615, second avoidance groove; 1616, first avoidance groove; 1617, storage compartment;162, floating housing; 1621, lower sub-housing; 1622, upper sub-housing; 1623, second mounting cavity; 163, elastic member; 1631, first elastic member; 1632, second elastic member; 164, induction member; 165, fourth trigger member; 17, charging head; 171, first insulating seat; 172, first positive electrode; 173, first negative electrode; 174, insulating protrusion; 175, first connecting portion; 20, second body; 21, second housing; 201, second cavity; 202, third cavity; 211, bottom housing; 2111, first side wall; 2112, 2113, second side wall; 2114, first opening; 2115, second opening; 2116, third connection portion; 2117, reinforcement plate; 2118, thirteenth avoidance hole; 2119, ring groove; 212, upper shell; 2121, fourth mounting hole; 213, decorative shell; 2131, front decorative shell; 2132, middle decorative shell; 2133, rear decorative shell; 2134, decorative ring; 2135, eleventh avoidance hole; 22, control device; 221, core board; 2211, AI processing chip; 222, bottom board; 2221, external interface; 2222, functional module; 23, heat dissipation structure; 231, heat dissipation channel; 232, second radiator; 2321, support plate; 2322, heat dissipation fins; 2323, second sealing ring; 2324, thermal conductive adhesive layer; 2325, First heat conducting block; 233, fluid acceleration element; 234, filter; 24, visual device; 241, mounting seat; 2411, third mounting cavity; 2412, first mounting platform; 2413, second mounting platform; 2414, third sealing ring; 2415, ring rib; 242, camera; 243, TOF module; 244, second heat conducting block; 245, pre-processing circuit board; 246, third radiator; 247, light-transmitting plate; 25, button device; 251, button shell; 2511, button hole; 2512, first rib; 2513, first groove; 2514, second groove; 252, function button module; 2521, button circuit board; 2522, function button; 2523, reset plate; 2524, extrusion piece; 2525, Tactile switch; 2526, elastic sheet; 2527, first protrusion; 2528, second protrusion; 253, emergency stop switch module; 2531, emergency stop button; 2532, reset member; 2533, fifth detection member; 2534, fifth trigger member; 2535, first balance board; 2536, second balance board; 254, raindrop sensor; 26, first positioning antenna; 27, first communication chip; 273, antenna bracket; 28, handle; 281, first sub-component; 282, second sub-component; 29, speaker; 30, adapter mechanism; 31, adapter plate; 311, first terminal; 312, second terminal; 32, protective shell; 321, shell body; 3211, flat plate; 3212, second rib; 3213, third rib;3214, glue filling groove; 3215, extension tube; 322, cover plate; 33, first wire hole; 34, second wire hole. DETAILED DESCRIPTION

[0098] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0099] It should be noted that when a component is referred to as being "fixed on" or "disposed on" another component, it may be located directly or indirectly on the other component. When a component is referred to as being "connected to" another component, it may be directly or indirectly connected to the other component. The directions or positions indicated by the terms "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the directions or positions shown in the accompanying drawings and are only for the convenience of description and cannot be understood as limitations on this technical solution. The terms "first" and "second" are only used for the purpose of convenience of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0100] The present invention provides a lawn mowing robot. The lawn mowing robot according to the present invention is described below with reference to the accompanying drawings.

[0101] Referring to Figures 1 to 86 , the lawn mower robot 100 includes a housing, an actuator, and a control device 22, which are mounted on the housing. The actuator includes an actuator and a driver. The driver drives the actuator to perform actions, including but not limited to moving the housing and performing cutting operations. The control device 22 is electrically connected to the driver to control the actuator to perform these actions.

[0102] 1 to 4 , in some embodiments, the housing includes a first housing 11. Optionally, the first housing 11 includes a chassis 111.

[0103] In some embodiments, as shown in Figures 2 and 3 , the housing further includes a second housing 21, which is connected to the first housing 11. Optionally, the second housing 21 and the first housing 11 are arranged vertically, with the first housing 11 located below the second housing 21. This means that when the robotic lawn mower 100 is placed on the ground, the first housing 11 is closer to the ground than the second housing 21. The second housing 21 and the first housing 11 are independent of each other. It should be understood that the term "independence" means that the first housing 11 and the second housing 21 are each separate components and are assembled together to form the housing.

[0104] In some embodiments, referring to Figures 2 and 3 , a first cavity (not shown) is formed within the first housing 11. It should be noted that the first cavity can be a sealed cavity that prevents external fluid media such as water and air from easily entering the sealed cavity, or it can be an open cavity that can exchange media with the outside world. Because the first housing 11 and the second housing 21 are independent of each other, the formed first cavity is independent of the second housing 21, forming a physical isolation, thereby maintaining the independence of the first cavity.

[0105] In some embodiments, referring to Figures 2, 3, and 47 to 50, a second cavity 201 is formed within the second housing 21. Similarly, the second cavity 201 can be a sealed cavity or an open cavity. Similarly, because the first housing 11 and the second housing 21 are independent of each other, the second cavity 201 is physically isolated from the first cavity, thereby maintaining the independence of the second cavity 201 from the first cavity.

[0106] In some embodiments, referring to Figures 2 and 3, the second housing 21 is detachably connected to the first housing 11. For example, the first housing 11 and the second housing 21 are detachably connected by screwing; mounting holes are respectively provided on the second housing 21 and the first housing 11, and after the second housing 21 and the first housing 11 are aligned, they are screwed into the mounting holes by screws to achieve the fixation of the second housing 21 and the first housing 11; when the two need to be separated, the screws are unscrewed from the mounting holes to achieve the separation of the second housing 21 and the first housing 11. Of course, the second housing 21 and the first housing 11 can also be detachably connected by snapping, and the specific connection method is not specifically limited here. Any method that can achieve detachable connection can be used as a technical solution for connecting the second housing 21 and the first housing 11.

[0107] In some embodiments, referring to Figures 2, 3, and 47 to 50, the actuator is mounted on the first housing 11, and the control device 22 is mounted within the second cavity 201. Compared to conventional lawn mowers, the robotic lawn mower 100, due to its autonomous mobility, requires the chip on the control device 22 to perform a significant amount of computation, resulting in significant heat generation. Conventional robotic lawn mowers 100 typically place the actuator and control device 22 within the same mounting cavity. The actuator also generates heat when the actuator drives the actuator to perform work. This heat, combined with the heat generated by the actuator and the chip on the control device 22, concentrates heat within the cavity where the actuator and control device are mounted, causing a rapid local temperature rise, which in turn affects the performance of the control device 22. Therefore, the embodiments of the present application physically isolate the actuator and control device 22 by mounting them in separate housings. This reduces the difficulty of heat generated by the actuator being conducted, radiated, or convected to the control device 22, thereby reducing the impact of the heat generated by the actuator on the control device 22 and alleviating the issue of excessive temperature affecting the performance of the control device 22. When the second housing 21 and the first housing 11 are distributed up and down, the second cavity 201 is farther from the ground, which can reduce the impact of water accumulation on the ground and dew and rain on vegetation, thereby reducing the interference of water vapor on the control device 22. In addition, the actuator is installed on the first housing 11, which facilitates the actuator to perform activities on the ground. The drive member is also installed on the first housing 11, shortening the distance between the drive member and the actuator, which will become simpler in terms of circuit connection and transmission method. In addition, when the second housing 21 and the first housing 11 are detachably connected, the first housing 11 or the second housing 21 can be removed separately to repair and maintain the actuator or the control device 22, which is more convenient. Optionally, the second cavity 201 is a sealed cavity, and the control device 22 is installed in the sealed cavity of the second housing 21. This can further reduce the interference of external water vapor and debris on the control device 22.

[0108] In some embodiments, referring to Figures 1 to 8 and Figures 47 to 50, the lawn mowing robot 100 includes a first body 10 and a second body 20, wherein the first body 10 includes a first housing 11 and an actuator, the actuator includes a driving member and an actuator, the driving member and the actuator are installed on the first housing 11, and the driving member is used to drive the actuator to do work; the second body 20 includes a second housing 21 and a control device 22, and the control device 22 is installed in a second cavity 201 on the second housing 21. By designing the lawn mower robot 100 to include a first body 10 and a second body 20, with the control device 22 primarily mounted on the second housing 21 (the second body 20 serves as the brain of the lawn mower robot 100), and the actuator primarily mounted on the first housing 11 (the first body 10 serves as the limbs of the lawn mower), the second body 20 controls the actions of the first body 10, thereby achieving a modular design for the lawn mower robot 100. Each module can be designed accordingly based on its own needs. For example, the control device 22 has relatively high requirements for waterproofing and heat dissipation, so the second body 20 can be modified separately. The actuator, as a consumable component, can be detachably mounted on the first housing 10 to facilitate replacement and maintenance, without affecting the waterproofing and heat dissipation design of the control device 22. Therefore, by designing the lawn mower robot 100 to include a first body 10 and a second body 20, a larger design space is provided for the lawn mower robot 100, thereby reducing the overall manufacturing difficulty of the lawn mower robot. When the first housing 11 and the second housing 21 are detachably connected, it can be understood that the first body 10 and the second body 20 are also detachably connected. When one of them needs to be repaired and maintained, the corresponding part can be disassembled for repair.

[0109] In some embodiments, referring to Figures 1 to 8 , a lawn mower robot 100 includes a first body 10, which includes a first housing 11 and an actuator mounted on the first housing 11. The actuators include, but are not limited to, a running mechanism 12 and a cutting mechanism 13. The running mechanism 12 is used to move the lawn mower robot 100 across the ground, while the cutting mechanism 13 is used to cut vegetation, such as grass, on the ground. Optionally, the running mechanism 12 includes running wheels 121 and a running motor 122. The running wheels 121 serve as actuators, and the running motor 122 serves as a driving element. The running motor 122 drives at least one running wheel 121 to rotate, thereby moving the first body 10. In other embodiments, the actuators in the running mechanism 12 may also be tracks, with the running motor 122 driving the tracks. The cutting mechanism 13 typically includes a cutting element 131 and a cutting motor (not shown). The cutting element 131 serves as the actuator, and the cutting motor serves as the driving element. The cutting motor drives the cutting element 131 to move, thereby causing the cutting element 131 to cut vegetation. Optionally, the actuator can be detachably mounted on the first housing 11. Since the actuator is easily worn during the execution of the action, by setting the actuator to be detachably mounted on the first housing 11, the actuator can be replaced or repaired after being worn, thereby reducing the maintenance cost of the lawn mowing robot 100.

[0110] In some embodiments, referring to Figures 4 to 12, the first housing 11 includes a chassis 111 and a cover 112, and the chassis 111 and the cover 112 are connected together and enclosed to form a first cavity (not shown). Specifically, the chassis 111 and the cover 112 are detachably connected together by screws or bolts. When it is necessary to repair and maintain the components inside the first cavity, the chassis 111 and the cover 112 can be opened. When the control device 22 with relatively high requirements for waterproof performance is installed in the second cavity 201, only the second cavity 201 can be set as a sealed cavity, and the first cavity can be set as an open cavity to reduce manufacturing costs. Optionally, the chassis 111 and the cover 112 are both plastic parts, which have advantages in cost, manufacturing and weight.

[0111] To facilitate the subsequent description of the lawn mower robot 100, the following distinction is made: when the lawn mower robot 100 is normally placed on the ground, the side of each feature facing the sky is the upper side, and the side facing the ground is the lower side; when the lawn mower robot 100 moves forward, the end facing the direction of travel is the front end, and the end away from the direction of travel is the rear end.

[0112] In some embodiments, referring to Figures 4 to 11 , the chassis 111 is further provided with a mounting slot. For ease of distinction, this mounting slot is defined herein as a first mounting slot 1101, which is used to mount the cutting mechanism 13. Specifically, the first mounting slot 1101 is formed by a partial depression of the chassis 111 toward the direction of the cover 112. The notch of the first mounting slot 1101 is located on the underside of the chassis 111 and faces the ground. The first mounting slot 1101 is located outside the first cavity. Side wings 1111 are provided on both sides of the chassis 111, near the notch. The side wings 1111 are used to shield the cutting member 131 on the cutting mechanism 13, reducing the risk of the cutting member 131 injuring the user. Exemplarily, the side wings 1111 include a connecting plate 11111 and a shielding plate 11112. The shielding plate 11112 extends toward the ground. The connecting plate 11111 is connected between the chassis 111 and the shielding plate 11112. The connecting plate 11111 and the shielding plate 11112 are integrally formed, and the side wings 1111 are also integrally formed with the chassis 111. In the embodiment of the present application, the number of first mounting slots 1101 is one, and the first mounting slot 1101 is located in the middle of the chassis 111. In other embodiments, the number of first mounting slots 1101 may be multiple.

[0113] In some embodiments, referring to Figures 4 to 11 , another mounting slot is further provided on the chassis 111, herein defined as a second mounting slot 1102. The second mounting slot 1102 is used to accommodate the travel motor 122. Specifically, the second mounting slot 1102 is formed on one side of the chassis 111. If the second mounting slot 1102 is formed on the lower side of the chassis 111, the notch of the second mounting slot 1102 is located on the lower side of the chassis 111, and the second mounting slot 1102 is located outside the first cavity. This eliminates the need to open the first cavity when assembling the travel motor 122. If the second mounting slot 1102 is formed on the upper side of the chassis 111, the notch of the second mounting slot 1102 is located on the upper side of the chassis 111, and the second mounting slot 1102 is located within the first cavity. The first cavity must be opened to assemble the travel motor 122 into the second mounting slot 1102. To prevent the travel motor 122 from being affected by moisture, a sealing cover is provided at the notch of the second mounting groove 1102. For ease of distinction, this sealing cover is defined as a first sealing cover 1112, so that the second mounting groove 1102 is sealed to form a sealed compartment. The position of the second mounting groove 1102 on the chassis 111 is related to the layout of the travel motor 122 on the chassis 111. If the front wheels of the lawn mower robot 100 are drive wheels, the travel motor 122 is usually provided near the front end of the chassis 111. Accordingly, the second mounting groove 1102 is provided near the front end of the chassis 111. If the rear wheels of the lawn mower robot 100 are drive wheels, the travel motor 122 is provided near the rear end of the chassis 111. Accordingly, the second mounting groove 1102 is provided near the rear end of the chassis 111. The second mounting groove 1102 can be equipped with one travel motor 122 or multiple travel motors 122. The shape and volume of the second mounting groove 1102 can be adjusted according to specific needs. Furthermore, a mounting hole is provided through the side wall of the second mounting groove 1102. For the sake of easy distinction, the mounting hole is defined here as the first mounting hole 1105. When the walking motor 122 is installed in the second mounting groove 1102, the output shaft of the walking motor 122 can drive the walking wheel 121 located outside the second mounting groove 1102 through the first mounting hole 1105.

[0114] In some embodiments, as shown in Figures 4 to 11 , the chassis 111 is further provided with another mounting slot, herein referred to as a third mounting slot 1103, for accommodating a power supply 113. The power supply 113 is a device used to power the electrical components of the lawn mower robot 100. In this embodiment, the power supply 113 comprises a battery, optionally a secondary battery that can be recharged for reusable use. Specifically, the third mounting slot 1103 is formed on a side of the chassis 111. It can be on the bottom side of the chassis 111, in which case the third mounting slot 1103 is located outside the first cavity; or on the top side of the chassis 111, in which case the third mounting slot 1103 is located inside the first cavity. To protect the power supply 113 from moisture, a sealing cover, herein referred to as a second sealing cover 1113, is provided at the notch of the third mounting slot 1103, thereby enclosing the third mounting slot 1103 and forming a sealed compartment. Typically, only one third mounting slot 1103 is provided.

[0115] In some embodiments, referring to Figures 4 to 11, a first mounting groove 1101, a second mounting groove 1102, and a third mounting groove 1103 are simultaneously provided on the chassis 111, and the first mounting groove 1101, the second mounting groove 1102, and the third mounting groove 1103 are staggered and distributed on the chassis 111. Specifically, the first mounting groove 1101, the third mounting groove 1103, and the second mounting groove 1102 are arranged in sequence from the front end to the rear end of the chassis 111. Optionally, the notch of the first mounting groove 1101 is located on the lower side of the chassis 111, and the notches of the third mounting groove 1103 and the second mounting groove 1102 are both located on the upper side of the chassis 111, that is, the third mounting groove 1103 and the second mounting groove 1102 are both located in the first cavity. Optionally, the third mounting groove 1103 and the second mounting groove 1102 are arranged adjacent to each other, and the first sealing cover 1112 and the second sealing cover 1113 are arranged integrally. Optionally, there is a common wall between the third mounting slot 1103 and the second mounting slot 1102, and an avoidance through-hole is opened on the common wall. For the sake of easy distinction, the avoidance through-hole is defined here as the first avoidance through-hole 1106. The power supply 113 in the third mounting slot 1103 and the walking motor 122 in the second mounting slot 1102 are electrically connected through a wire passing through the first avoidance through-hole 1106.

[0116] In some embodiments, referring to Figures 3 to 9 , the lawn mower robot 100 includes a running mechanism 12 disposed on a housing. The running mechanism 12 includes multiple running wheels 121 and a running motor 122. There may be multiple running wheels 121, and at least one running motor 122. The running motor 122 is used to drive at least one running wheel 121. Exemplarily, the running mechanism 12 includes three running wheels 121: one front wheel and two rear wheels. The front wheel is a caster, specifically a universal wheel 124, and the rear wheels are drive wheels. Each of the two rear wheels is driven by a separate running motor 122. Each running motor 122 can be independently controlled to achieve differential steering. Exemplarily, the running mechanism 12 includes one front wheel and two rear wheels. The front wheel is a drive wheel, specifically a steering wheel, which not only drives the front wheel but also enables steering. Exemplarily, the running mechanism 12 includes two front wheels and two rear wheels. The two front wheels are universal wheels 124, and the two rear wheels are drive wheels. For example, the walking mechanism 12 includes four walking wheels 121, all of which are driving wheels, thereby achieving full-wheel drive. The walking motor 122 can be a hub 1211 motor or a reduction motor, which is not limited here.

[0117] In some embodiments, the walking mechanism 12 includes a driving wheel structure and a universal wheel structure. The driving wheel structure includes a walking wheel 121 and a walking motor 122 that drives the walking wheel 121 to move. The universal wheel structure is different from the driving wheel structure in that it does not include the walking motor 122, and the walking wheel is a universal wheel 124. Optionally, the universal wheel structure is the front wheel and the driving wheel structure is the rear wheel. Optionally, the driving wheel structure and the universal wheel structure are both installed on the first housing 11, specifically on the chassis 111. By installing the driving wheel structure and the universal wheel structure on the same component, the two have the same reference, which is convenient for calibration. In other embodiments, the walking mechanism 12 may also include only the driving wheel structure. It can be understood that the walking mechanism 12 at least includes the driving wheel structure.

[0118] In some embodiments, referring to Figures 8, 9, 13 to 21, the driving wheel structure includes a walking wheel 121 and a walking motor 122, and the walking motor 122 drives the walking wheel 121 to move. The walking wheel 121 includes a hub 1211 and a tire 1212, and the tire 1212 is coated on the outer periphery of the hub 1211 and is integrally arranged with the hub 1211. The output shaft of the walking motor 122 is connected to the hub 1211, thereby driving the walking wheel 121 to rotate. The hub 1211 serves as the skeleton structure of the walking wheel 121, and the hub 1211 is a metal part or a plastic part. Optionally, the hub 1211 is disc-shaped. The tire 1212 is usually a rubber part. In order to improve the grip, the outer surface of the tire 1212 is also provided with a plurality of convex teeth.

[0119] In order to facilitate the subsequent description of the wheel hub 1211 , the following distinction is made: the wheel hub 1211 has two opposite sides, the side facing the travel motor 122 is the inner side, and the side away from the travel motor 122 is the outer side.

[0120] In some embodiments, referring to Figures 13 to 21 , a flange is fixed to the output shaft of the travel motor 122. For ease of distinction, this flange is defined herein as a first flange 1213, which interfaces with the inner side of the wheel hub 1211. Specifically, both the first flange 1213 and the wheel hub 1211 are provided with connection holes, wherein the first flange 1213 has a first connection hole 1204, and the wheel hub 1211 has a second connection hole 1201. The first connection hole 1204 corresponds to the second connection hole 1201, and the first connection hole 1204 and the second connection hole 1201 are connected together by fasteners, including but not limited to screws, bolts, etc., thereby connecting the first flange 1213 and the wheel hub 1211 together to achieve torque transmission.

[0121] In some embodiments, referring to Figures 13 to 21 , a guide portion is provided on the inner side of the hub 1211, and a guide mating portion is provided on the first flange 1213. The guide mating portion cooperates with the guide portion to guide the first flange 1213 to mate with the hub 1211, thereby reducing the difficulty of installing the first flange 1213 and the hub 1211. For example, the guide portion includes at least one inclined protrusion 1217. The inclined protrusion 1217 is a block with a gradually increasing width from one end to the other, and the side surface of the inclined protrusion 1217 is typically an inclined surface. Correspondingly, the guide mating portion is an inclined groove 1205 that matches the inclined protrusion 1217. The groove 1205 gradually increases in width from the opening to the bottom. When the first flange 1213 and the hub 1211 mate, the inclined protrusion 1217 cooperates with the inclined groove 1205 to automatically align the first connection hole 1204 with the second connection hole 1201, thereby reducing the difficulty of installation. Optionally, the inner side of the hub 1211 is further provided with an inner mounting groove 1202 adapted to the first flange 1213. The inner mounting groove 1202 is used to mount the first flange 1213. The second connection hole 1201 is provided on the bottom wall of the inner mounting groove 1202. The inclined protrusion 1217 is also provided on the bottom wall of the inner mounting groove 1202 and is spaced apart from the second connection hole 1201. The inner mounting groove 1202 cooperates with the first flange 1213 to further limit the position of the first flange 1213. Of course, in other embodiments, the hub 1211 may be provided with an inclined groove 1205, i.e., the guide portion is the inclined groove 1205, and the first flange 1213 may be provided with an inclined protrusion 1217, i.e., the guide mating portion is a writing protrusion.

[0122] In some embodiments, referring to Figures 13 to 21 , the travel wheel 121 further includes a rigid connecting piece 1214, which is mounted on the outside of the hub 1211. The rigid connecting piece 1214 also has a connection hole, specifically a third connection hole 1206, which corresponds to the second connection hole 1201. A fastener is also used to pass through the third connection hole 1206, thereby connecting the rigid connecting piece 1214, the hub 1211, and the first flange 1213. The addition of the rigid connecting piece 1214 helps to enhance the strength of the connection. Optionally, the outside of the hub 1211 is further provided with an outer mounting groove 1203, which corresponds to the inner mounting groove 1202, and the rigid connecting piece 1214 is mounted within the outer mounting groove 1203. When installing the driving wheel structure, the first flange 1213 can be first abutted against the inner side of the wheel hub 1211, and then the rigid connecting plate 1214 can be superimposed on the outer side of the wheel hub 1211. Then, fasteners can be used from the outer side of the wheel hub 1211 to pass through the third connecting hole 1206, the second connecting hole 1201 and the first connecting hole 1204 in sequence, thereby connecting the rigid connecting plate 1214, the wheel hub 1211 and the first flange 1213 together.

[0123] In some embodiments, referring to Figures 8, 9, and 13 to 21, the travel wheel 121 further includes a decorative outer cover 1215, which is mounted on the outside of the wheel hub 1211. The decorative outer cover 1215 primarily covers the rigid connecting piece 1214, providing a decorative effect and preventing debris from entering the interior of the wheel hub 1211. Optionally, the decorative outer cover 1215 is snap-fitted to the wheel hub 1211.

[0124] In some embodiments, referring to Figures 8, 9, and 13 to 21, the travel wheel 121 further includes a back cover 1216, which is mounted on the inner side of the wheel hub 1211. The back cover 1216 and the wheel hub 1211 enclose a mounting cavity, which for ease of distinction is referred to herein as the first mounting cavity 1207. The first flange 1213 is located between the back cover 1216 and the wheel hub 1211 and is received within the first mounting cavity 1207. The back cover 1216 is provided with a clearance hole, herein defined as a third clearance hole, for circumventing the output shaft of the travel motor 122. The output shaft of the travel motor 122 extends into the first mounting cavity 1207 through the third clearance hole and connects to the first flange 1213 within the first mounting cavity 1207.

[0125] In some embodiments, referring to Figures 4 to 21 , the drive wheel structure is removably mounted on the housing, particularly in a removable and detachable manner, meaning that the drive wheel structure can be separated from the housing without disassembling the housing. Optionally, the travel motor 122 is removably mounted on the chassis 111 of the first housing 11. By removably mounting the travel motor 122 on the chassis 111 and connecting the travel wheel 121 to the output shaft of the travel motor 122, the drive wheel structure is removably mounted on the first housing 11. Specifically, a first mounting ear 1221 is secured to the travel motor 122. A first mounting hole 1105 is defined in the chassis 111. The first mounting hole 1105 connects the outside world to the second mounting slot 1102 on the chassis 111. The diameter of the first mounting hole 1105 is larger than the maximum outer diameter of the travel motor 122 but smaller than the maximum dimension of the first mounting ear 1221. A mounting portion 1115 is formed on the outside of the chassis 111, surrounding the opening of the first mounting hole 1105. The travel motor 122 extends into the second mounting slot 1102 through the first mounting hole 1105. The first mounting ear 1221 abuts against the mounting portion 1115 and is detachably connected thereto. Exemplarily, the first mounting ear 1221 and mounting portion 1115 are threadedly connected. To disassemble the drive wheel structure, simply remove the first mounting ear 1221 from the mounting portion 1115, then remove the travel motor 122 from the second mounting slot 1102. To prevent moisture from entering the second mounting groove 1102 through the gap between the first mounting ear 1221 and the mounting portion 1115, a first sealing ring 1222 is interposed between the first mounting ear 1221 and the mounting portion 1115. A fourth clearance hole 1223 is defined in the first mounting ear 1221 to provide clearance for the output shaft of the travel motor 122. Optionally, the mounting portion 1115 is a mounting groove, and the first mounting ear 1221 abuts against and is detachably connected to the bottom wall of the groove.

[0126] In some embodiments, referring to Figures 4 to 7 and 22 to 25 , the universal wheel structure includes a mounting arm 123 and a universal wheel 124. The mounting arm 123 is fixedly mounted on the housing, and the universal wheel 124 is movably mounted on the mounting arm 123. By designing the universal wheel structure to include the mounting arm 123 and the universal wheel 124, with the universal wheel 124 mounted on the mounting arm 123, and the mounting arm 123 mounted on the housing, a modular design is achieved, reducing manufacturing difficulty. Furthermore, mounting arm 123 includes a mounting arm body 1231 and an axle seat 1232. One end of mounting arm body 1231 is connected to chassis 111, and axle seat 1232 is fixed to the other end of mounting arm body 1231. A vertical axle hole 1235 is provided through axle seat 1232. Universal wheel 124 includes a wheel body 1241 and an axle 1242. Wheel body 1241 is rotatably mounted on a first end of axle 1242, and a second end of axle 1242 is rotatably mounted within axle hole 1235. Optionally, the diameter of the second end of axle 1242 is slightly smaller than the diameter of axle hole 1235. To reduce the weight of mounting arm 123, mounting arm body 1231 is hollow, and multiple reinforcing ribs 1233 are provided on the inner wall of mounting arm body 1231 to strengthen the mounting body and reduce the risk of fracture. Specifically, the mounting arm body 1231 includes two sub-sections that interlock together. Each sub-section is manufactured separately and then assembled together to form the mounting arm body 1231, which reduces the manufacturing difficulty of the mounting arm body 1231. In some embodiments, the axle seat 1232 is detachably fixed to the mounting arm body 1231. Therefore, when the universal wheel 124 needs to be repaired, the axle seat 1232 can be removed from the mounting arm body 1231 to remove the universal wheel 124.

[0127] In some embodiments, as shown in Figures 4 to 7 and 22 to 25 , the universal wheel structure is removably mounted on the housing, particularly in a removable, detachable manner, meaning that the universal wheel structure can be separated from the housing without disassembling the housing. Optionally, the mounting arm 123 is removably mounted on the chassis 111 of the first housing 11. By removably mounting the mounting arm 123 on the chassis 111 and mounting the universal wheel 124 on the mounting arm 123, the universal wheel structure is removably mounted on the first housing 11. When a component of the universal wheel structure needs to be replaced, the universal wheel structure can simply be removed from the first housing 11 for repair and maintenance. Even if the universal wheel structure is damaged, only the universal wheel structure needs to be replaced, without requiring any modifications to other components of the first housing 10. Specifically, as shown in Figures 10 and 11 , a fixing hole is provided through the chassis 111. For ease of distinction, this fixing hole is referred to herein as the first fixing hole 1107. One end of the mounting arm body 1231 away from the axle seat 1232 is placed on the upper side of the chassis 111. A fixing hole is also provided on this end of the mounting arm body 1231, which is defined herein as the second fixing hole 1234. Fasteners pass through the first fixing hole 1107 and the second fixing hole 1234 in sequence from the lower side of the chassis 111 and fix the mounting arm body 1231 to the chassis 111. The fasteners include but are not limited to screws, bolts, etc. The end of the mounting arm body 1231 away from the axle seat 1232 is placed on the upper side of the chassis 111. It can be understood that the end of the mounting arm body 1231 away from the axle seat 1232 is located in the first cavity, and an avoidance through-hole is provided on the corresponding cover body 112, which is defined herein as the second avoidance through-hole 1122. The second avoidance through-hole 1122 avoids the mounting arm body 1231 so that the mounting arm body 1231 can extend into the first cavity. To remove the mounting arm 123 from the first housing 11, simply remove the fasteners from the underside of the chassis 111 and then pull the mounting arm body 1231 out of the first cavity through the second escape hole 1122. Specifically, a fixing post is provided on the upper side of the chassis 111, and the first fixing hole 1107 extends through the fixing post. The end of the mounting arm body 1231 away from the axle seat 1232 rests on the fixing post.

[0128] In some embodiments, referring to Figures 4 to 7 , there are two universal wheel structures, symmetrically mounted on the chassis 111. The mounting arms 123 of the two universal wheel structures are mounted on the sides of the housing and extend away from the housing, respectively. This allows the universal wheels 124 to be separated as much as possible, thereby stabilizing the lower plate of the mower robot 100 and reducing the risk of the mower robot 100 tipping over when walking on grass. Optionally, a pressure plate 1114 is mounted on the upper side of the chassis 111 within the first cavity. The pressure plate 1114 is used to press the end of the mounting arm body 1231 away from the wheel axle seat 1232 toward the chassis 111 to prevent the universal wheel structure from shaking during walking. When there are two universal wheel structures, the ends of the mounting arm bodies 1231 away from the wheel axle seat 1232 of the two universal wheel structures face each other, and the same pressure plate 1114 is provided to press the ends of the two mounting arm bodies 1231.

[0129] In some embodiments, referring to Figures 22 to 25 , the lawn mower robot 100 further includes a lift-off detection mechanism 14 , which is used to detect whether the lawn mower robot 100 is in a lift-off state. As the name suggests, the lift-off state refers to a state in which the running wheels are off the ground and suspended in the air. This can be a state in which one or all running wheels are suspended in the air. Situations in which the lawn mower robot 100 is in a lift-off state include, but are not limited to, the lawn mower robot 100 being lifted, the lawn mower robot 100 encountering a pit with the running wheels suspended in the pit, the lawn mower robot 100 encountering a step or a cliff with the running wheels suspended on the edge of the step or cliff, etc. If the actuator is not controlled to stop executing while the lawn mower robot 100 is in a lift-off state, hidden dangers may arise, including the cutting mechanism 13 cutting a user or small animal near the lawn mower robot 100, the actuator continuing to rotate and causing wear and tear, abrasion of the turf, and falls. Based on this, a lift-off detection mechanism 14 is provided on the lawn mower robot 100. When the lift-off detection mechanism 14 detects that the lawn mower robot 100 is in a lift-off state, the control device 22 controls the actuator to stop working. The embodiment of the present application infers whether the lawn mower robot 100 is in a lift-off state by detecting whether the universal wheel 124 is in a suspended state. Specifically, the axle 1242 of the universal wheel 124 is liftably mounted within the axle hole 1235. When the wheel body 1241 of the universal wheel 124 is supported on the ground, the second end of the axle 1242 is close to the mounting arm body 1231. When the universal wheel 124 enters the lift-off state, the axle 1242 moves away from the mounting arm body 1231. The lift-off detection mechanism 14 is used to detect whether the axle 1242 is close to the mounting arm body 1231 to determine whether the universal wheel 124 is suspended, that is, whether the lawn mower robot 100 is in a lift-off state.

[0130] In some embodiments, referring to Figures 24 and 25 , the lift-off detection mechanism 14 includes a detection member and a trigger member. For ease of distinction, the detection member is defined herein as a first detection member 141, and the trigger member is defined herein as a first trigger member 142. The first detection member 141 is configured to generate a detection signal, and the first trigger member 142 is configured to trigger the first detection member 141 to generate a detection signal. The first detection member 141 is electrically connected to the control device 22. Optionally, the first detection member 141 is mounted on the mounting arm body 1231 of the mounting arm 123, and the first trigger member 142 is mounted on the axle 1242 of the universal wheel 124.

[0131] In some embodiments, referring to FIG25 , the first detection member 141 includes a Hall sensor, which is mounted on the mounting arm body 1231 , and the first trigger member 142 includes a magnet, which is fixed to the second end of the wheel axle 1242 . When the wheel axle 1242 is raised or lowered, the magnet is driven up and down, thereby approaching or moving away from the Hall sensor. When the magnet approaches the Hall sensor, the Hall sensor generates a detection signal, and when the magnet moves away from the Hall sensor, the Hall sensor loses the detection signal. The Hall sensor can be located directly above the magnet or to the side of the magnet. When the Hall sensor is located to the side of the magnet, the magnet can optionally be a ring magnet surrounding the wheel axle 1242 .

[0132] In some embodiments, the first detection member 141 includes a pair of positive electrodes and negative electrodes, and the positive electrode and the negative electrode are both metal shrapnel mounted on the mounting arm 123 (for example, the mounting arm body 1231 or the axle seat 1232). The positive electrode and the negative electrode are spaced apart around the axle 1242. The first trigger member 142 includes a conductor, and the conductor is fixed to the second end of the axle 1242. When the axle 1242 is raised or lowered, the conductor is driven up and down to contact or move away from the metal shrapnel. When the conductor contacts the metal shrapnel, the positive electrode and the negative electrode are conductive, generating a detection signal. When the conductor is away from the metal shrapnel, the positive electrode and the negative electrode are disconnected electrically, and the detection signal is lost. The conductor can be a conductive block mounted on the axle 1242, or a conductive layer covering the axle 1242, or the axle 1242 itself is a conductor.

[0133] In some embodiments, the first detection member 141 includes a pair of positive and negative electrodes. One of the positive and negative electrodes is a conductive sleeve fixed within the axle hole 1235 of the axle seat 1232. The conductive sleeve is mounted on the axle 1242 and has a clearance fit therewith. The other of the positive and negative electrodes is a conductive spring fixed to the mounting arm body 1231 and positioned above the axle 1242. The first trigger member 142 includes a conductor fixed to the second end of the axle 1242. For example, the conductor can be a conductive layer covering the surface of the axle 1242, or the axle 1242 itself can be configured as a conductor. As the axle 1242 is raised or lowered, the axle 1242 remains in contact with the conductive sleeve, but may contact or move away from the conductive spring. When the conductor contacts the conductive spring, the positive and negative electrodes conduct, generating a detection signal. When the conductor moves away from the conductive spring, the positive and negative electrodes become electrically disconnected, and the detection signal is lost.

[0134] In some embodiments, referring to Figures 3 to 5 and Figures 26 to 37 , the lawn mower robot 100 includes a cutting mechanism 13 , which is disposed on the housing. Specifically, the cutting mechanism 13 includes a cutting structure. Optionally, the cutting structure includes a cutting element 131 and a cutting motor 132 , which drives the cutting element 131 to cut. The cutting element 131 can be a shear-type cutting element 131 , which reciprocates in a scissor-like manner to cut grass. The cutting element 131 can also be a blade disc 1311-type cutting element 131 , which drives a blade 1312 fixed to the blade disc 1311 to cut grass through the rotation of the blade disc 1311. The cutting element 131 can also be a roller-type cutting element 131 , which drives a blade 1312 fixed to the roller through the rotation of the roller to cut grass. The cutting element 131 can even be a blade 1312 , which is not limited here.

[0135] In some embodiments, referring to Figures 26 to 31 , the cutting structure includes a cutting member 131, which includes a cutter disc 1311 and a blade 1312. The blade 1312 is pivotally mounted on the cutter disc 1311. The cutter disc 1311 is connected to the output shaft of a cutting motor 132. The cutting motor 132 drives the cutter disc 1311 to rotate, and the blade 1312 is flung out by centrifugal force to cut vegetation. When the blade 1312 encounters a hard obstacle such as a stone, the blade 1312 rotates relative to the cutter disc 1311 to avoid wear caused by the collision with the hard obstacle. In addition, if a user or a small animal accidentally touches the blade 1312 when the cutter disc 1311 is stationary, the blade 1312 will also rotate relative to the cutter disc 1311 to avoid cutting the user or the small animal. Optionally, the cutter disc 1311 has a plurality of blades 1312, which are spaced apart. The blades 1312 may be located on the same cutting plane or on different cutting planes along the axial direction of the cutting motor 132. For example, three blades 1312 or four blades 1312 are installed on the cutter disc 1311 at equal intervals.

[0136] In some embodiments, as shown in Figures 26 to 31 , the cutting structure further includes a motor barrel 133 for mounting the cutting motor 132, thereby protecting the cutting motor 132. Typically, the motor barrel 133 is connected to a housing, such as the first housing 11. This connection can be fixed or movable, and can be direct or indirect. Specifically, the motor barrel 133 is a barrel-shaped structure, internally defining a cavity within which the cutting motor 132 is housed. A clearance hole, herein defined as a fifth clearance hole, is defined on the bottom wall of the motor barrel 133 for circumventing the output shaft of the cutting motor 132. The output shaft of the cutting motor 132 can extend out of the cavity of the motor barrel 133 through the fifth clearance hole to connect with the cutting element 131. Optionally, the cutting structure further includes a barrel cover 1332, which covers the motor barrel 133 to prevent grass clippings, grass pulp, etc. generated during mowing from entering the cavity of the motor barrel 133 and thereby interfering with the operation of the cutting motor 132. Typically, the motor cylinder 133 is used to connect to the housing of the lawn mower robot 100, for example, to the chassis 111 in the first housing 11, thereby connecting the cutting structure to the housing. The motor cylinder 133 and the housing can be fixedly connected or movably connected, and can be directly connected or indirectly connected, which is not limited here.

[0137] In some embodiments, as shown in Figures 26 to 31, the cutting motor 132 is installed within the motor barrel 133. This, especially when the motor barrel 133 is also provided with a barrel cover 1332, makes it difficult for the cutting motor 132 to dissipate heat through convection, thereby causing the cutting motor 132 to overheat. To address this issue, at least one radiator is installed on the sidewall of the motor barrel 133, extending through the sidewall. For ease of distinction, this radiator is defined herein as a first radiator 1333. The first radiator 1333 is used to dissipate heat from the cutting motor 132, thereby reducing the temperature of the cutting motor 132 during operation. The first radiator 1333 has two opposing sides: an inner side located within the housing of the motor barrel 133, and an outer side located outside the housing of the motor barrel 133. The first heat sink 1333 is provided with heat dissipation fins on its outer side to improve heat dissipation efficiency. A contact portion is provided on its inner side. The contact portion conforms to the shape of the cutting motor 132 and is in close contact with the cutting motor 132, thereby facilitating the transfer of heat generated by the cutting motor 132 to the contact portion. The contact portion then transfers the heat to the outside world via the heat dissipation fins. Optionally, the first heat sink 1333 is a metal member, such as aluminum.

[0138] In some embodiments, as shown in Figures 26 to 31 , the cutting mechanism further includes a protective disc 134, which is also mounted on the motor barrel 133, specifically at the bottom of the motor barrel 133. Protective disc 134 is located between the motor barrel 133 and the cutting element 131. Protective disc 134 is used to prevent grass clippings or slurry generated by the cutting element 131 from flying toward the motor barrel 133 and chassis 111 during mowing. Furthermore, when the cutting element 131 is rinsed with water, protective disc 134 can also prevent water from flowing toward the motor barrel 133 and chassis 111. Optionally, protective disc 134 is concave, thereby enclosing the cutting element 131. When a first mounting groove 1101 is provided on the chassis 111, the cutting mechanism 13 is installed in the first mounting groove 1101. Usually, the protective plate 134 is located outside the first mounting groove 1101 and blocks the slot opening of the first mounting groove 1101 to prevent grass clippings, grass pulp, water, etc. generated during mowing from splashing into the first mounting groove 1101.

[0139] In some embodiments, as shown in Figures 26 to 37, the cutting mechanism 13 further includes a height adjustment structure that cooperates with the cutting mechanism and adjusts the height of the height adjustment structure, thereby adjusting the cutting height. Different users typically have different requirements for cutting grass at different heights, and by providing the height adjustment structure, the cutting height can be adjusted to meet the needs of different users.

[0140] In some embodiments, as shown in Figures 26 to 37 , the height adjustment structure includes a swing arm 135 and a height adjustment motor 136. The height adjustment motor 136 is used to drive the swing arm 135 to swing. The cutting structure is mounted on the swing arm 135, and the swing arm 135 is used to raise or lower the cutting structure during swinging. Swinging of the swing arm 135 refers to reciprocating motion of the swing arm 135 about a predetermined axis within a certain angular range. The height adjustment motor 136 drives the swing arm 135 to swing. This can be done directly by the height adjustment motor 136 or by rotating the swing arm 135 through a transmission assembly 137. For example, the height adjustment motor 136 is directly connected to the swing arm 135, and the swing arm 135's back-and-forth swinging is adjusted by the forward and reverse rotation of the height adjustment motor 136. The cutting structure is mounted on the swing arm 135. The cutting structure and the swing arm 135 can be fixedly connected, or they can be flexibly connected, such as by a sliding connection. Alternatively, the cutting structure can simply rest on the swing arm 135, with the swing arm 135 providing support for the cutting structure. Optionally, the cutting structure is attached to the swing arm 135, without a fixed connection between the cutting structure and the swing arm 135. This arrangement has the advantage that when the cutting structure encounters a raised obstacle on the ground, the cutting structure can float upward. After the obstacle disappears, the cutting structure falls back and continues to attach to the swing arm 135, thereby preventing the cutting structure from being damaged by the collision with the obstacle. For example, the cutting structure includes a motor cylinder 133, which rests on the swing arm 135. The swing arm 135 supports the motor cylinder 133 and drives the motor cylinder 133 up and down when the swing arm 135 rotates, thereby adjusting the height of the cutting structure.

[0141] In some embodiments, as shown in Figures 26 to 37 , the height adjustment structure further includes a transmission assembly 137 . The power input of the transmission assembly 137 is connected to the height adjustment motor 136 , and the power output of the transmission assembly 137 is connected to the swing arm 135 . The height adjustment motor 136 drives the swing arm 135 to rotate via the transmission assembly 137 . This reduces restrictions on the installation positions of the height adjustment motor 136 and the swing arm 135 , and also allows for adjustment of the transmission ratio using the transmission assembly 137 . The transmission assembly 137 can be any of a gear 137 2 transmission assembly 137 , a belt drive assembly 137 , a chain drive assembly 137 , and a worm gear 137 1 transmission assembly 137 .

[0142] In some embodiments, referring to Figures 26 to 37, the transmission assembly 137 includes a worm 1371 and a gear 1372. The height adjustment motor 136 is connected to the worm 1371 to drive the worm 1371 to rotate. The worm 1371 is engaged with the gear 1372 to drive the gear 1372 to rotate. The gear 1372 is connected to the swing arm 135 to drive the swing arm 135 to swing. By using the worm 1371 and the gear 1372 for transmission, the transmission ratio is increased and the output torque is improved. The worm 1371 refers to a cylinder with a spiral groove cut on the outer surface. The gear 1372 includes but is not limited to a worm wheel, a sector gear 1372, etc. In addition, the use of the worm 1371 and the gear 1372 for transmission can also make the entire height adjustment structure have a self-locking function.

[0143] In some embodiments, referring to Figures 26 to 37 , the transmission assembly 137 further includes a rotating shaft 1373, which connects the gear 1372 and the swing arm 135 and transmits the torque of the gear 1372 to the swing arm 135, thereby driving the swing arm 135 to move synchronously with the gear 1372. Exemplarily, the rotating shaft 1373 and the gear 1372 are integrally formed, and the rotating shaft 1373 and the swing arm 135 are connected by a spline and a keyway to transmit torque, wherein the spline is provided on one of the rotating shaft 1373 and the swing arm 135, and the keyway is provided on the other of the rotating shaft 1373 and the swing arm 135. Exemplarily, the rotating shaft 1373 and the swing arm 135 are integrally formed, the gear 1372 is sleeved on the rotating shaft 1373, and the assembly hole on the gear 1372 is a non-circular hole that is compatible with the rotating shaft 1373, such as a square hole, an elliptical hole, or a D-shaped hole, thereby realizing the transmission of torque; it can be understood that the cross-section of the rotating shaft 1373 is also non-circular.

[0144] In some embodiments, referring to Figures 26 to 37, the rotation axis 1373 line of the worm 1371 and the rotation axis 1373 line of the swing arm 135 are perpendicular to each other. Since the cutting mechanism 13 needs to be installed on the housing, specifically on the lower side of the chassis 111, the cutting mechanism 13 itself has a complex structure. In particular, when the cutting mechanism 13 also includes a height adjustment structure, there is insufficient space for the layout. By arranging the worm 1371 and the swing arm 135 in a vertical relationship, the overall structure of the cutting mechanism 13 is made more compact, meeting the requirements of the spatial layout. For example, the worm 1371 is arranged vertically and the swing arm 135 is arranged horizontally. The two are spatially offset but perpendicular to each other.

[0145] In some embodiments, please refer to Figures 26 to 37, the height adjustment structure also includes a fixed seat 138, the fixed seat 138 is provided with a first cavity 1381 and a second cavity 1382 that are connected, the fixed seat 138 is also provided with an opening 1383 that connects the second cavity 1382 with the outside world, the transmission assembly 137 is installed in the first cavity 1381, the swing arm 135 includes a rotating body 1351 and a support arm 1352, the rotating body 1351 can be rotatably installed in the second cavity 1382, the support arm 1352 has a fixed end and a free end, the fixed end is fixed on the rotating body 1351, and the free end extends out of the second cavity 1382 through the opening 1383 and is used to support the cutting structure. The fixing seat 138 is used to be fixed on the casing, specifically on the chassis 111, and the swing arm 135 and the transmission assembly 137 are both installed on the fixing seat 138, so that the height adjustment structure is fixed on the casing; at the same time, a first cavity 1381 and a second cavity 1382 are provided on the fixing seat 138, and the first cavity 1381 is used to install the transmission assembly 137, so that impurities, debris, etc. are not easy to enter the sealed cavity and interfere with the transmission assembly 137; the second cavity 1382 is used to install the swing arm 135, and the opening 1383 of the second cavity 1382 allows the support arm 1352 on the swing arm 135 to extend to support the cutting structure, which will not affect the operation of the swing arm 135; and the first cavity 1381 and the second cavity 1382 are connected, so as not to hinder the transmission between the transmission assembly 137 and the swing arm 135. Optionally, fixed base 138 includes a fixed body 1386, an end plate 1387, and a tail plate 1388. Fixed body 1386 has two opposing ends. End plate 1387 is connected to one end of fixed body 1386 to enclose a first cavity 1381, and tail plate 1388 is connected to the other end of fixed body 1386 to enclose a second cavity 1382. Fixed body 1386 also defines a sixth escape hole 1384 that connects first cavity 1381 and second cavity 1382. When transmission assembly 137 further includes a rotating shaft 1373, rotating shaft 1373 connects gear 1372 and swing arm 135 via sixth escape hole 1384.

[0146] In some embodiments, as shown in Figures 26 to 37 , a roller 1353 is rotatably mounted on the free end of the support arm 1352. The roller 1353 is used to roll and support the cutting structure. The cutting structure is overlapped on the free end of the support arm 1352, which supports the cutting structure. When the swing arm 135 rotates, the cutting structure and the free end of the support arm 1352 are displaced relative to each other, generating frictional resistance. By disposing the roller 1353 on the free end of the support arm 1352, the cutting structure is directly supported. When the swing arm 135 rotates, the roller 1353 rolls relative to the cutting structure, reducing frictional resistance.

[0147] In some embodiments, as shown in Figures 26 to 37, two support arms 1352 are spaced apart on the rotating body 1351. The two support arms 1352 are located on the same side of the rotating body 1351 but are distributed at both ends of the rotating body 1351. The support arms 1352 are used to support the motor barrel 133 on the cutting structure. When the cutting structure includes the motor barrel 133, support grooves 1331 are formed on opposite sides of the motor barrel 133. The two support arms 1352 extend into the support grooves 1331 on both sides of the motor barrel 133, respectively. The top walls of the support grooves 1331 overlap the support arms 1352, and the motor barrel 133 is partially located between the two support arms 1352, thereby ensuring support stability.

[0148] In some embodiments, as shown in Figures 26 to 37, the height adjustment motor 136 is fixed to the fixing base 138 and is located outside the fixing base 138, that is, it is neither in the first cavity 1381 nor in the second cavity 201. The fixing base 138 is provided with a seventh avoidance hole 1385, through which the output shaft of the height adjustment motor 136 is connected to the power input end of the transmission assembly 137. By also fixing the height adjustment motor 136 to the fixing base 138, all components of the height adjustment structure are assembled together, achieving a modular and compact structure. At the same time, the height adjustment motor 136 is located outside the first cavity 1381 and transmits power to the transmission assembly 137 through the seventh avoidance hole 1385. This can prevent the first cavity 1381 from being too large and also simplify installation. When the height adjustment structure is installed on the chassis 111 of the first housing 11 , optionally, an eighth avoidance through hole 1108 is opened on the chassis 111 , and the height adjustment motor 136 extends into the first cavity through the eighth avoidance through hole 1108 .

[0149] In some embodiments, referring to Figures 26 to 31, the cutting mechanism 13 also includes a limiting structure, which can cooperate with the height adjustment structure to limit the cutting structure. In particular, when the cutting structure is only overlapped on the height adjustment structure, if there is no limiting structure to limit it, the cutting structure may be at risk of tipping over or shifting; in addition, when the cutting structure encounters a raised obstacle and floats up, the limiting structure can also assist the cutting structure to fall back to its original position after the obstacle disappears. As an example, the limiting structure is a limiting groove opened on the chassis 111, and the motor barrel 133 of the cutting structure is adapted to the limiting groove and slidably installed in the limiting groove, and the support arm 1352 of the height adjustment structure supports the motor barrel 133.

[0150] In some embodiments, as shown in Figures 26 to 31, the limiting structure is movably connected to the cutting structure. Since the limiting structure is movably connected to the cutting structure, the limiting structure will not hinder the cutting structure when it is raised or lowered. Although the limiting structure is movably connected to the cutting structure, the limiting structure is generally used to be fixedly connected to the housing. As an example, the limiting structure includes a guide post fixed to the chassis 111, and a guide hole is opened on the motor barrel 133. The guide post extends in the direction of the cutting structure's lifting and lowering and passes through the guide hole, and the motor barrel 133 can move back and forth along the guide post.

[0151] In some embodiments, referring to Figures 26 to 31, the limiting structure includes a connecting rod assembly 139, which includes a connecting base 1391 and at least one connecting rod 1392. One end of the connecting rod 1392 is rotatably connected to the cutting structure, and the other end is rotatably connected to the connecting base 1391. The connecting base 1391 is used to be fixedly connected to the housing. One end of the connecting rod 1392 is rotatably connected to the cutting structure. Optionally, the connecting rod 1392 is rotatably connected to the motor barrel 133. As an example, the connecting rod assembly 139 includes a connecting base 1391 and two connecting rods 1392. The two connecting rods 1392 are distributed vertically and parallel to each other. One end of each connecting rod 1392 is connected to the connecting base 1391 and the other end is connected to the motor barrel 133. The connecting rod assembly 139 also includes a tension spring, one end of the spring is connected to one of the connecting rods 1392, and the other end is connected to the other connecting rod 1392.

[0152] In some embodiments, referring to Figures 26 to 31 , the limiting structure and the height adjustment structure are respectively located on opposite sides of the cutting structure, which helps to maintain the stability of the cutting structure.

[0153] In some embodiments, referring to Figures 3 to 11 and Figures 26 to 31 , the cutting mechanism 13 is removably mounted on the housing, particularly in a removable and detachable manner, meaning that the cutting mechanism 13 can be separated from the housing without disassembling the housing. Alternatively, the cutting mechanism 13 can be removably mounted on the chassis 111 of the first housing 11. The chassis 111 is provided with a first mounting slot 1101, into which the cutting mechanism 13 can be removably mounted. The first mounting slot 1101 is located on the underside of the chassis 111, i.e., outside the first cavity. Therefore, the cutting mechanism 13 can be removed and installed without opening the first cavity. As an example, the cutting mechanism 13 includes a cutting structure, a height adjustment structure, and a limiting structure. The height adjustment structure and the limiting structure are respectively located on opposite sides of the cutting structure. The limiting structure is movably connected to the cutting structure, and the cutting structure is overlapped on the height adjustment structure. The first mounting groove 1101 includes a first mounting area, a second mounting area, and a third mounting area distributed in sequence. When the limiting structure includes a connecting rod assembly 139, the connecting seat 1391 in the connecting rod assembly 139 is screwed to the first mounting area. When the height adjustment structure includes a fixing seat 138, the fixing seat 138 is screwed to the third mounting area. The second mounting area is used to accommodate the cutting structure. When disassembling the cutting mechanism 13, it is only necessary to remove the cutter disc 1311 and the protective disc 134 from the lower side of the chassis 111 in sequence, and then loosen the connecting seat 1391 and the fixing seat 138 to pull out the cutting structure, the height adjustment structure, and the limiting structure.

[0154] In some embodiments, referring to FIG. 1 to FIG. 3 and FIG. 30 to FIG. 31 , the lawn mowing robot 100 further includes a height detection mechanism 15 , which is used to detect the height of the cutting structure.

[0155] In some embodiments, referring to Figures 30 to 31, when the height adjustment structure further includes a transmission assembly 137, and the transmission assembly 137 includes a worm 1371 and a gear 1372, the height adjustment detection mechanism 15 includes a first detection assembly. The first detection assembly is a contactless detection assembly, which includes two detection members and a trigger member. For ease of distinction, they are defined as a second detection member 151, a third detection member 152, and a second trigger member 153, respectively, wherein the second detection member 151 and the third detection member 152 are both electrically connected to the control device 22. The second detection member 151 and the third detection member 152 are fixedly arranged on the casing (for example, on the first casing 11) or on the fixed base 138, and the second trigger member 153 is fixed on the gear 1372 and is used to follow the rotation of the gear 1372, and the second trigger member 153 is used to trigger the second detection member 151 and the third detection member 152. The gear 1372 can drive the swing arm 135 to rotate when rotating, so that the cutting structure can be lifted. Specifically, the second trigger 153 is configured to trigger the second detection member 151 when the cutting structure moves to the first position (for example, the first position is the highest position). The second trigger 153 is also configured to trigger the third detection member 152 when the cutting structure moves to the second position (for example, the second position is the lowest position). The second detection member 151 and the third detection member 152 are both electrically connected to the control device 22. When the second detection member 151 detects that the cutting structure has moved to the first position or the third detection member 152 detects that the cutting structure has moved to the second position, the control device 22 controls the height adjustment mechanism to stop, thereby limiting the movement of the cutting structure between the first position and the second position, thereby protecting the lawn mower robot 100.

[0156] In some embodiments, see Figure 30 to Figure 31, the height detection mechanism 15 also includes a second detection component, which is also a non-contact detection component. Specifically, the second detection component includes a detection member and a trigger member, which are defined as a third trigger member 154 and a fourth detection member 155 for ease of distinction. The fourth detection member 155 is electrically connected to the control device 22. The third trigger member 154 is fixed on the worm 1371 and is used to rotate with the worm 1371. The fourth detection member 155 is fixedly arranged on the housing (for example, on the first housing 11) or on the fixed seat 138. The third trigger member 154 is used to trigger the fourth detection member 155. The third trigger member 154 is used to trigger the fourth detection member 155 when the cutting structure moves to the first position, that is, when the cutting structure moves to the first position, the third trigger member 154 triggers the fourth detection member 155 and the second trigger member 153 triggers the second detection member 151 at the same time. Only when the fourth detection member 155 and the second detection member 151 are triggered at the same time can it be determined that the cutting structure moves to the first position. Such an arrangement can improve the accuracy of detection. Alternatively, the third triggering member 154 is used to trigger the fourth detecting member 155 when the cutting structure moves to the second position. That is, when the cutting structure moves to the second position, the third triggering member 154 triggers the fourth detecting member 155 and the second triggering member 153 triggers the third detecting member 152 simultaneously. Only when the fourth detecting member 155 and the third detecting member 152 are triggered simultaneously can it be determined that the cutting structure has moved to the second position. Alternatively, the fourth detecting member 155 is triggered when the cutting structure moves to both the first position and the second position.

[0157] In some embodiments, referring to Figures 30 and 31 , the third triggering member 154 triggers the fourth detecting member 155 once each time the worm 1371 rotates one revolution. For example, the third triggering member 154 is triggered when it is directly opposite the fourth detecting member 155. Therefore, the second detecting assembly can be used to detect the number of revolutions of the worm 1371. After obtaining the number of revolutions of the worm 1371, the height of the cutting structure can be further determined. The specific determination method is as follows: the first position and / or the second position are determined as the initial position. Usually, the height of the cutting structure at the first position and / or the second position is known and determined. For example, the height H1 (i.e., the height from the ground) of the cutting structure at the first position is 90 cm, and the height H2 (i.e., the height from the ground) of the cutting structure at the second position is 50 cm; and the amount of displacement of the cutting structure when the worm 1371 rotates one circle can also be known and determined. For example, the displacement D of the cutting structure when the worm 1371 rotates one circle is 10 cm; the above-mentioned known quantities can be pre-stored in the memory of the control device 22 and can be directly called when used; the number of rotations A of the worm 1371 is calculated starting from the initial position. If the initial position is the first position, the height of the cutting structure is (H1-A*D); if the initial position is the second position, the height of the cutting structure is (H2+A*D).

[0158] In some embodiments, the height of the cutting structure can also be determined by obtaining operating parameters of the height adjustment motor 136 in the height adjustment mechanism. For example, the height of the cutting structure can be determined by calculating the operating speed and operating time of the height adjustment motor 136. For example, a counter built into the height adjustment motor 136, such as an encoder, can be used to determine the rotation amount of the output shaft of the height adjustment motor 136, thereby calculating the height of the cutting structure.

[0159] In one embodiment, the control device 22 obtains the height of the cutting structure obtained by two detection methods, namely, the height of the cutting structure determined by detecting the number of rotations of the worm 1371 by the second detection component, and the height of the cutting structure determined by obtaining the operating parameters of the height adjustment motor 136; the heights of the cutting structure obtained by the two detection methods are compared. If the absolute value of the difference between the two is less than the preset value, it is considered that the height adjustment detection mechanism 15 is normal and the height adjustment structure continues to work; if the absolute value of the difference between the two is greater than the preset value, it is considered that an error has occurred in the height adjustment detection mechanism 15 and the height adjustment structure is controlled to stop working.

[0160] In some embodiments, referring to Figures 1 to 3 and Figures 38 to 43, the lawn mower robot 100 further includes a collision detection mechanism 16, which is used to detect whether the lawn mower robot 100 has collided with an external obstacle. When the lawn mower robot 100 is walking on the lawn, it is inevitable that it will encounter some obstacles, such as walls, pedestrians, tree stumps, etc. If the lawn mower robot 100 encounters a collision and fails to detect it, the control device 22 will control the actuator to continue running, which may pose a safety hazard, such as damaging the lawn mower robot 100 or knocking down a child. Based on this, a collision detection mechanism 16 is provided on the lawn mower robot 100. When the collision detection mechanism 16 detects a collision, the control device 22 controls the actuator to execute a corresponding response strategy, such as controlling the walking mechanism 12 to reverse, turn, or stop working.

[0161] In some embodiments, as shown in Figures 38 to 43 , the collision detection mechanism 16 includes a support frame 161, a floating housing 162, an elastic member 163, a sensor 164, and a trigger member. For ease of distinction, the trigger member is referred to herein as a fourth trigger member 165. The support frame 161 includes an integral support body 1612 and a connecting arm 1611, wherein the connecting arm 1611 is fixedly connected to the housing. The floating housing 162 is disposed outside the support body 1612 and spaced apart from the support frame 161. The elastic member 163 is disposed between the floating housing 162 and the support body 1612, thereby enabling the floating housing 162 to float relative to the support body 1612. One of the sensor 164 and the fourth trigger member 165 is disposed on the support body 1612, and the other of the sensor 164 and the fourth trigger member 165 is disposed on the floating housing 162. The sensor 164 is electrically connected to the control device 22. When the lawn mower robot 100 collides, the floating housing 162 first contacts an obstacle. Then, under the action of the elastic member 163, the floating housing 162 deflects relative to the support body 1612, causing the sensing member 164 to align or misalign with the fourth trigger member 165. The sensing member 164 generates a detection signal or interrupts the detection signal, thereby allowing the control device 22 to detect that the lawn mower robot 100 has collided. The elastic member 163 is located between the floating housing 162 and the support body 1612. Optionally, one end of the elastic member 163 is fixedly connected to the support body 1612, while the other end of the elastic member 163 supports or is fixedly connected to the floating housing 162. The elastic member 163 can be a spring, or an elastically deformable structure such as a silicone member or rubber member. Optionally, the sensing member 164 is a Hall effect sensor, and the fourth trigger member 165 is a magnet. The sensing member 164 and the fourth trigger member 165 can be arranged one-to-one or one-to-many. Optionally, the collision detection mechanism 16 includes multiple sets of sensing elements 164 and fourth triggering elements 165. As an example, each end of the collision detection mechanism 16 includes a set of Hall sensors and magnets arranged one on one.

[0162] In some embodiments, referring to Figures 38 to 43, the support body 1612 includes a lower sub-body 1613 and an upper sub-body 1614, wherein the lower sub-body 1613 and the upper sub-body 1614 are buckled together and enclosed to form a receiving compartment 1617, and the sensing member 164 is installed in the receiving compartment 1617, one end of the connecting arm 1611 is connected to the lower sub-body 1613, and the other end of the connecting arm 1611 is used to be fixedly connected to the casing, thereby fixing the support frame 161 to the casing. By setting the receiving bin 1617 on the support frame 161 and installing the sensor 164 in the receiving bin 1617, it can be understood that the fourth trigger member 165 is installed on the floating shell 162. The advantage of this arrangement is that, on the one hand, with the protection of the receiving bin 1617, the impact of rain and impurities in the external environment on the sensor 164 can be reduced. In particular, for the lawn mowing robot 100 used in an outdoor environment, the waterproofness of the sensor 164 is particularly important. On the other hand, the sensor 164 is electrically connected to the control device 22, and the support frame 161 is fixedly connected to the casing. When a collision occurs, the support frame 161 is relatively stationary, thereby facilitating wiring.

[0163] In some embodiments, referring to Figures 38 to 43 , the elastic member 163 includes a first elastic member 1631 and a second elastic member 1632. One end of the first elastic member 1631 is connected to the lower sub-body 1613, and the other end extends toward the side of the upper sub-body 1614. The upper sub-body 1614 is concave to form a first avoidance groove 1616 that circumvents the first elastic member 1631. One end of the second elastic member 1632 is connected to the upper sub-body 1614, and the other end extends toward the side of the lower sub-body 1613. The lower sub-body 1613 is concave to form a second avoidance groove 1615 that circumvents the second elastic member 1632. This arrangement results in a compact structure for the collision detection mechanism 16, facilitating miniaturization. The number of first elastic members 1631 can be one or more, and the number of second elastic members 1632 can be one or more. Optionally, the angle between the direction in which the elastic member 163 extends and the horizontal plane is between 60° and 90°. Optionally, the first elastic member 1631 and the second elastic member 1632 both extend in a direction perpendicular or substantially perpendicular to the ground.

[0164] In some embodiments, referring to Figures 38 to 43 , the floating housing 162 includes a lower sub-housing 1621 and an upper sub-housing 1622. The lower sub-housing 1621 and the upper sub-housing 1622 snap together to form a mounting cavity, referred to herein as a second mounting cavity 1623 for ease of distinction. A portion of the support frame 161, specifically the support body 1612, is located within this second mounting cavity 1623. The sensor 164 and the fourth trigger 165 are also located within this second mounting cavity 1623. As an outdoor robot, waterproof performance is crucial for the lawn mower robot 100. In this embodiment of the present application, by providing the second mounting cavity 1623 on the floating housing 162, the support frame 161, the sensor 164, and the fourth trigger 165 are disposed within the second mounting cavity 1623, protected by the floating housing 162 to reduce erosion by rainwater and impurities in the external environment. Illustratively, when support frame 161 includes support body 1612 and connecting arm 1611, support body 1612 is located within the enclosed space, and connecting arm 1611 extends out of the enclosed space through a ninth escape hole defined in floating shell 162. When elastic member 163 includes first elastic member 1631 and second elastic member 1632, first elastic member 1631 is located between lower sub-body 1613 and upper sub-shell 1622, and second elastic member 1632 is located between upper sub-body 1614 and lower sub-shell 1621.

[0165] In some embodiments, see Figure 2, Figure 10, and Figures 38 to 43, the collision detection mechanism 16 is detachably mounted on the housing, and in particular, is detachably mounted on the housing in a manner that allows it to be externally detached, that is, the collision detection mechanism 16 can be separated from the housing alone without disassembling the housing. Optionally, the collision detection mechanism 16 is detachably mounted on the first housing 11, that is, the first body 10 also includes the above-mentioned collision detection mechanism 16. By mounting the collision detection mechanism 16 on the first housing 11, the collision detection mechanism 16 is closer to the ground than when it is mounted on the second housing 21, thereby being able to detect some low obstacles on the ground. In detail, another mounting groove is provided on the lower side of the chassis 111, which is defined here as the fourth mounting groove 1104, and the fourth mounting groove 1104 is used to mount the connecting arm 1611 in the collision detection mechanism 16. Optionally, a fourth mounting slot 1104 is located at the front end of the chassis 111, and the portion of the support frame 161 exposed outside the floating housing 162 (i.e., the connecting arm 1611) is mounted in the fourth mounting slot 1104 via screws. In other words, the collision detection mechanism 16 is mounted on the underside of the chassis 111 and at the front end of the robot 100. This allows the robot 100 to detect any obstacles encountered along its path. If the support frame 161 includes a support body 1612 and a connecting arm 1611, the connecting arm 1611 is mounted in the fourth mounting slot 1104, with its lower surface flush with the lower surface of the chassis 111.

[0166] In some embodiments, referring to Figures 1 to 7 and Figures 44 to 46 , the lawn mower robot 100 further includes a charging head 17 , which is electrically connected to a power source 113 and is used to dock with a charging station to charge the power source 113 . It is understood that the power source 113 electrically connected to the charging head 17 is a secondary battery, including but not limited to a lithium battery.

[0167] In some embodiments, referring to Figures 44 to 46 , the charging head 17 includes a first insulating base 171, a first positive electrode 172, and a first negative electrode 173. The first positive electrode 172 and the first negative electrode 173 are spaced apart and electrically connected to the power source 113. Optionally, the first insulating base 171 is a plastic component, and the first positive electrode 172 and the first negative electrode 173 are metal components. The first insulating base 171, the first positive electrode 172, and the first negative electrode 173 are integrally injection molded. This can improve the strength and waterproof performance of the charging head 17 and simplify the installation process. Furthermore, an insulating protrusion 174 is provided on the first insulating seat 171. The insulating protrusion 174 is located between the first positive electrode 172 and the first negative electrode 173 and separates the first positive electrode 172 and the first negative electrode 173. On the first insulating seat 171, the height of the insulating protrusion 174 protruding from the first insulating seat 171 is higher than the height of either the first positive electrode 172 or the first negative electrode 173 protruding from the first insulating seat 171. By utilizing the insulating protrusion 174, the risk of the first positive electrode 172 and the first negative electrode 173 being mistakenly connected by an external conductor and short-circuited can be effectively reduced. Optionally, the length of the insulating protrusion 174 is greater than or equal to the length of the shorter one of the first positive electrode 172 and the first negative electrode 173. Optionally, the insulating protrusion 174 is formed by a partial outward protrusion of the first insulating seat 171.

[0168] In some embodiments, referring to Figures 44 to 46 , the first insulating seat 171 is further provided with a first connecting portion 175 , which is used to connect to the housing, thereby securing the charging head 17 to the housing. To achieve docking between the charging head 17 and the charging station, it is understood that at least a portion of the charging head 17 is exposed to the housing, particularly the first positive electrode 172 and the first negative electrode 173. Optionally, the charging head 17 is mounted to the front end of the housing, specifically the front end of the first housing 11.

[0169] In some embodiments, as shown in Figures 44 to 46 , the charging head 17 is removably mounted on the housing, particularly in a removable and detachable manner, meaning that the charging head 17 can be separated from the housing without disassembling the housing. Optionally, the charging head 17 is removably mounted on the first housing 11, meaning that the first body 10 also includes the charging head 17. Specifically, a mounting hole, defined herein as a second mounting hole 1123, is defined on the cover 112 of the first housing 11. A second connecting portion 1121 is provided on the inner side of the cover 112. Portions of the charging head 17 extend into the cover 112 through the second mounting hole 1123, meaning that portions of the charging head 17 are located within the first cavity. A first connecting portion 175 on the first insulating seat 171 is removably connected to the second connecting portion 1121. Exemplarily, the first connecting portion 175 is an elastic snap, and the second connecting portion 1121 is a rib, with the elastic snap engaging the rib.

[0170] In some embodiments, referring to Figures 10 to 11 and Figures 44 to 46, the first connecting portion 175 and the second connecting portion 1121 are both connecting columns with through holes. A fourth connecting hole 1109 is also provided on the chassis 111 of the first housing 11. Fasteners are used to sequentially connect the fourth connecting hole 1109, the second connecting portion 1121 and the first connecting portion 175 from the lower side of the chassis 111, thereby achieving detachable fixation of the charging head 17 to the first housing 11. Fasteners include but are not limited to screws, bolts, etc. Optionally, the fourth connecting hole 1109 is located on the bottom wall of the fourth mounting groove 1104. The fourth connecting hole 1109 can be covered by the collision detection mechanism 16. When the charging head 17 needs to be disassembled, the collision detection mechanism 16 can be removed first, and then the fastener housing can be unscrewed to pull the charging head 17 out of the second mounting hole 1123 without opening the housing.

[0171] Typically, the lawn mower robot 100 is designed to form a charging system with at least one charging station (not shown). Specifically, the lawn mower robot 100 includes a charging head 17, which is equipped with a charging electrode structure. During operation, the charging head 17 docks with the charging electrode structure to establish electrical contact, allowing the charging station to charge the power supply of the lawn mower robot 100.

[0172] In some embodiments, referring to Figures 1 to 3 and Figures 47 to 63, the lawn mowing robot 100 includes a second body 20, which includes a second housing 21 and a control device 22, and the control device 22 is mounted on the second housing 21. Specifically, a second cavity 201 is formed in the second housing 21, and the control device 22 is mounted in the second cavity 201. Optionally, the second cavity 201 is a sealed cavity, thereby reducing interference with the control device 22 by external moisture and debris. The control device 22 typically includes a circuit board, also known as a printed circuit board (PCB), on which electrically connected electronic components are arranged. The number of circuit boards can be single or multiple.

[0173] In some embodiments, as shown in Figures 47 to 63, the second housing 21 includes a bottom housing 211 and an upper housing 212, which are connected together to enclose the second cavity 201. Specifically, the bottom housing 211 and the upper housing 212 are detachably connected by screws or bolts. When the control device 22 within the second cavity 201 needs to be repaired and maintained, the bottom housing 211 and the upper housing 212 can be opened. Optionally, both the chassis 111 and the cover 112 are plastic, which offers advantages in terms of cost, manufacturing, and weight. Typically, the second housing 21 is mounted on the first housing 11, thereby connecting the second body 20 to the first body 10. When the first housing 11 includes the chassis 111 and the cover 112, the bottom housing 211 of the second housing 21 is connected to the cover 112 of the first housing 11. Optionally, the bottom housing 211 and the cover 112 are detachably connected, for example, by screws.

[0174] In some embodiments, referring to Figures 47 to 63, the second shell 21 also includes a decorative shell 213, the decorative shell 213 and the upper shell 212 are both installed on the upper side of the bottom shell 211, the decorative shell 213 is covered outside the upper shell 212, and the upper shell 212 is located between the decorative shell 213 and the bottom shell 211, and the decorative shell 213, the upper shell 212 and the bottom shell 211 enclose a third cavity 202. As an outdoor robot, the lawn mower robot 100 needs to operate outdoors, where the outdoor environment is more severe than the indoor environment. The lawn mower robot 100 is exposed to the sun and rain. By providing a decorative shell 213 over the upper shell 212, the decorative shell 213 can, on the one hand, provide shade, preventing direct sunlight from reaching the upper shell 212, and the third cavity 202 can also reduce heat conduction. Together, these two components suppress the temperature rise of the second cavity 201. On the other hand, the decorative shell 213 can block rain, preventing rain from wetting the upper shell 212 and reducing the risk of water seeping into the second cavity 201. Furthermore, the decorative shell 213 can also serve as a decoration, beautifying the appearance of the lawn mower robot 100. Optionally, the third cavity 202 is an open cavity.

[0175] In some embodiments, referring to Figures 47 to 63 , a first sidewall 2111 is formed on the upper side of the bottom shell 211. The upper shell 212 is docked and mounted on the first sidewall 2111. It can be understood that the first sidewall 2111 forms part of the cavity wall of the second cavity 201. The two side edges of the bottom shell 211 bend upward and extend to form a second sidewall 2113. The decorative shell 213 is docked and mounted on the second sidewall 2113. The second sidewall 2113 forms part of the cavity wall of the third cavity 202. The second sidewall 2113 is located outside the first sidewall 2111, meaning that the third cavity 202 surrounds the second cavity 201 on three sides, enhancing thermal insulation.

[0176] In some embodiments, referring to Figures 47 to 63, the decorative shell 213 includes a front decorative shell 2131, a middle decorative shell 2132 and a rear decorative shell 2133, and the front decorative shell 2131, the middle decorative shell 2132 and the rear decorative shell 2133 are arranged in sequence from the front end to the rear end of the upper shell 212.

[0177] In some embodiments, see Figures 64 to 65, the control device 22 includes a core board 221, which is a circuit board. A computing unit is provided on the core board 221. The computing unit serves as the operation and control core of the lawn mowing robot 100. Its large amount of calculation and high heat generation are the main reasons for the high temperature of the control device 22. The computing unit includes a central processing unit (CPU). Optionally, the computing unit also includes at least one of a neural network processing unit (NPU) and a graphics processing unit (GPU). In addition, a memory and a power management circuit (PMIC) are also provided on the core board 221, and the power circuit is electrically connected to the computing unit and the memory. Optionally, the memory includes a non-volatile memory and a volatile memory, the non-volatile memory includes a Flash memory, and the volatile memory includes a double data rate synchronous dynamic random access memory (DDR). Optionally, the computing unit is integrated into a chip, commonly referred to as an artificial intelligence (AI) processing chip 2211.

[0178] In some embodiments, see Figure 64 to Figure 65, the control device 22 also includes a base plate 222, and the base plate 222 is also a circuit board. The base plate 222 is electrically connected to the core board 221 through an inter-board connector to realize signal transmission. The base plate 222 is provided with an external interface 2221 and a functional module 2222. By arranging the external interface 2221 and the functional module 2222 on the base plate 222 and separating them from the core board 221, the device density can be reduced, which is conducive to heat dissipation, while reducing processing difficulty and production cost. The functional module 2222 refers to an integrated circuit provided for realizing a specific function in addition to the computing unit. The functional module 2222 at least includes a microcontroller unit (Microcontroller Unit, referred to as MCU) module, and the microcontroller unit module is used to be electrically connected to the driving member of the actuator and drive the driving member. The functional module 2222 can also include but is not limited to at least one of a wireless communication module, a display unit module and an audio module. The wireless communication module can include but is not limited to a Bluetooth module, a 4G module, a LORA module and a WIFI module. The wireless communication module can realize wireless communication between the mowing robot 100 and a terminal, such as a mobile phone. The external interface 2221 refers to a communication path or bus for interconnecting various integrated circuits with other peripheral devices. The external interface 2221 includes but is not limited to at least one of a UART (Universal Asynchronous Receiver-Transmitter) interface, an I2C (Inter Integrated Circuit) interface, a USB (Universal Serial Bus) interface, an SPI (Serial Peripheral Interface) interface, and a CAN (Controller Area Network) bus interface. Optionally, the external interface 2221 and the functional module 2222 are not provided on the core board 221.

[0179] In some embodiments, the core board 221 is removably mounted on the base plate 222. When one of the core board 221 and the base plate 222 needs to be upgraded or repaired and replaced, only the corresponding board can be removed and replaced, and the other can continue to be reused, which is convenient for saving costs. The core board 221 can be mounted on the side of the base plate 222, that is, the core board 221 and the base plate 222 are arranged face to face; the core board 221 can also be mounted on the side of the base plate 222, that is, the core board 221 and the base plate 222 are arranged edge to edge. Optionally, support columns with threaded holes are provided on the base plate 222, and the core board 221 is supported on the support columns and screwed to the support columns. Optionally, the core board 221 is plugged into the base plate 222.

[0180] In some embodiments, as shown in Figures 64 and 65 , the core board 221 and the base board 222 are arranged face-to-face and parallel. The inter-board connectors include gold finger connectors, which interconnect the core board 221 and the base board 222. Gold finger connectors are low-cost, provide good transmission performance, and can be easily disassembled and replaced based on user performance requirements.

[0181] In some embodiments, referring to Figures 64 and 65 , the external interface 2221 and the functional module 2222 are provided on one side of the base plate 222, while the core board 221 is mounted on the other side of the base plate 222. Because the AI ​​processing chip 2211 on the core board 221 generates a large amount of heat and has a high temperature, by mounting the core board 221 separately on the other side of the base plate 222, the core board 221 can be isolated from the heat dissipation components and protected from interference from the external interface 2221 and the functional module 2222.

[0182] In some other embodiments, the control device 22 may also be in the form of a single circuit board, and the AI ​​processing chip 2211, the external interface 2221 and the functional module 2222 are all arranged on the same board.

[0183] In some embodiments, the control device 22 can also be configured to include a first substrate and a second substrate, the CPU is configured on the first substrate, the MCU is configured on the second substrate, and at the same time, some external interfaces 2221 and some functional modules 2222 are also configured on the first substrate, and some external interfaces 2221 and some functional modules 2222 are also configured on the second substrate, and the first substrate is electrically connected to the second substrate.

[0184] In some embodiments, referring to Figures 47 to 65 , a heat dissipation structure 23 is provided on the housing, and the heat dissipation structure 23 is used to dissipate heat from the control device 22. Since the AI ​​processing chip 2211 on the control device 22 of the lawn mower robot 100 needs to perform a large amount of calculations, resulting in a large amount of heat generated by the AI ​​processing chip 2211 and a high temperature of the control device 22, the heat dissipation structure 23 is provided to dissipate heat from the control device 22, specifically dissipate heat from the AI ​​processing chip 2211, thereby effectively alleviating the problem of excessive temperature rise of the control device 22. Exemplarily, the heat dissipation structure 23 includes a fan installed in the second cavity 201. The rotation of the fan causes forced convection of air in the second cavity 201. The air removes the heat from the control device 22 and transfers it to the second housing 21. The second housing 21 further transfers the heat to the outside, thereby dissipating heat from the control device 22.

[0185] In some embodiments, referring to Figures 47 to 65 , a heat dissipation channel 231 is provided on the housing, and the heat dissipation structure 23 includes the heat dissipation channel 231 and a radiator. For ease of distinction, the radiator is defined herein as a second radiator 232. The heat dissipation channel 231 is independent of the cavity in which the control device 22 is mounted, and the heat dissipation channel 231 is in communication with the outside world. The second radiator 232 is mounted on the housing (e.g., a second housing), with a portion of the second radiator 232 located within the heat dissipation channel 231, and another portion of the second radiator 232 located within the cavity in which the control device 22 is mounted and used to dissipate heat from the control device 22. For example, when the housing includes a second shell, a second cavity 201 is formed on the second housing 21, and the control device 22 is mounted within the second cavity 201. The heat dissipation channel 231 is formed on the second housing 21, and is independent of the second cavity 201, i.e., the heat dissipation channel 231 is not in communication with the second cavity 201, and both the outlet and inlet of the heat dissipation channel 231 are in communication with the outside world. For example, when the housing includes a first housing 11, a first cavity is formed on the first housing 11, and the control device 22 is installed in the first cavity, a heat dissipation channel 231 is formed on the first housing 11, and the heat dissipation channel 231 is independent of the first cavity. The second heat sink 232 is used to dissipate heat from the control device 22. The second heat sink 232 can be in direct contact with the control device 22 or indirect contact with the control device 22, with heat from the control device 22 being transferred to the second heat sink 232 to achieve direct heat dissipation. Alternatively, the second heat sink 232 can be separated from the control device 22, and heat from the second cavity 201 is dissipated by the second heat sink 232 to achieve indirect heat dissipation of the control device 22. The heat dissipation channel 231 refers to a passage structure similar to a pipe. By providing a heat dissipation channel 231 on the housing that communicates with the outside world and installing a second heat sink 232 on the sidewall of the heat dissipation channel 231, the heat generated by the control device 22 can be transferred to the second heat sink 232, which then transfers the heat to the outside world through the heat dissipation channel 231, thereby effectively cooling the control device 22. Furthermore, because the heat dissipation channel 231 and the cavity in which the control device 22 is installed are independent of each other, moisture from the outside cannot enter the cavity in which the control device 22 is installed through the heat dissipation channel 231, thereby preventing the control device 22 from being soaked by moisture within the heat dissipation channel 231. In particular, when the cavity in which the control device 22 is installed is a sealed cavity, the heat dissipation channel 231 will not affect the sealing of the cavity. It should be noted that the heat dissipation channel 231 can be constructed by the housing itself, or by other structures mounted on the housing, such as a tube. The heat dissipation channel 231 can also be constructed by the housing and other structures mounted on the housing. Optionally, the second heat sink 232 is a metal part, thereby improving heat conduction efficiency. Optionally, the second heat sink 232 is made of aluminum, which not only has good heat conduction effect but is also easy to process and light in weight.The heat dissipation structure 23 may also be applied to other robots besides the lawn mowing robot 100 , including but not limited to cleaning robots, food delivery service robots, and the like.

[0186] In some embodiments, referring to Figures 47 to 65, the heat dissipation structure 23 also includes a fluid accelerator 233, which is mounted on the housing and is used to accelerate the flow of fluid in the heat dissipation channel 231. Optionally, the fluid accelerator 233 includes a fan, which is mounted in the heat dissipation channel 231. The fan is used to accelerate the flow of gas in the heat dissipation channel 231 to achieve air cooling of the second radiator 232. Here, the fan can be used to blow air into the heat dissipation channel 231, or it can be used to suck the gas in the heat dissipation channel 231 outwards, as long as an airflow can be formed in the heat dissipation channel 231. Exemplarily, the fan is an axial flow fan. Optionally, the fan is mounted at the outlet of the heat dissipation channel 231 to reduce the difficulty of fan installation and maintenance. Of course, in some other embodiments, the fluid accelerator 233 can also be an air pump.

[0187] In some embodiments, as shown in Figures 47 to 65 , the inlet of the heat dissipation channel 231 is located at the front end of the housing, and the outlet of the heat dissipation channel 231 is located at the rear end of the housing. As the lawn mower robot 100 advances, even without the fluid accelerator 233, external air can flow into the heat dissipation channel 231 from the inlet, flow within the heat dissipation channel 231, and exit the heat dissipation channel 231 from the outlet, thereby removing heat from the heat dissipation channel 231 and increasing the efficiency of heat dissipation by the second heat sink 232. When the heat dissipation structure 23 also includes the fluid accelerator 233, this arrangement can also reduce wind resistance. Optionally, the direction in which the heat dissipation channel 231 extends aligns with the direction of travel of the lawn mower robot 100 when moving straight, further facilitating air flow within the heat dissipation channel 231. Optionally, the heat dissipation channel 231 is a straight channel, minimizing resistance to air flow within the heat dissipation channel 231.

[0188] In some embodiments, as shown in Figures 47 to 65 , a filter 234 is positioned upstream of the fluid accelerator 233 along the direction of fluid flow in the heat dissipation channel 231. The filter 234 intercepts impurities, preventing them from flowing into the fluid accelerator 233 and affecting its normal operation. Optionally, the filter 234 is installed at the entrance of the heat dissipation channel 231 to directly prevent impurities, insects, etc. from entering the heat dissipation channel 231 and thus preventing clogging of the heat dissipation channel 231. Optionally, the filter 234 is positioned at both the entrance and exit of the heat dissipation channel 231.

[0189] In some embodiments, as shown in Figures 47 to 65 , the control device 22 is mounted within the second cavity 201, and a heat dissipation channel 231 is formed on the second housing 21. The heat dissipation channel 231 is independent of the second cavity 201. Specifically, the heat dissipation channel 231 is formed on the bottom shell 211 of the second housing 21. The inlet of the heat dissipation channel 231 is located at the front end of the bottom shell 211, and the outlet of the heat dissipation channel 231 is located at the rear end of the bottom shell 211. A first opening 2114 is formed on the upper side of the bottom shell 211, connecting to the heat dissipation channel 231. The second heat sink 232 is mounted in the first opening 2114 and seals the first opening 2114, thereby isolating the heat dissipation channel 231 from the second cavity 201. Optionally, the second heat sink 232 includes a support plate 2321 and heat dissipation fins 2322. The heat dissipation fins 2322 are located on one side of the support plate 2321 and are integrally provided with the support plate 2321. There are multiple heat dissipation fins 2322, which are arranged in parallel and spaced apart. Each heat dissipation fin 2322 extends from the front end to the rear end of the bottom case 211, so that the space between two adjacent heat dissipation fins 2322 forms a flow channel, achieving uniform heat dissipation. The support plate 2321 of the second heat sink 232 is supported on the upper side of the bottom case 211, and the heat dissipation fins 2322 extend into the heat dissipation channel 231 through the first opening 2114. In this way, the support plate 2321 is located within the second cavity 201, and the heat dissipation fins 2322 are located within the heat dissipation channel 231. In order to prevent the gas in the heat dissipation channel 231 from entering the second cavity 201 through the gap between the support plate 2321 and the upper side of the bottom shell 211, a second sealing ring 2323 is sandwiched between the support plate 2321 and the upper side of the bottom shell 211 to seal the second cavity 201.

[0190] In some embodiments, referring to Figures 47 to 65, the control device 22 includes a base plate 222 and a core board 221 mounted on the base plate 222. The base plate 222 is mounted on the upper side of the bottom shell 211. The core board 221 is in contact with the second radiator 232, so that the heat generated on the core board 221 can be conducted to the second radiator 232 and dissipated through the heat dissipation channel 231. Optionally, the core board 221 is mounted on the side of the base plate 222, and the core board 221 is located between the second radiator 232 and the base plate 222. Air has a poor thermal conductivity. Optionally, the core board 221, especially the AI ​​processing chip 2211 on the core board 221, and the second radiator 232 are further provided with a thermally conductive adhesive layer 2324. The thermally conductive adhesive layer 2324 is used to fill the gap between the AI ​​processing chip 2211 and the second radiator 232, reduce the presence of air, and improve thermal conductivity efficiency. When the distance between the core board 221 and the second radiator 232 is large, optionally, a first heat-conducting block 2325 is further provided between the core board 221 and the second radiator 232 to compensate for the distance, a heat-conducting adhesive layer 2324 is provided between the first heat-conducting block 2325 and the AI ​​processing chip 2211, and a heat-conducting adhesive layer 2324 is also provided between the first heat-conducting block 2325 and the second radiator 232 to improve the heat conduction efficiency.

[0191] In some embodiments, referring to Figures 47 to 65 , a second opening 2115 communicating with the heat dissipation channel 231 is defined on the underside of the bottom housing 211. The second opening 2115 faces the first housing 10. When the heat dissipation structure 23 further includes a fluid accelerator 233, heat from the first housing 10 can be removed through the second opening 2115. Optionally, the second opening 2115 corresponds to the power supply 113 on the first housing 10.

[0192] In some embodiments, referring to Figures 1 to 3, Figures 47 to 51, Figures 60 to 61, and Figures 66 to 74, the lawn mowing robot 100 further includes a visual device 24, which is electrically connected to the control device 22, and in particular to the core board 221. The visual device 24 serves as a perception unit of the lawn mowing robot 100, and is used to obtain information from the environment. Specifically, the visual device 24 is used to collect environmental image information, and by sending the image information to a computing unit on the core board 221 for calculation, the lawn mowing robot 100 can identify grass and obstacles. Optionally, the visual device 24 includes a camera 242.

[0193] In some embodiments, referring to Figures 66 to 74, the visual device 24 includes a mounting base 241, a camera 242 and a time of flight (TOF) module. The camera 242 and the TOF module 243 are installed on the mounting base 241, wherein the camera 242 is used to collect RGB image information of the environment, and the TOF module 243 is used to collect depth information of the environment. The core board 221 processes the RGB image information and depth information to know the type and distance of the obstacle. Optionally, an installation cavity is provided through the mounting base 241, which is referred to as the third installation cavity 2411 for easy distinction. The third installation cavity 2411 is provided with adjacent camera 242 installation positions and TOF installation positions. The camera 242 is installed on the camera 242 installation position, and external light can enter the lens of the camera 242; the TOF module 243 is installed on the TOF installation position. The TOF module 243 has a transmitting end and a receiving end. The light emitted by the transmitting end of the TOF module 243, such as infrared light, can be emitted from the third installation cavity 2411, and the light reflected from the outside can return to the third installation cavity 2411 and be received by the receiving end of the TOF module 243. By mounting the camera 242 and the time of flight (TOF) module on the mounting base 241 to form an independent whole, modularization is achieved, and then the mounting base 241 is mounted on the housing, the visual device 24 can be installed on the lawn mower robot 100; the visual device 24 can be installed on different lawn mower robots 100, and has strong versatility.

[0194] In some embodiments, referring to Figures 66 to 74 , a heat conducting block is further fixed in the TOF mounting position. For ease of distinction, this heat conducting block is referred to herein as a second heat conducting block 244. The second heat conducting block 244 is mounted in the third mounting cavity 2411 and pressed against the TOF module 243. The heat generated by the TOF module 243 can be directly transferred to the mounting base 241, and can also be transferred to the second heat conducting block 244. The second heat conducting block 244 then conducts the heat to the mounting base 241, which then transfers the heat to the outside world through the mounting base 241, thereby dissipating heat from the TOF module 243. To improve thermal conductivity, the second heat conducting block 244 and the mounting base 241 are both metal.

[0195] In some embodiments, referring to Figures 66 to 74, the visual device 24 also includes a pre-processing circuit board 245, which is electrically connected to the camera 242 and the TOF module 243. The pre-processing circuit board 245 is used to pre-process the raw data collected by the camera 242 and the TOF module 243. The pre-processing circuit board 245 includes but is not limited to decoding, image stretching, image resizing, correction, etc. At the same time, the pre-processing circuit board 245 is also electrically connected to the control device 22 to pass the pre-processed data to the AI ​​processing chip 2211 on the control device 22 for calculation. The pre-processing circuit board 245 is mounted on the mounting base 241, specifically on the rear end of the mounting base 241. Optionally, the pre-processing circuit board 245 covers the opening of the third mounting cavity 2411 at the rear end of the mounting base 241. In other embodiments, the pre-processing circuit board 245 may not be provided in the visual device 24, but a pre-processing chip may be provided on the control device 22 to pre-process the raw data.

[0196] In some embodiments, as shown in Figures 66 to 74, when the visual device 24 also includes a pre-processing circuit board 245, the pre-processing circuit board 245 is prone to heat generation, and therefore heat dissipation from the pre-processing circuit board 245 is required. In this case, the visual device 24 also includes a heat sink, herein referred to as a third heat sink 246. The third heat sink 246 is also mounted on the rear end of the mounting base 241. The pre-processing circuit board 245 is located between the third heat sink 246 and the mounting base 241. The third heat sink 246 contacts the pre-processing circuit board 245 to dissipate heat from the pre-processing circuit board 245. Optionally, the pre-processing circuit board 245 is surrounded by the third heat sink 246 and the mounting base 241. The third heat sink 246 has an escape hole, herein referred to as a tenth escape hole, formed in the third heat sink 246. The pre-processing circuit board 245 is electrically connected to the control device 22 via a wire through the tenth escape hole. To improve heat dissipation efficiency, the third heat sink 246 is made of metal.

[0197] In some embodiments, as shown in Figures 66 to 74 , the visual device 24 further includes a light-transmitting plate 247 located on the front end of the mounting base 241. The light-transmitting plate 247 seals the opening of the third mounting cavity 2411 located at the front end of the mounting base 241, thereby preventing moisture and other substances from entering the interior of the mounting base 241. Optionally, the light-transmitting plate 247 is bonded to the front end of the mounting base 241. The light-transmitting plate 247 is a plate that can transmit light, including but not limited to visible light and infrared light. Optionally, the light-transmitting plate 247 is a glass plate or a transparent acrylic plate.

[0198] In some embodiments, a surface of the light-transmitting plate 247 away from the mounting base 241 is covered with a hydrophobic film. The hydrophobic film can prevent water droplets, sweat, etc. from adhering to the light-transmitting plate 247 and affecting the image acquisition effect.

[0199] In some embodiments, a surface of the light-transmitting plate 247 close to the mounting seat 241 is covered with a hydrophilic film. The hydrophilic film can prevent fogging on the light-transmitting plate 247.

[0200] In some embodiments, referring to Figures 47 to 51, 60 to 61, and 66 to 74, the visual device 24 is mounted on a housing. When a cavity is formed in the housing, a portion of the visual device 24 is located within the cavity and another portion is located outside the cavity. For example, the visual device 24 is mounted on a first housing 11, which has a first cavity formed therein. A portion of the visual device 24 is located within the first cavity and another portion is located outside the first cavity.

[0201] In some embodiments, referring to Figures 47 to 51, 60 to 61, and 66 to 74, when the housing includes a first housing 11 and a second housing 21, the visual device 24 is mounted on the second housing 21, i.e., the second body 20 includes the visual device 24. When the second housing 21 and the first housing 11 are arranged vertically, the second housing 21 is further from the ground and positioned higher, allowing the visual device 24 to obtain a wider field of view while also reducing interference from dust, dew, and the like on the ground. Optionally, a portion of the visual device 24 is located within the second cavity 201, while another portion is located outside the second cavity 201. Specifically, a third mounting hole 2112 is defined on the bottom shell 211 of the second housing 21, and a mounting base 241 of the visual device 24 is mounted in the third mounting hole 2112, with the front end of the mounting base 241 located outside the second cavity 201 and the rear end of the mounting base 241 located within the second cavity 201. A light-transmitting plate 247 is installed on the front end of the mounting seat 241, and the light-transmitting plate 247 is located outside the second cavity 201; a third radiator 246 is installed on the rear end of the mounting seat 241, and the third radiator 246 is located in the second cavity 201. The pre-processing circuit board 245 in the visual device 24 can be directly electrically connected to the control device 22 located in the second cavity 201 through a wire, which is more convenient.

[0202] In some embodiments, referring to Figures 47 to 51, 60 to 61, and 66 to 74, the mounting base 241 is arranged in a stepped configuration and includes a first mounting platform 2412 and a second mounting platform 2413 integrally formed therewith. Projected along the axial direction of the mounting base 241, the projection of the first mounting platform 2412 is located within the projection of the second mounting platform 2413. A third mounting cavity 2411 is provided through the first mounting platform 2412 and the second mounting platform 2413, wherein the light-transmitting plate 247 is disposed on the second mounting platform 2413, and the third heat sink 246 is disposed on the first mounting platform 2412. When the mounting base 241 of the visual device 24 is installed in the third mounting hole 2112, the second mounting platform 2413 abuts against the outer surface of the bottom case 211, and the first mounting platform 2412 extends into the third mounting hole 2112.

[0203] In some embodiments, referring to Figures 47 to 51, 60 to 61, and 66 to 74, when a first sidewall 2111 is formed on the upper side of the bottom housing 211, a third mounting hole 2112 is provided through the first sidewall 2111, a first mounting platform 2412 is inserted into the third mounting hole 2112, and the third mounting hole 2112 and the first mounting platform 2412 are adapted to each other. The second mounting platform 2413 on the mounting seat 241 abuts against the outer side of the first sidewall 2111, thereby limiting the mounting seat 241 from extending further into the second cavity 201. To prevent moisture and the like from entering the second cavity 201 through the gap between the second mounting platform 2413 and the first sidewall 2111, a third sealing ring 2414 is provided between the second mounting platform 2413 and the first sidewall 2111 to seal the second cavity 201.

[0204] In some embodiments, referring to Figures 47 to 51, 60 to 61, and 66 to 74, the outer surface of the first sidewall 2111 is provided with an annular groove 2119 surrounding the third mounting hole 2112. The third sealing ring 2414 is accommodated within the annular groove 2119. The second mounting platform 2413 is provided with an annular rib 2415 surrounding the first mounting platform 2412, and the annular rib 2415 is spaced apart from the first mounting platform 2412. When the second mounting platform 2413 abuts the outer side of the first sidewall 2111, the annular rib 2415 is inserted into the annular groove 2119 and presses against the third sealing ring 2414. The provision of the annular groove 2119 to accommodate the third sealing ring 2414 and the interlocking engagement of the annular rib 2415 with the annular groove 2119 prevent the third sealing ring 2414 from shifting, ensuring a sealing effect, while also limiting the position of the mounting base 241.

[0205] In some embodiments, as shown in Figures 47 to 51, 60 to 61, and 66 to 74, a third connecting portion 2116 is provided on the upper side of the bottom housing 211 within the second cavity 201. The rear end of the mounting base 241, i.e., the first mounting platform 2412, which extends into the second cavity 201, is connected to the third connecting portion 2116. Optionally, the first mounting platform 2412 is screwed to the third connecting portion 2116. When a third heat sink 246 is also mounted on the first mounting platform 2412, the screws simultaneously connect the third connecting portion 2116, the third heat sink 246, and the first mounting platform 2412. As an example, the third connecting portion 2116 is a connecting piece. Since the second mounting platform 2413 abuts against the outer side of the first side wall 2111, in order to enhance the strength of the first side wall 2111, a reinforcing plate 2117 is provided on the inner side of the first side wall 2111 in the second cavity 201. One end of the reinforcing plate 2117 is connected to the inner side of the first side wall 2111, and the other end of the reinforcing plate 2117 is connected to the upper side of the bottom shell 211. The reinforcing plate 2117 is bent to support the first side wall 2111 and enhance the strength of the first side wall 2111.

[0206] In some embodiments, as shown in Figures 2 and 57-58, the visual device 24 is mounted at the front end of the housing. This allows the visual device 24 to capture image information of the environment in front of the mower robot 100 while the mower robot 100 is moving. Alternatively, the visual device 24 is mounted at the front end of the second housing 21. When the charging head 17 is mounted at the front end of the first housing 11, the visual device 24 can also be used to assist the mower robot 100 in charging the charging station, without causing assembly interference. When the entrance of the heat dissipation channel 231 is also located at the front end of the housing, the visual device 24 can optionally be located above the entrance. The heat dissipation channel 231 can also remove some of the heat from the visual device 24.

[0207] In some embodiments, as shown in Figures 57 and 58 , when the decorative housing 213 includes a front decorative housing 2131, the front decorative housing 2131 is connected to the bottom housing 211 and the upper housing 212. The front decorative housing 2131 houses the mounting seat 241. A viewing window is defined in the front decorative housing 2131, corresponding to the light-transmitting plate 247 to prevent obstruction of data collection by the visual device 24. Optionally, a decorative ring 2134 is also secured to the front decorative housing 2131. The decorative ring 2134 surrounds the viewing window and, when assembled to the bottom housing 211 and the upper housing 212, is positioned between the light-transmitting plate 247 and the front decorative housing 2131. When the entrance of the heat dissipation channel 231 is located at the front end of the second housing 21, the front decorative housing 2131 also includes an eleventh avoidance through-hole 2135 corresponding to the entrance of the heat dissipation channel 231.

[0208] In some embodiments, referring to Figures 1 to 3, 47 to 63, and 75 to 81, the lawn mower robot 100 further includes a button device 25, which is mounted on the housing. The button device 25 serves as an interactive unit on the lawn mower robot 100. The button device 25 is provided with buttons, which are electrically connected to the control device 22. The lawn mower robot 100 can be controlled by pressing the buttons.

[0209] In some embodiments, as shown in Figures 53 and 75 to 81, the key device 25 includes a key housing 251 and a function key module 252. The function key module 252 includes a key circuit board 2521, a function key 2522, and a flexible reset plate 2523. Specifically, the key housing 251 has an outer surface and an inner surface opposite the outer surface. The key housing 251 is provided with a key hole 2511 extending through both the inner and outer surfaces of the key housing 251. Corresponding to the key hole 2511, the key circuit board 2521 and the reset plate 2523 are fixed to the key housing 251 and located on the inner surface of the key housing 251. The reset plate 2523 is located between the key circuit board 2521 and the key housing 251. The function key 2522 is movably mounted in the key hole 2511 and connected to the reset plate 2523. The key circuit board 2521 is provided with a tactile switch 2525, and the function key 2522 corresponds to the tactile switch 2525. The reset plate 2523 covers the keyhole 2511 and is sealed to the key housing 251. Specifically, the reset plate 2523 is sealed to the edge of the keyhole 2511. This prevents moisture from the side of the reset plate 2523 corresponding to the keyhole 2511 from reaching the side of the reset plate 2523 corresponding to the key circuit board 2521, thereby reducing the risk of the key circuit board 2521 getting wet. When operating the key device 25, pressing a function key 2522 causes the function key 2522 to descend along the keyhole 2511. The reset plate 2523, connected to the function key 2522, elastically deforms, and the function key 2522 continues to descend until the corresponding tact switch 2525 is pressed and triggered. When the function key 2522 is released, the reset plate 2523 resets, and the function key 2522, under the action of the reset plate 2523, ascends along the keyhole 2511, and the pressure on the tact switch 2525 is relieved. The flexible reset sheet 2523 is flexible and elastic. Optionally, the reset sheet 2523 is a silicone or rubber member. The function buttons 2522 include but are not limited to a power switch button, a start button, a charging button, etc.

[0210] In some embodiments, as shown in Figures 53 and 75 to 81, a rib surrounds the button hole 2511 on the inner surface of the button housing 251. For ease of distinction, this is referred to as the first rib 2512. The reset plate 2523 is secured to the first rib 2512. By providing the first rib 2512 on the inner surface of the button housing 251 and connecting the reset plate 2523 to the first rib 2512, the connection between the button circuit board 2521 and the button hole 2511 is severed, preventing moisture and other substances from entering the inner side of the button housing 251 through the button hole 2511 and affecting the normal operation of the button circuit board 2521. As an example, the reset plate 2523 is bonded to the first rib 2512.

[0211] In some embodiments, as shown in Figures 53 and 75 to 81, the function key module 252 further includes an extrusion member 2524, which is also fixed to the key housing 251. The extrusion member 2524 is located on the side of the reset plate 2523 facing away from the first rib 2512. The extrusion member 2524 is used to squeeze the reset plate 2523, thereby clamping the reset plate 2523 together with the first rib 2512 to secure the reset plate 2523. The key circuit board 2521 is located on the side of the extrusion member 2524 facing away from the reset plate 2523. It can be understood that, from the outside to the inside of the key housing 251, the function key 2522, the reset plate 2523, the extrusion member 2524, and the key circuit board 2521 are arranged in this order. The extrusion member 2524 can be a frame or a plate. When the extrusion member 2524 is a plate, a twelfth avoidance through-hole corresponding to the tactile switch 2525 is provided in the extrusion member 2524 to prevent the extrusion member 2524 from obstructing the tactile switch 2525 and thereby preventing the function button 2522 from squeezing the tactile switch 2525. Of course, in other embodiments, the key circuit board 2521 can be directly used to squeeze the reset plate 2523, thereby securing the reset plate 2523. In this manner, the extrusion member 2524 can be omitted. However, using the extrusion member 2524 to secure the reset plate 2523 can reduce the force on the key circuit board 2521, thereby reducing the risk of deformation of the key circuit board 2521, compared to directly securing the reset plate 2523 with the key circuit board 2521.

[0212] In some embodiments, referring to Figures 53 and 75 to 81 , the reset plate 2523 includes an elastic plate 2526 and first and second protrusions 2527 and 2528 disposed back-to-back on either side of the elastic plate 2526. The first protrusion 2527 is used to compress the tactile switch 2525, and the second protrusion 2528 is used to receive the function button 2522. Optionally, the second protrusion 2528 is recessed with a slot into which the function button 2522 is inserted. Specifically, the elastic plate 2526, the first protrusion 2527, and the second protrusion 2528 are integrally formed. Optionally, the first boss 2527 is set one-to-one with the touch switch 2525, and the second boss 2528 is set one-to-one with the function key 2522. The number of the first boss 2527 is related to the number of the touch switches 2525, and the number of the second boss 2528 is related to the number of the function keys 2522; the number of the touch switches 2525 can be one or more; the number of the function keys 2522 can be one or more.

[0213] In some embodiments, as shown in Figures 53 and 75 to 81 , the button housing 251 is recessed to form a first groove 2513. The notch of the first groove 2513 is located on the inner side of the button housing 251, i.e., on the side where the inner surface is located. The function button module 252 is at least partially located within the first groove 2513. For example, the button circuit board 2521 and the flexible reset sheet 2523 are both located within the first groove 2513.

[0214] In some embodiments, referring to Figures 49, 53, and 75 to 81, the button device 25 further includes an emergency stop switch module 253. The button housing 251 is recessed to form a second groove 2514. The notch of the second groove 2514 is located on the outside of the button housing 251, i.e., on the side where the outer surface is located. The emergency stop switch module 253 is installed in the second groove 2514. It will be understood that the notch of the second groove 2514 and the notch of the first groove 2513 have opposite opening directions.

[0215] In some embodiments, referring to Figures 49, 53, and 75 to 81, the emergency stop switch module 253 includes an emergency stop button 2531, a reset member 2532, a fifth detection member 2533, and a fifth trigger member 2534. The emergency stop button 2531 is slidably mounted within the second groove 2514. The reset member 2532 is disposed between the emergency stop button 2531 and the bottom wall of the second groove 2514. One of the fifth detection member 2533 and the fifth trigger member 2534 is disposed on the emergency stop button 2531, and the other is disposed on the button housing 251. The distance between the fifth detection member 2533 and the fifth trigger member 2534 changes during the sliding of the emergency stop button 2531. Optionally, the fifth detection member 2533 is electrically connected to the control device 22. The fifth detection member 2533 is mounted on the button housing 251, and the fifth trigger member 2534 is mounted on the emergency stop button 2531. As an example, fifth detecting member 2533 is a Hall effect sensor, and fifth triggering member 2534 is a magnet. The magnet is mounted on emergency stop button 2531, and the Hall effect sensor is mounted on the inner surface of button housing 251 and corresponds to the magnet. When emergency stop button 2531 is pressed, the magnet approaches the Hall effect sensor and triggers it. When the pressing is released, emergency stop button 2531 is reset by reset member 2532, and the magnet moves away from the Hall effect sensor. Optionally, reset member 2532 is a spring.

[0216] In some embodiments, referring to Figures 49, 53, and 75 to 81, the emergency stop switch module 253 further includes a balancing component, which is installed between the emergency stop button 2531 and the button shell 251. The balancing assembly includes a first balancing plate 2535 and a second balancing plate 2536 arranged in a cross-section. The first balancing plate 2535 and the second balancing plate 2536 are rotatably connected at the cross-section. One end of the first balancing plate 2535 is a rotating end, and the other end is a sliding end. The rotating end of the first balancing plate 2535 is rotatably connected to the button housing 251, and the sliding end of the first balancing plate 2535 is slidably connected to the emergency stop button 2531. The second balancing plate 2536 has one end as a rotating end, and the other end as a sliding end. The rotating end of the second balancing plate 2536 is rotatably connected to the emergency stop button 2531, and the sliding end of the second balancing plate 2536 is slidably connected to the button housing 251. The rotating ends of the first and second balancing plates 2535 and 2536 are located on the same side of the cross-section, while the sliding ends of the first and second balancing plates 2535 and 2536 are located on opposite sides of the cross-section. The provision of the balancing assembly reduces the risk of the emergency stop button 2531 becoming stuck.

[0217] In some embodiments, referring to Figures 49, 53, and 75 to 81, a raindrop sensor 254 is further provided on the button shell 251. The raindrop sensor 254 is used to detect rain. The raindrop sensor 254 is provided on the outer surface of the button shell 251.

[0218] In some embodiments, a display screen is further mounted on the button housing 251. The display screen includes, but is not limited to, at least one of an LED (Light-emitting Diode) display screen and an LCD (Liquid Crystal Display) display screen. Optionally, the display screen includes a touch screen.

[0219] In some embodiments, as shown in Figures 1 to 3 and 47 to 63, the button device 25 is mounted on the housing. Optionally, the button device 25 is mounted on the second housing 21, meaning that the second body 20 also includes the button device 25. When the second housing 21 and the first housing 11 are stacked one on top of the other, mounting the button device 25, which serves as the interactive unit, on the second housing 21 brings the button device 25 closer to the user, improving the operational experience. When the second housing 21 includes a bottom housing 211 and an upper housing 212, the button device 25 is mounted on the upper housing 212. Specifically, a fourth mounting hole 2121 is defined in the upper housing 212. The button housing 251 of the button device 25 is sealed to the edge of the fourth mounting hole 2121, and the inner surface of the button housing 251 forms part of the wall of the second cavity 201. When a first groove 2513 is formed on the button housing 251, the first groove 2513 forms part of the second cavity 201.

[0220] In some embodiments, referring to Figures 1 to 3 and Figures 47 to 56 , the lawn mower robot 100 further includes a positioning device, referred to herein as a first positioning device, which is configured to assist the lawn mower robot 100 in achieving autonomous positioning. Exemplarily, the first positioning device includes, but is not limited to, at least one of a satellite positioning device and an ultra-wideband (UWB) positioning device.

[0221] In some embodiments, as shown in Figures 47 to 56 , the first positioning device includes a first positioning antenna 26 and a first positioning chip, with the first positioning antenna 26 being electrically connected to the first positioning chip. In related art, the first positioning antenna 26 and the first positioning chip are directly mounted on the control device 22. However, due to limited space on the control device 22, this greatly increases the design difficulty of the control device 22. Alternatively, the first positioning chip is mounted on the control device 22, which is then mounted within the second cavity 201. The first positioning antenna 26 is also mounted within the second cavity 201, with the first positioning antenna 26 spaced apart from the control device 22. By placing the first positioning chip on the control device 22, it is easier to electrically connect the first positioning chip to the AI ​​processing chip 2211, thereby guiding the autonomous movement of the lawn mower robot 100. Furthermore, the first positioning antenna 26 and the control device 22 are installed in the same mounting cavity, which not only facilitates connection between the first positioning antenna 26 and the first positioning chip, but also protects the positioning device. The first positioning antenna 26 is spaced apart from the control device 22, meaning that the first positioning antenna 26 is not mounted on the control device 22, thereby reducing the manufacturing difficulty of the control device 22. Specifically, when the second housing 21 includes a bottom housing 211 and an upper housing 212, the control device 22 is fixed to the bottom housing 211, and the first positioning antenna 26 is fixed to the upper housing 212. More specifically, the top of the upper housing 212 is recessed to form a third groove, and the first positioning antenna 26 is fixed within this third groove, placing the first positioning antenna 26 closer to the top of the lawn mower robot 100 and improving the quality of the received signal. The first positioning antenna 26 may be directly fixed on the upper shell 212 or may be fixed on a bracket, and indirectly fixed by fixing the bracket to the upper shell 212 .

[0222] In some embodiments, the first positioning device is a satellite positioning device. When the positioning device includes a first positioning antenna 26 and a first positioning chip, the first positioning antenna 26 is used to receive satellite signals, and the first positioning chip is used to determine the position of the positioning device, i.e., the position of the robotic lawn mower 100, based on the received satellite signals, thereby achieving positioning. The satellite signal can be a GPS (Global Positioning System) signal, a Beidou navigation signal, a European Galileo signal, a Russian Glonass signal, or other navigation and positioning signal.

[0223] In some embodiments, the satellite positioning device includes a real-time kinematic (RTK) positioning device. For ease of distinction, the RTK positioning device provided on the mowing robot 100 is referred to as the first RTK positioning device. Generally, a satellite positioning device can assist the mowing robot 100 in achieving positioning. However, the positioning coordinates generated by the satellite signals received by a single satellite positioning device can exhibit significant deviations due to the influence of the satellite's own ionosphere and errors caused by the propagation path, resulting in low positioning accuracy. To address this issue, at least one reference station is provided near the mowing robot 100. In this case, the mowing robot 100 acts as a mobile station. The reference station can provide correction signals to the mowing robot 100 based on the received satellite signals. The mowing robot 100 then determines its position based on the positioning signal formed by the correction signals and the satellite signals, thus achieving RTK positioning and improving positioning accuracy. When there is only one reference station, RTK positioning is possible; when there are multiple reference stations, network RTK positioning can also be implemented, further improving positioning accuracy and increasing the effective operating range of the mowing robot 100.

[0224] In some embodiments, referring to Figures 47 to 56 , when the first positioning device includes a first RTK positioning device, the lawn mower robot 100 further includes a first wireless communication device, which is configured to wirelessly communicate with a reference station to transmit correction signals. The first wireless communication device includes, but is not limited to, at least one of a Bluetooth communication device, a LoRa communication device, a 4G communication device, and a Wi-Fi communication device.

[0225] In some embodiments, the first wireless communication device includes a first communication chip 27 and a first communication antenna, with the first communication chip 27 being electrically connected to the first communication antenna. Optionally, the first wireless communication device is a Wi-Fi communication device. Compared to other communication methods, Wi-Fi communication has a larger bandwidth and can transmit more bytes. Accordingly, the Wi-Fi communication device includes a Wi-Fi chip and a Wi-Fi antenna, with the Wi-Fi chip and the Wi-Fi antenna being electrically connected. Specifically, the first communication chip 27 is a Wi-Fi chip, and the first communication antenna is a Wi-Fi antenna. Taking Wi-Fi communication devices as an example, the signal transmission range of a typical Wi-Fi communication device is 50 to 60 meters. When the lawn mower robot 100 is operating on a lawn, since lawns vary in size, the distance between the lawn mower robot 100 and the reference station will increase for larger lawns. When the distance between the lawn mower robot 100 and the reference station exceeds the signal transmission range of the Wi-Fi communication device, the lawn mower robot 100 will not receive the correction signal from the reference station, thereby affecting the positioning of the lawn mower robot 100. Based on this, the transmission power of the WIFI chip is increased, thereby increasing the signal transmission distance of the WIFI communication device and expanding the operating range of the lawn mower robot 100.

[0226] In some embodiments, the first wireless communication device is a high-performance wireless communication device, and the signal transmission distance of the high-performance wireless communication device is greater than 100 mm. Optionally, the signal transmission distance of the high-performance wireless communication device is greater than 150 mm. Optionally, the high-performance wireless communication device is a high-performance Wi-Fi communication device. Since the base station requires power during operation, it can typically be installed near a house to facilitate power supply. After the signal transmission distance of the first wireless communication device is increased, the lawn mower robot 100 can maintain high-precision positioning even when moving to a lawn farther away from the house.

[0227] In some embodiments, referring to Figures 47 to 56, when the first wireless communication device is a high-performance wireless communication device, the transmission power of the first communication chip 27 increases, resulting in a large amount of heat generated by the first communication chip 27, and the first communication chip 27 needs to be cooled. When a heat dissipation structure 23 is provided on the housing, and the heat dissipation structure 23 includes a second heat sink 232 and a heat dissipation channel 231, the first communication chip 27 contacts the second heat sink 232, so that the heat generated by the first communication chip 27 can be transferred to the second heat sink 232 and dissipated through the heat dissipation channel 231. Optionally, the first communication chip 27 is mounted on the control device 22, and the first communication chip 27 is located between the second heat sink 232 and the control device 22. Here, the first communication chip 27 can be directly provided on the control device 22, or the first communication chip 27 can be provided on a separate communication circuit board, and the communication circuit board is provided on the control device 22. When the control device 22 includes a base plate 222 and a core board 221 , the first communication chip 27 and the core board 221 are arranged side by side on the same side of the base plate 222 and are cooled together by the second heat sink 232 .

[0228] In some embodiments, the first communication antenna includes a rubber stick antenna. The rubber stick antenna has good data transmission performance, which helps to increase the signal transmission range of the first wireless communication device. The number of rubber stick antennas can be one or more. Exemplarily, there is one rubber stick antenna, which has both transceiver functions. Exemplarily, there are two rubber stick antennas, one rubber stick antenna has a receive function, and the other rubber stick antenna has a transmit function.

[0229] In some embodiments, as shown in Figures 47 to 56 , the first wireless communication device is installed in the second cavity 201 , and the second housing 21 can protect the first wireless communication device. When the control device 22 is also installed in the second cavity 201 , electrical connection between the first wireless communication device and the control device 22 is facilitated.

[0230] In some embodiments, as shown in Figures 47 to 56 , an antenna bracket 273 is provided on the upper side of the bottom housing 211. The antenna bracket 273 is located within the second cavity 201, and the first communication antenna is mounted on the antenna bracket 273. Specifically, the first communication antenna comprises a rubber stick antenna, which includes a first rubber stick and a second rubber stick that are rotatably connected. The first and second rubber sticks are both hollow rods. The antenna is disposed within the first rubber stick and is connected to a wire that passes through the first and second rubber sticks. The antenna bracket 273 comprises a bracket body, a slot is defined at the top of the bracket body, and a second mounting ear is provided on a side wall of the bracket body. This side wall corresponds to a port of the slot. To mount the rubber stick antenna on the antenna bracket 273, the second rubber stick is first mounted on the second mounting ear, and then the first rubber stick is rotated so that the first rubber stick is locked in the slot. The first and second rubber sticks are rotatably connected. Optionally, in the first rotational position, the rubber stick antenna forms a straight line, and in the second rotational position, the rubber stick antenna forms an L-shape.

[0231] In some embodiments, a latching hole is provided through the second mounting ear, and the free end of the second glue stick is elastically engaged with the latching hole. Specifically, a notch is provided on the free end of the second glue stick so that the free end of the second glue stick forms an elastic arm, which is adapted to be engaged within the latching hole. A first stop protrusion with a guiding slope is provided at the top of the elastic arm, a second stop protrusion is provided at the base of the elastic arm, and an inner wall of the latching hole is further provided with an abutment groove that engages with the second stop protrusion. When installing the rubber stick antenna, push the free end of the second rubber stick into the card hole. First, under the guidance of the guide inclined surface, the first limiting protrusion acts on the edge of the card hole, and the elastic arm undergoes elastic deformation. The first limiting protrusion and the elastic arm extend into the interior of the card hole and continue to advance until the second limiting protrusion enters the abutting groove and abuts against the groove wall of the abutting groove, and the first limiting protrusion passes through the card hole and extends out of the card hole, the elastic arm is reset, and the first limiting protrusion cooperates with the edge of the card hole. The first limiting protrusion limits the elastic arm from retreating, and the second limiting protrusion limits the elastic arm from continuing to move forward, thereby fixing the second rubber stick on the second mounting ear; when it is necessary to remove the antenna rubber stick from the second mounting ear, just squeeze the first limiting protrusion to deform the elastic arm, and pull out the second rubber stick from the card hole.

[0232] Typically, the lawn mower robot 100 is used to form a positioning system with at least one reference station (not shown). Specifically, the lawn mower robot includes a first positioning device (e.g., a first RTK positioning device) and a first wireless communication device; the reference station includes a second positioning device (e.g., a second RTK positioning device) and a second wireless communication device. During operation, the second positioning device receives satellite signals and generates correction signals. The second wireless communication device communicates wirelessly with the first wireless communication device, which transmits the correction signals to the lawn mower robot. The first positioning device also receives satellite signals. The first wireless communication device receives the correction signals. The lawn mower robot then calculates its precise position based on the satellite signals received by the first positioning device and the correction signals received by the first wireless communication device.

[0233] In some embodiments, as shown in Figures 54 to 60 , the housing is further provided with a handle 28 to facilitate the user's lifting of the lawn mower robot 100. Optionally, the handle 28 is provided on the second housing 21, which is positioned away from the ground, making it easier for the user to operate the handle 28. Specifically, the handle 28 includes a first sub-assembly 281 and a second sub-assembly 282. The first sub-assembly 281 is integrally formed with the bottom housing 211, and the second sub-assembly 282 is assembled with the first sub-assembly 281. When the second housing 21 also includes a decorative housing 213, the decorative housing 213 interfaces with the first sub-assembly 281 and the second sub-assembly 282, thereby covering the edges of the first and second sub-assemblies 281, 282.

[0234] In some embodiments, the handle 28 is disposed at the rear end of the second housing 21. When the heat dissipation channel 231 is formed on the second housing 21 and the outlet of the heat dissipation channel 231 is also located at the rear end of the second housing 21, the projection of the outlet of the heat dissipation channel 231 and the projection of the handle 28 are offset when projected from the rear end of the second housing 21 to the front end of the second housing 21, thereby reducing the direct blowing of hot air discharged from the heat dissipation channel 231 on the handle 28 and suppressing the temperature rise of the handle 28.

[0235] In some embodiments, the handle 28 is disposed at the rear end of the second housing 21. When the heat dissipation channel 231 is formed on the second housing 21 and the outlet of the heat dissipation channel 231 is also located at the rear end of the second housing 21, the decorative housing 213 further includes a rear decorative housing 2133. The rear decorative housing 2133 is mounted at the rear ends of the bottom housing 211 and the upper housing 212. The rear decorative housing 2133 is provided with a louver at the outlet of the heat dissipation channel 231. The louver blades are tilted relative to the plane where the handle 28 is located, thereby reducing the direct impact of hot air discharged from the heat dissipation channel 231 on the handle 28 and suppressing the temperature rise of the handle 28. Optionally, the louver blades extend tilted away from the ground from the rear end of the second housing 21 to the front end of the second housing 21, thereby reducing the risk of rainwater or the like flowing through the louver blades into the heat dissipation channel 231.

[0236] 55 to 56 , the lawn mowing robot 100 further includes a speaker 29 , which is electrically connected to the control device 22 . Optionally, the speaker 29 is installed in the third cavity 202 .

[0237] In some embodiments, referring to Figures 1 to 4 and Figures 82 to 86 , the lawn mower robot 100 further includes a switching mechanism 30, which is used to electrically connect the control device 22 to the driver in the actuator. Specifically, the switching mechanism 30 is electrically connected to the driver via a first wire, and then electrically connected to the control device 22 via a second wire, thereby electrically connecting the control device 22 to the driver. When the lawn mower robot 100 includes a first body 10 and a second body 20, especially when the first housing 11 and the second housing 21 are detachably connected, the switching mechanism 30 can be provided to simplify the electrical connection between the first and second housings 11, 21. Specifically, the switching mechanism 30 is at least partially exposed at the connection interface between the first and second housings 11, 21. The switching mechanism 30 can be disposed within either the first housing 11 or the second housing 21, as long as the portion of the switching mechanism 30 used for the conductive connection is exposed at the connection interface. Alternatively, the switching mechanism 30 can be completely exposed at the connection interface. This allows some of the wiring operations that originally needed to be performed inside the first housing 11 and / or the second housing 21 to be transferred to the connection interface, which is more convenient. Taking the adapter mechanism 30 set on the first housing 11 as an example, when the first body 10 and the second body 20 need to be connected together, there must be a step to electrically connect the control device 22 to the drive component. If a adapter mechanism 30 exposed on the connection interface is set, the adapter mechanism 30 and the drive component can be connected with the first wire when assembling the first body 10. When assembling the second body 20, the second wire can be connected with the control device 22 first. Finally, when connecting the first housing 11 and the second housing 21, only the first wire needs to be connected to the adapter mechanism 30. If the adapter mechanism 30 is not set, it is necessary to use a wire to connect the control device 22 and the drive component while assembling the first body 10 and the second body 20. This is not only inconvenient to operate, but also easy to make mistakes and connect the wrong wires.

[0238] In some embodiments, referring to Figures 82 to 86 , the adapter mechanism 30 includes an adapter plate 31 , on which are provided first and second electrically connected terminals 311 and 312 . The first terminal 311 is used to electrically connect to the driver via a first wire, and the second terminal 312 is used to electrically connect to the control device 22 via a second wire. It should be noted that the number of first terminal 311, second terminal 312, first wire, and second wire can be one or more, and is not limited here. For example, if the driver in the actuator includes one height adjustment motor 136 , two travel motors 122 , and one cutting motor 132 , the number of first wires and first terminal 311 can be set to four, with each motor connected to a first terminal 311 via a first wire. The portion of the adapter mechanism 30 used for the conductive connection is exposed on the connection interface, and can be the first terminal 311 and / or the second terminal 312 exposed on the connection interface. Optionally, the first wiring terminal 311 and the second wiring terminal 312 are respectively arranged on opposite sides of the adapter plate 31. The portion of the adapter mechanism 30 used for conductive connection being exposed on the connection interface means that after the first housing 11 and the second housing 21 are separated, the portion of the adapter mechanism 30 used for conductive connection is exposed on the surface of the first housing 11 used for connection with the second housing 21, or on the surface of the second housing 21 used for connection with the first housing 11, so that a direct connection between a wire (such as the first wire and / or the second wire) and the conductive connection portion can be made on this surface.

[0239] In some embodiments, referring to Figures 82 to 86 , the adapter mechanism 30 further includes a protective shell 32 , which defines a mounting cavity, referred to herein as a fourth mounting cavity, within which the adapter plate 31 is disposed. The protective shell 32 further defines a first wire hole 33 and a second wire hole 34 . A first wire can extend through the first wire hole 33 into the fourth mounting cavity and be electrically connected to a first terminal 311 . A second wire can extend through the second wire hole 34 into the fourth mounting cavity and be electrically connected to a second terminal 312 .

[0240] In some embodiments, as shown in Figures 82 to 86, the protective shell 32 includes a shell body 321 and a cover plate 322 that snap together. The shell body 321 includes an integrally arranged flat plate 3211 and a rib, referred to herein as a second rib 3212 for ease of distinction. The second rib 3212 is disposed on a side surface of the flat plate 3211. The cover plate 322 covers the top of the second rib 3212 and, together with the second rib 3212 and the flat plate 3211, forms a fourth mounting cavity. The first wire hole 33 is provided in the second rib 3212, and the second wire hole 34 is provided in the flat plate 3211.

[0241] In some embodiments, please refer to Figures 82 to 86, another rib is provided on the side surface of the flat plate 3211 where the second rib 3212 is provided, referred to herein as the third rib 3213. The third rib 3213 and the second rib 3212 are located on the same side surface of the flat plate 3211, and the third rib 3213 is located on the outside of the second rib 3212. The third rib 3213 is closer to the edge of the flat plate 3211 than the second rib 3212, and the height of the third rib 3213 is higher than the second rib 3212. The third rib 3213 and the second rib 3212 define a glue pouring groove 3214, and a glue layer is provided in the glue pouring groove 3214. The glue layer is used to seal the gap between the first wire and the first wire hole 33 and the gap between the shell body 321 and the cover plate 322. When assembling the adapter mechanism 30, first install the adapter plate 31 on the flat plate 3211 and locate it in the second rib 3212, pass the first wire through the first wire hole 33 and connect it to the first terminal 311, pass the second wire through the second wire hole 34 and connect it to the second terminal 312, cover the cover plate 322 on the second rib 3212, pour glue into the glue groove 3214, and cool it to obtain a glue layer.

[0242] In some embodiments, referring to Figures 82 to 86 , the housing body 321 further comprises an extension tube 3215 disposed on the flat plate 3211. The extension tube 3215 is located on a side surface of the flat plate 3211 away from the second rib 3212 and communicates with the second wire-passing hole 34. The adapter mechanism 30 is mounted on the first housing 11. The second housing 21, more specifically the bottom housing 211, is further provided with a thirteenth avoidance hole 2118. The extension tube 3215 passes through the thirteenth avoidance hole 2118 and extends into the second housing 21, specifically into the second cavity 201. At this point, the second cavity 201 communicates with the fourth mounting cavity. Optionally, the flat plate 3211 and the cover plate 322 in the protective shell 32 of the adapter mechanism 30 are arranged in the first shell 11, specifically in the first cavity. The first shell 11, more specifically the cover body 112, is provided with a fourteenth avoidance hole 1124, and the extension tube 3215 passes through the fourteenth avoidance hole 1124 and extends out of the first cavity.

[0243] In some embodiments, as shown in Figures 1 to 3 , the robotic lawn mower 100 further includes an additional functional component (not shown). This additional functional component is mounted on the housing, allowing the robotic lawn mower 100 to have additional functions. Here, additional functions refer to functions other than mowing, including but not limited to at least one of watering, fertilizing, pest control, disinfection, leaf collection, and grass clippings collection. Specifically, when the housing includes a second housing 21 and a first housing 11, the actuator is mounted on the first housing 11, and the second housing 21 is used to mount at least one of the control device (not shown) and the additional functional component.

[0244] In some embodiments, the additional functional component includes a storage tank. The storage tank can be a liquid storage tank for storing liquids. The liquid can be water or nutrient solution, allowing the mower robot 100 to irrigate the lawn. The liquid can also be pesticides, allowing the mower robot 100 to spray pesticides on the lawn. The liquid can also be disinfectants, allowing the mower robot 100 to spray disinfectants on the lawn. The storage tank can also be a material storage tank for storing solids. The solids can be fertilizers, allowing the mower robot 100 to fertilize the lawn. The solids can also be debris such as fallen leaves or grass clippings, allowing the mower robot 100 to collect fallen leaves or grass clippings on the lawn.

[0245] In some embodiments, the actuator is mounted on the first housing 11, and the storage box is mounted in the second cavity (not shown) or the second housing 21 itself is mounted on the first housing 11 as a storage box. When the second housing 21 itself serves as a storage box, the inner cavity of the storage box is the second cavity. Since the second housing 21 and the first housing 11 are stacked up and down, the second housing 21 is closer to the user. When the storage box is mounted in the second cavity or the second housing 21 itself serves as a storage box, the user can operate the storage box more effortlessly, alleviating the hardship caused by bending over. Optionally, the storage box is detachably mounted, which makes it convenient to operate by disassembling the storage box. Exemplarily, the actions of operating the storage box include but are not limited to replenishing materials, dumping materials, cleaning the storage box, and repairing the storage box. The control device here can be installed in the first cavity or in the second cavity, which is not limited in this solution.

[0246] In other embodiments, the actuator may be mounted on the first housing 11, the control device may be mounted in the second cavity, and the storage box may be mounted in the first cavity. By mounting the storage box in the first cavity, the center of gravity of the robotic mower 100 may be lowered, thereby ensuring the stability of the robotic mower 100 and reducing the risk of tipping over. The storage box may also be closer to the ground, shortening the material delivery path and simplifying the machine structure. Furthermore, if the storage box is a liquid storage tank, mounting the storage box and the control device in separate cavities can achieve dry and wet separation, reducing the risk of liquid in the storage box wetting the control device.

[0247] In some embodiments, the storage box includes a first port, which can be an inlet, so that external materials can enter the storage box through the first port, and the first port can also be an outlet, so that materials in the storage box can be discharged to the outside through the first port. Optionally, the first port is an outlet, and the first port is arranged on the bottom wall of the storage box, and the bottom wall is the side wall of the storage box close to the ground. By arranging the first port on the bottom wall of the storage box, when the lawn mower robot 100 is placed on the lawn, the first port faces the lawn, so that the materials (liquid or solid) in the storage box can be discharged from the storage box by gravity, or even directly fall onto the lawn, for example, water, nutrient solution, fertilizer, etc. fall directly onto the lawn. Optionally, the bottom wall of the storage box is funnel-shaped, and the first port is the lowest point of the bottom wall, which makes it easier to discharge the materials.

[0248] In some embodiments, the additional functional component further includes a switch, such as a valve, for controlling the on / off operation of the first port. Optionally, the switch includes an electronic valve, such as a solenoid valve, which is electrically connected to the control device. The control device directly controls the switch to adjust the on / off operation of the first port, thereby achieving automation.

[0249] In some embodiments, the additional functional component further includes a first delivery tube connected to the first port of the storage box. The switch member may be disposed on the first delivery tube or at the first port. Optionally, the first delivery tube is a flexible tube, and the switch member includes a clamp disposed on the first delivery tube. When the clamp is clamped on the first delivery tube, the first delivery tube deforms, thereby closing the first port. When the clamp is opened, the first delivery tube returns to its original position, and the first port is opened.

[0250] In some embodiments, the additional functional component further includes a suction element, which is used to create a negative pressure or reduce the air pressure within the storage box, thereby sucking fallen leaves and / or grass clippings from the lawn into the storage box. The suction element can be mounted on the first housing 11 or the second housing 21. Optionally, the suction element comprises a vacuum pump or a blower. The storage box includes a first opening and a second opening, wherein the first opening serves as an air inlet and the second opening serves as an air outlet, and the suction element is connected to the second opening. When the lawn mower robot 100 further includes a first delivery pipe, the first delivery pipe serves as a suction pipe, with one end of the first delivery pipe connected to the first opening and the other end of the first delivery pipe being free, serving as an inlet for sucking fallen leaves, grass clippings, and other debris from the lawn. When the lawn mower robot 100 is in use, the suction element draws air from the storage box, creating a negative pressure therein. This, in turn, reduces the air pressure within the first delivery pipe connected to the storage box, causing fallen leaves, grass clippings, and other debris on the lawn to be sucked into the first delivery pipe and then into the storage box along the first delivery pipe. Optionally, a filter is provided at the second port to prevent debris from entering the suction member.

[0251] In some embodiments, the storage tank is a liquid storage tank, and the additional functional component further includes an atomizer connected to the storage tank and configured to atomize the liquid (e.g., disinfectant, pesticide, etc.) in the storage tank into small droplets. Optionally, the lawn mower robot 100 further includes a nozzle connected to the atomizer and configured to spray the small droplets formed by the atomization process onto the lawn.

[0252] In some embodiments, the storage box is a material storage box, and the additional functional component further includes a vibrator, which is fixed to the storage box and is used to vibrate the storage box to quickly discharge solids (e.g., fertilizer) that are attached to or blocked within the storage box. The vibrator can vibrate the storage box continuously or intermittently. As an example, the vibrator is a motor.

[0253] In some embodiments, the storage box further includes a third port and a lid, through which materials can be added to or removed from the storage box. The lid seals the third port. It should be noted that the term "third port" simply designates an opening on the storage box and does not necessarily limit the number of openings on the storage box. For example, in some embodiments, the storage box includes only the first and third ports; in other embodiments, the storage box includes all three ports.

[0254] In some embodiments, the actuator is mounted on the first housing 11, and additional functional components (such as a storage box, a suction unit, an atomizer, a vibrator, etc.) are mounted on the second housing 21. Furthermore, the second housing 21 is detachably mounted on the first housing 11, so that the first housing 11 can be used as a common platform. By switching between different second housings 21, the lawn mower robot 100 can have different additional functions.

[0255] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A lawn mowing robot, characterized in that, Comprising: A first fuselage, the first fuselage including a first housing and an actuator, the actuator being provided on the first housing; A second fuselage, the second fuselage including a second housing and a control device, the control device being provided on the second housing; the control device is electrically connected to the actuator, the control device is used to control the actuator, and the second housing is detachably connected to the first housing.

2. The lawn mowing robot according to claim 1, characterized in that, The actuator includes a cutting mechanism, the cutting mechanism including a cutting structure, the cutting structure including a motor cylinder, a cutting motor, and a cutting member, the motor cylinder being connected to the first housing, the cutting motor being installed on the motor cylinder, the cutting member being fixed to the output shaft of the cutting motor, and the cutting motor being electrically connected to the control device.

3. The lawn mowing robot according to claim 2, characterized in that, The cutting mechanism further includes a height adjustment structure, the height adjustment structure including a fixed seat, a height adjustment motor, and a swing arm, the fixed seat being fixedly connected to the first housing, the height adjustment motor being fixedly installed on the fixed seat, the swing arm being rotatably installed on the fixed seat, the height adjustment motor driving the swing arm to rotate, the motor cylinder being lapped on the swing arm and being movably connected to the first housing, and the height adjustment motor being electrically connected to the control device.

4. The lawn mowing robot according to claim 3, characterized in that The fixed seat is provided with a first cavity and a second cavity that communicate with each other, the fixed seat is further provided with an opening that communicates the second cavity with the outside, the swing arm includes a rotating body and a support arm, the rotating body is rotatably installed in the second cavity, the support arm has a fixed end and a free end, the fixed end is fixed to the rotating body, and the free end extends out of the second cavity through the opening and supports the motor cylinder; the height adjustment structure further includes a transmission assembly installed in the first cavity, the transmission assembly including a worm and a gear that mesh with each other, the height adjustment motor being connected to the worm to drive the worm to rotate, and the gear being connected to the swing arm to drive the swing arm to rotate.

5. The lawn mowing robot according to claim 4, characterized in that, The first fuselage further includes a height adjustment detection mechanism, the height adjustment detection mechanism including a second detection member, a third detection member, and a second trigger member, the second detection member and the third detection member being fixedly provided on the first housing or the fixed seat, the second trigger member being fixed to the gear and being used to rotate following the gear, the second trigger member being used to trigger the second detection member when the cutting structure moves to a first position, and the second trigger member being further used to trigger the third detection member when the cutting structure moves to a second position; the height adjustment detection mechanism further includes a third trigger member and a fourth detection member, the fourth detection member being fixedly provided on the first housing or the fixed seat, the third trigger member being fixed to the worm and being used to rotate following the worm, the third trigger member being used to trigger the fourth detection member when the cutting structure moves to the first position and / or the second position; the second detection member, the third detection member, and the fourth detection member are all electrically connected to the control device.

6. The lawn mowing robot according to claim 3, characterized in that, The cutting mechanism further includes a limiting structure, which includes a connecting seat and at least one connecting rod. The connecting seat is fixedly connected to the first casing. One end of the connecting rod is rotatably connected to the motor cylinder, and the other end of the connecting rod is rotatably connected to the connecting seat.

7. The lawn mowing robot according to claim 1, wherein The actuating mechanism includes a traveling mechanism, which includes a driving wheel structure. The driving wheel structure includes a traveling wheel and a traveling motor. A first mounting hole is formed in the first casing. The traveling motor extends into the first casing through the first mounting hole and is detachably connected to the first casing. The traveling wheel is located outside the first casing and is fixedly connected to the output shaft of the traveling motor. The traveling motor is electrically connected to the control device.

8. The lawn mowing robot according to claim 7, characterized in that The traveling mechanism further includes a universal wheel structure, which includes a mounting arm and a universal wheel. The mounting arm is fixedly installed on the first casing, and the universal wheel is movably installed on the mounting arm.

9. The lawn mowing robot according to claim 1, wherein, The first fuselage further includes a collision detection mechanism, which includes a support frame, a floating shell, an elastic member, a sensing member and a fourth triggering member. The support frame includes a support body and a connecting arm integrally provided. The connecting arm is fixedly connected to the first casing. The floating shell covers the outside of the support body and is spaced from the support frame. The elastic member is arranged between the floating shell and the support body so that the floating shell can move relative to the support body. One of the sensing member and the fourth triggering member is arranged on the support body, and the other of the sensing member and the fourth triggering member is arranged on the floating shell. The sensing member is electrically connected to the control device.

10. The lawn mowing robot according to claim 9, characterized in that, The floating shell includes a lower sub-shell and an upper sub-shell. The lower sub-shell and the upper sub-shell are snapped together to form a second installation cavity. The support body is located in the second installation cavity. The support body includes a lower sub-body and an upper sub-body. The lower sub-body and the upper sub-body are snapped together and enclose a receiving cavity. The sensing member is installed in the receiving cavity. The elastic member includes a first elastic member and a second elastic member. The first elastic member is located between the lower sub-body and the upper sub-shell. The upper sub-body is recessed to form a first avoidance groove for avoiding the first elastic member. The second elastic member is located between the upper sub-body and the lower sub-shell. The lower sub-body is recessed to form a second avoidance groove for avoiding the second elastic member.

11. The lawn mowing robot according to claim 1, wherein, The first fuselage further includes a charging head and a power source. The power source is electrically connected to the control device. The charging head includes a first insulating seat, a first positive electrode and a first negative electrode. The first insulating seat is connected to the first casing. The first positive electrode and the first negative electrode are arranged at intervals on the first insulating seat and are electrically connected to the power source. An insulating protrusion is arranged on the first insulating seat. The insulating protrusion is located between the first positive electrode and the first negative electrode and separates the first positive electrode and the first negative electrode. On the first insulating seat, the height of the insulating protrusion protruding from the first insulating seat is higher than the height of any one of the first positive electrode and the first negative electrode protruding from the first insulating seat.

12. The lawn mowing robot according to any one of claims 1 to 11, characterized in that, A second cavity is provided inside the second housing, and the control device is arranged inside the second cavity; the control device includes a core board, and an artificial intelligence processing chip is arranged on the core board.

13. The lawn mowing robot according to claim 12, characterized in that, The second fuselage further includes a heat dissipation structure, the heat dissipation structure includes a second radiator and a heat dissipation channel arranged on the second housing, the heat dissipation channel is independent of the second cavity and communicates with the outside; the second radiator is arranged on the second housing, a part of the second radiator is located inside the heat dissipation channel, and another part is located inside the second cavity and is used for dissipating heat from the artificial intelligence processing chip.

14. The lawn mowing robot according to claim 13, wherein, The heat dissipation structure further includes a fluid accelerating member, and the fluid accelerating member is installed on the second housing and is used for accelerating the flow of the fluid inside the heat dissipation channel.

15. The lawn mowing robot according to claim 13, wherein, A first through port communicating with the heat dissipation channel is opened on the second housing; the second radiator includes a support plate body and heat dissipation fins, the heat dissipation fins are located on one side surface of the support plate body, the support plate body is located inside the second cavity and is supported on the second housing, the heat dissipation fins extend into the heat dissipation channel through the first through port, a second sealing ring is clamped between the support plate body and the second housing to seal the first through port, and the second cavity is a sealed cavity.

16. The lawn mowing robot according to claim 12, wherein, The second fuselage further includes a vision device, the vision device includes a mounting base and a camera, and the camera is installed inside the mounting base; a third mounting hole communicating with the second cavity is opened on the second housing, the mounting base is arranged in the third mounting hole, the front end of the mounting base is located outside the second cavity, the rear end of the mounting base is located inside the second cavity, and the camera is electrically connected to the control device.

17. The lawn mowing robot according to claim 12, characterized in that, The second fuselage further includes a key device, the key device includes a key housing, a key circuit board, a function key and a flexible reset piece, a key hole is penetrated through the key housing, corresponding to the key hole, the key circuit board and the reset piece are fixed on the same side of the key housing, and the reset piece is located between the key circuit board and the key housing, the reset piece is hermetically connected to the edge of the key hole, the function key is movably installed in the key hole and is connected to the reset piece, a tactile switch is arranged on the key circuit board, and the function key corresponds to the tactile switch; a fourth mounting hole communicating with the second cavity is opened on the second housing, the key housing is hermetically connected to the edge of the fourth mounting hole, and the key circuit board is located inside the second cavity and is electrically connected to the control device.

18. The lawn mowing robot according to claim 12, characterized in that, The second fuselage further includes a first positioning device and a first wireless communication device, the first positioning device and the first wireless communication device are arranged inside the second cavity, and both the first positioning device and the first wireless communication are electrically connected to the control device.

19. The lawn mowing robot according to claim 19, characterized in that, The control device also includes a base plate, and the core board is arranged on the base plate; the first positioning device includes an electrically connected first positioning antenna and a first positioning chip, the first positioning chip is arranged on the base plate, and the first positioning antenna is arranged on the second housing and spaced apart from the base plate; the first wireless communication device includes an electrically connected first communication chip and a first communication antenna, the first communication chip is arranged on the base plate, and the first communication antenna is arranged on the second housing and spaced apart from the base plate.

20. The lawn mowing robot according to claim 12, characterized in that, The second shell includes a bottom shell, an upper shell and a decorative shell. The bottom shell is connected to the upper shell and encloses the second cavity. The decorative shell cover is arranged outside the upper shell and connected to the bottom shell. The upper shell is located between the decorative shell and the bottom shell. The decorative shell, the upper shell and the bottom shell enclose a third cavity.

21. The lawn mowing robot according to claim 12, characterized in that, The lawn mowing robot also includes a switching mechanism, which is electrically connected to the actuator via a first wire, and is electrically connected to the control device via a second wire. At least a portion of the switching mechanism used for conductive connection is exposed on a connection interface between the first housing and the second housing.

22. The lawn mowing robot according to claim 21, characterized in that, The adapter mechanism includes an adapter plate and a protective shell, the protective shell is arranged on the first shell or the second shell, the adapter plate is provided with a first wiring terminal and a second wiring terminal that are electrically connected, a fourth installation cavity is arranged in the protective shell, the adapter plate is arranged in the fourth installation cavity, and the protective shell is also provided with a first wire passing hole and a second wire passing hole, the first wire extends into the fourth installation cavity through the first wire passing hole and is electrically connected to the first wiring terminal, and the second wire can extend into the fourth installation cavity through the second wire passing hole and is electrically connected to the second wiring terminal.

23. The lawn mowing robot according to any one of claims 1 to 11, characterized in that, The actuator is detachably mounted on the first housing.

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