Intelligent mower

Abstract

An intelligent mower (100), comprising a body (110), a first cutter head (120), and a detection device (140). The first cutter head is provided with cutting edges, and the cutting edges are made of metal. The first cutter head is located at a first position or a second position. The first position is where at least part of the first cutter head is located outside the orthographic projection of the body on the ground. The second position is where the first cutter head is located within the orthographic projection of the body on the ground, and the minimum horizontal distance from the outer edge of each cutting edge to the outer edge of the body is greater than or equal to 0 and less than or equal to 50 mm. When the intelligent mower is in a mowing working state without grass clogging, the rotation speed of the first cutter head ranges from 1800 rpm to 3500 rpm. The intelligent mower executes a safety protection operation on the basis of living organism information detected by the detection device. The intelligent mower can ensure a low grass retention rate while cutting to the edge, thereby achieving a low working decibel of the intelligent mower and a long service life of the cutter head.

Description

Intelligent mower

[0001] Cross-reference to related applications

[0002] This application claims priority to the Chinese patent application No. 202422038554.2, filed on August 22, 2024, entitled “Intelligent mower” and No. 202411155647.1, filed on August 22, 2024, entitled “Intelligent mower and control method thereof”, the contents of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0003] The present application relates to the technical field of intelligent mowers, in particular to an intelligent mower. BACKGROUND

[0004] This section is intended to provide background information to assist with understanding various technologies described herein. As the title of this section implies, it is a discussion of related technology that, in one way or another, is associated with the technology described in this document. Thus, it should be understood that any statement made in this section should be read in this light, and not as admissions of prior art to the related technology.

[0005] With the development of automation technology and artificial intelligence, intelligent mowers can automatically perform mowing tasks, greatly saving people's time and providing great convenience to life.

[0006] The intelligent mowers on the market usually include a cutting system, which includes a cutting member, and the cutting member is usually a metal blade. In order to ensure that the user will not be injured, the periphery of the metal blade is provided with a protective cover, and the outer edge of the protective cover is also horizontally distant from the periphery of the intelligent mower. In this way, the end of the metal blade is horizontally distant from the periphery of the intelligent mower. That is, during cutting operation, there will be a cutting area between the end of the metal blade and the boundary of the working area, or between the end of the metal blade and obstacles such as corners, fences, steps, etc.

[0007] In the related art, these cutting areas usually need to be processed by the user in a traditional way. Of course, there are also some technical solutions that attempt to rely only on intelligent robots to complete the edge cutting work. In the related art, a flexible trimming element, such as a grass cutting line, a flexible plastic blade, or a flexible rubber blade, is provided at the edge of the body. However, there will be uneven grass distribution at the boundary of the working area. Such a flexible trimming element is difficult to completely cope with such lawn conditions during cutting operation, resulting in difficulty in completely cleaning the grass at the boundary of the working area, and the user still needs to process it in a traditional way. Therefore, although the scheme cuts to the edge, the grass rate is too high.

[0008] In the related art, an auxiliary cutting module is also arranged on the machine body, the cutting module adopts a metal element or a plastic blade without a blade edge, and the working energy thereof can only be within 5J or 2J, so that the cutting effect thereof is difficult to cope with the above-mentioned lawn situation, and the user still needs to use the traditional way for secondary processing, and the corresponding cutter head rotation speed is extremely low, so that the scheme can cut to the edge but the grass leaving rate is too high.

[0009] Application content

[0010] The embodiment of the application provides a kind of intelligent mower, the effective cutting area of the intelligent mower can cover the boundary of working area as far as possible, it can solve the problem that the existing intelligent mower cuts to the edge but the grass leaving rate is high, the grass leaving rate is low but the decibel is too high, the grass leaving rate is low but the cutter head wears seriously, etc., provide a kind of intelligent mower that can guarantee lower grass leaving rate while cutting to the edge, and the decibel is lower, and the service life of cutter head is longer.

[0011] The first aspect of the application provides an intelligent mower, comprising:

[0012] Machine body;

[0013] First cutter head, the first cutter head has cutting edge, the cutting edge is metal piece, the first cutter head is arranged in first position or second position relative to the machine body fixed;

[0014] The first position is defined as: at least part of the first cutter head is located outside the orthographic projection of the machine body towards the ground;

[0015] The second position is defined as: the first cutter head is located in the orthographic projection of the machine body towards the ground, and the minimum horizontal distance from the outside edge of the cutting edge to the outside edge of the machine body is greater than or equal to 0 and less than or equal to 50 millimeters;

[0016] The first cutter head is configured to rotate at a speed of between 1800 revolutions per minute and 3500 revolutions per minute when the intelligent mower is in the first position or the second position, in a grass cutting working state and without grass jam;

[0017] Detection device, set in the machine body, the detection device is used to detect biological information, and the intelligent mower is used to execute safety protection action according to the biological information.

[0018] The intelligent mower provided in the application can make the first cutter disc face the lawn to be cut (the area to be cut) by arranging the first cutter disc below the machine body, facilitating the intelligent mower to perform cutting work. The sharpness of the first cutter disc can be improved by arranging the cutting edge of the outer side of the first cutter disc, which is conducive to improving the cutting efficiency of the first cutter disc. By arranging the first cutter disc at the first position or the second position, the first cutter disc can closely adhere to the boundary line to perform mowing work when the intelligent mower closely adheres to the boundary line to perform edge cutting in the area to be cut, the cutting is more to the edge, and the grass retention rate of the area to be cut is greatly reduced, thereby improving the overall cutting efficiency of the intelligent mower, and making the lawn more neat and more beautiful after being trimmed.

[0019] In addition, when the first cutter disc is located at the first position, at least part of the first cutter disc is located outside the outer edge of the machine body, so that the cutting width outside the machine body is increased and the cutting range of the intelligent mower is expanded, so that the cutting blind area of the intelligent mower at the boundary line is smaller, the cutting is to the edge, and the problem of high grass retention rate and inability to cut to the edge of the intelligent mower in the related art is solved.

[0020] When the first cutter disc is located at the second position, the first cutter disc is located inside the machine body and is greater than or equal to 0 and less than or equal to 50 mm away from the outer edge of the machine body, so that the cutting safety is guaranteed to the maximum extent while cutting to the edge, the distance between the first cutter disc of the intelligent mower and the cutting blind area of the boundary line is small by reducing the distance between the first cutter disc and the outer edge of the machine body, cutting to the edge can be achieved, and the problem of high grass retention rate and inability to cut to the edge of the intelligent mower in the related art is solved.

[0021] By setting the rotating speed of the first cutter disc to be between 1800 rpm and 3500 rpm and arranging the first cutter disc at the first position or the second position, the grass retention rate of the lawn after mowing work can be ensured to be within a reasonable range (5%-10%), the working decibel during mowing work is maintained at a low level, the human body and / or surrounding organisms will not be caused hearing damage and adverse effects, the service life of the first cutter disc is guaranteed, and the power utilization rate of the intelligent mower can be maintained at a high level.

[0022] It should be noted that the grass retention rate refers to the proportion of the area of the lawn that is not cut to the area of the original or expected completed cutting lawn. In order to better represent this proportion, it can be expressed by the following formula: grass retention rate = (the sum of the area of the lawn that is not cut and the area of the lawn with unexpected cutting effect / original or expected completed cutting lawn area) x 100%.

[0023] For example, the cutting effect that does not meet the expectation means that the actual cutting height of the lawn is different from the expected cutting height of the lawn by 1 cm or more.

[0024] The working decibel of the intelligent mower refers to the noise level generated at a distance of 1 meter around the mower during operation, which can reflect the sound pressure level of the noise generated by the blade rotation under normal working conditions of the mower.

[0025] It should be noted that when the grass coverage rate of the lawn in the area is greater than 10% after the intelligent mower completes the cutting work, the cutting work is not qualified, and the user still needs to perform secondary trimming. When the grass coverage rate is 5% and tends to 0%, the user's perception of the quality of the lawn is not obvious, and the intelligent mower does not need to invest more cost to control the grass coverage rate below 5%. In addition, when the working decibel generated by the intelligent mower during operation is greater than 80 decibels, it will cause irreversible serious damage to human hearing and have a greater impact on surrounding organisms.

[0026] As shown in FIG. 2, when the first blade speed is approaching 1400 rpm to 3500 rpm, the working decibel is between 45 decibels and 80 decibels. When the first blade speed is above 3500 rpm, the working decibel will exceed 80 decibels, and the upward trend will obviously increase. When the working decibel exceeds 80 decibels, it will cause irreversible serious damage to human hearing and have a greater impact on surrounding organisms. Therefore, controlling the first blade speed at 3500 rpm or below can make people and organisms around the intelligent mower not be greatly affected, which is an ideal working condition.

[0027] It should be noted that the data in FIG. 3 is obtained under the same grass condition environment (the same lawn distribution density), using the same intelligent mower, and controlling the intelligent mower driving speed to remain the same.

[0028] In order to make the grass coverage rate be in an appropriate range, as shown in FIG. 3, it can be seen that the distance between the first blade and the body and the first blade speed are related to the grass coverage rate. It can be seen that the faster the first blade speed, the lower the grass coverage rate. Although the first blade speed can be controlled to be above 3500 rpm (for example, 3600 rpm) to control the grass coverage rate to be lower, this effect is not obvious to the user. The intelligent mower does not need to set the first blade speed to be above 3500 rpm to control the grass coverage rate to be extremely low. In addition, when the first blade speed exceeds 3500 rpm, the working decibel of the intelligent mower will exceed 80 decibels, which will cause irreversible serious damage to human hearing and have a greater impact on surrounding organisms in the long term. At the same time, even if the first blade speed is increased, the cutting effect of the lawn cannot be significantly improved, which will reduce the power utilization rate of the intelligent mower.

[0029] Continuing to refer to FIG. 3, it can be seen that when the rotating speed of the first cutter head is below 1800 rpm (for example, 1400 rpm, 1600 rpm), no matter whether the first cutter head is in the first position or the second position, the grass-remaining rate is above 10%, and the user still needs to perform secondary mowing.

[0030] When the rotating speed of the first cutter head is 1800 rpm, and the minimum horizontal distance from the outer edge of the first cutter head to the outer edge of the machine body is greater than 50 mm (for example, 60 mm), the grass-remaining rate is still above 10%, and the user still needs to perform secondary mowing; when the rotating speed of the first cutter head is 1800 rpm, and the minimum horizontal distance from the outer edge of the first cutter head to the outer edge of the machine body is 50 mm, the grass-remaining rate is just around 10%, and the user does not need to perform secondary mowing. It can also be seen from FIG. 3 that when the rotating speed of the first cutter head is above 1800 rpm (for example, 2000 rpm, 2200 rpm, 2400 rpm, 2600 rpm, 2800 rpm, 3000 rpm, 3200 rpm), and the first cutter head is in the first position or the second position, the grass-remaining rate is below 10%, and the user does not need to perform secondary mowing. Moreover, the closer the first cutter head is to the outer edge of the machine body or beyond the outer edge of the machine body, the lower the grass-remaining rate.

[0031] Therefore, when the rotating speed of the first cutter head is controlled to be 1800 rpm, and the first cutter head is in the first position or the second position, the working decibel of the intelligent mower can be kept in a suitable range (80 decibels or below), the grass-remaining rate can be kept in a reasonable range (10% or below), and the power utilization rate of the intelligent mower can be kept at a high level.

[0032] In addition, the rotating speed of the first cutter head also affects the service life of the cutting blade. When the rotating speed of the cutter head is below 1800 rpm, the cutting blade is basically in a non-cutting state, and the service life of the cutting blade can be maintained basically stable. When the rotating speed of the cutter head reaches 1800 rpm, the cutting blade enters a working state of cutting vegetation, and the service life of the cutting blade begins to decrease. When the rotating speed of the cutter head exceeds 3500 rpm, the service life of the cutting blade decreases obviously. Too high rotating speed of the cutter head can easily form negative pressure, and particles of foreign matter (such as small stones) outside the vegetation can be sucked to the cutting blade, causing damage to the cutting edge, thereby affecting the service life of the cutting head. Therefore, the rotating speed of the cutter head is maintained at 1800 rpm-3500 rpm, which is an ideal cutting state, and the service life of the cutting head can be maintained below a normal wear expectation.

[0033] In addition, by arranging the detection device, the intelligent mower can perform a safety protection action according to the biological information detected by the detection device, thereby improving the safety performance of the intelligent mower.

[0034] The second aspect of the present application provides an intelligent mower, comprising:

[0035] a body comprising a first end portion and a second end portion arranged oppositely along a forward direction of the intelligent mower;

[0036] a front wheel and a rear wheel, both arranged on a side of the intelligent mower facing the ground, and in the forward direction of the intelligent mower, the front wheel and the rear wheel are arranged at intervals, and the front wheel is located between the rear wheel and the first end portion, and the rear wheel is located between the front wheel and the second end portion;

[0037] a first cutterhead, the first cutterhead having a cutting edge, the cutting edge being a metal piece;

[0038] In the forward direction of the intelligent mower, the first cutterhead is located between a first tangent plane of the front wheel and a second tangent plane of the rear wheel;

[0039] The first tangent plane is perpendicular to the forward direction and passes through a first end point of the front wheel, and the first end point is defined as the farthest point of the front wheel from the first end portion;

[0040] The second tangent plane is perpendicular to the forward direction and passes through a second end point of the rear wheel, and the second end point is defined as the farthest point of the rear wheel from the second end portion;

[0041] The relative position between the first cutterhead and the body is fixed, and the first cutterhead is fixed in a first position or a second position;

[0042] The first position is defined as: at least part of the first cutterhead is located outside the orthographic projection of the body facing the ground;

[0043] The second position is defined as: the first cutterhead is located inside the orthographic projection of the body facing the ground, and the minimum horizontal distance from the outer edge of the cutting edge to the outer edge of the body is greater than or equal to 0 and less than or equal to 50 mm;

[0044] The first cutterhead is configured to have a rotation speed between 1800 rpm and 3500 rpm when the intelligent mower is in a mowing state and does not block grass;

[0045] A detection device is arranged on the body, and the detection device is used to detect biological information, and the intelligent mower is used to perform a safety protection action according to the biological information.

[0046] The intelligent mower provided in the application can make the first cutter disc face the grassland to be cut, facilitating the intelligent mower to perform cutting operation, by arranging the first cutter disc below the machine body. The sharpness of the first cutter disc can be improved by arranging the cutting edge of the first cutter disc on the outer side of the first cutter disc, which is conducive to improving the cutting efficiency of the first cutter disc. The first cutter disc can perform mowing operation close to the boundary line when the intelligent mower performs edge cutting close to the boundary line in the area to be cut, the cutting is more to the edge, the grass-remaining rate of the area to be cut is greatly reduced, and thus the overall cutting efficiency of the intelligent mower is improved, so that the grassland is more neat and more beautiful after being trimmed.

[0047] In addition, when the first cutter disc is located at the first position, at least part of the first cutter disc is located outside the outer edge of the machine body, so that the cutting width outside the machine body is increased and the cutting range of the intelligent mower is expanded, so that the cutting blind area of the intelligent mower at the boundary line is smaller, and the cutting to the edge is realized, solving the problems of high grass-remaining rate and inability to cut to the edge of the intelligent mower in the related art.

[0048] When the first cutter disc is located at the second position, the first cutter disc is located inside the machine body and is located at a distance greater than or equal to 0 and less than or equal to 50 mm from the outer edge of the machine body, so that the cutting to the edge is realized while the cutting safety is guaranteed to the greatest extent, the distance between the first cutter disc of the intelligent mower and the cutting blind area of the boundary line is reduced, the cutting to the edge is realized, and the problems of high grass-remaining rate and inability to cut to the edge of the intelligent mower in the related art are solved.

[0049] By setting the rotating speed of the first cutter disc to be between 1800 rpm and 3500 rpm and arranging the first cutter disc at the first position or the second position, the grass-remaining rate of the lawn after mowing work can be ensured to be within a reasonable range (5%-10%), the working decibel during mowing work is maintained at a low level, the hearing damage and adverse effects on the human body and / or surrounding organisms are avoided, the service life of the first cutter disc is guaranteed, and the power utilization rate of the intelligent mower is maintained at a high level.

[0050] It should be noted that the grass-remaining rate refers to the proportion of the area of the lawn that is not cut to the area of the original or expected completed cutting lawn, and in order to better represent this proportion, the following formula can be used: grass-remaining rate = (sum of the area of the lawn that is not cut and the area of the lawn with unexpected cutting effect / original or expected completed cutting lawn area) x 100%.

[0051] For example, the unexpected cutting effect refers to the actual cutting height of the lawn being different from the expected cutting height of the lawn by 1 cm or more.

[0052] The working decibel of the intelligent mower refers to the noise level generated at a distance of 1 meter around the mower during operation, which can reflect the sound pressure level of the noise generated by the blade rotation under normal working conditions of the mower.

[0053] It should be further noted that when the grass coverage rate of the lawn in the area is greater than 10% after the intelligent mower completes the cutting work, the cutting work is not qualified, and the user still needs to perform secondary trimming. When the grass coverage rate is 5% and tends to 0%, the user's perception of the quality of the lawn is not obvious, and the intelligent mower does not need to invest more cost to control the grass coverage rate below 5%. In addition, when the working decibel generated by the intelligent mower during operation is greater than 80 decibels, it will cause irreversible serious damage to human hearing and have a greater impact on surrounding organisms.

[0054] As shown in FIG. 2, when the first blade speed is approaching 1400 rpm to 3500 rpm, the working decibel is between 45 decibels and 80 decibels. When the first blade speed is above 3500 rpm, the working decibel will exceed 80 decibels, and the upward trend will obviously increase. When the working decibel exceeds 80 decibels, it will cause irreversible serious damage to human hearing and have a greater impact on surrounding organisms. Therefore, controlling the first blade speed at 3500 rpm and below can make people and organisms around the intelligent mower not be greatly affected, which is an ideal working condition.

[0055] It should be noted that the data in FIG. 3 is obtained under the same grass condition environment (the same lawn distribution density), using the same intelligent mower, and controlling the intelligent mower driving speed to remain the same.

[0056] In order to make the grass coverage rate be in an appropriate range, as shown in FIG. 3, it can be seen that the distance between the first blade and the body and the first blade speed are related to the grass coverage rate. It can be seen that the faster the first blade speed, the lower the grass coverage rate. Although the grass coverage rate can be controlled to be lower when the first blade speed is controlled to be above 3500 rpm (for example, 3600 rpm), the impact on the user is not obvious. The intelligent mower does not need to set the first blade speed to be above 3500 rpm to control the grass coverage rate to be extremely low. In addition, when the first blade speed exceeds 3500 rpm, the working decibel of the intelligent mower will exceed 80 decibels, which will cause irreversible serious damage to human hearing and have a greater impact on surrounding organisms in the long term. At the same time, even if the first blade speed is increased, the cutting effect of the lawn cannot be significantly improved, which will instead reduce the power utilization rate of the intelligent mower.

[0057] Continuing to refer to FIG. 3, it can be seen that when the rotation speed of the first cutter head is below 1800 rpm (for example: 1400 rpm, 1600 rpm), no matter whether the first cutter head is in the first position or the second position, the grass-remaining rate is above 10%, and the user still needs to perform secondary trimming.

[0058] When the rotation speed of the first cutter head is 1800 rpm, and the minimum horizontal distance from the outer edge of the first cutter head to the outer edge of the machine body is greater than 50 mm (for example: 60 mm), the grass-remaining rate is still above 10%, and the user still needs to perform secondary trimming; when the rotation speed of the first cutter head is 1800 rpm, and the minimum horizontal distance from the outer edge of the first cutter head to the outer edge of the machine body is equal to 50 mm, the grass-remaining rate is just around 10%, and the user does not need to perform secondary trimming. It can also be seen from FIG. 3 that when the rotation speed of the first cutter head is above 1800 rpm (for example: 2000 rpm, 2200 rpm, 2400 rpm, 2600 rpm, 2800 rpm, 3000 rpm, 3200 rpm), and the first cutter head is in the first position or the second position, the grass-remaining rate can be below 10%, and the user does not need to perform secondary trimming. Moreover, the closer the first cutter head is to the outer edge of the machine body or beyond the outer edge of the machine body, the lower the grass-remaining rate.

[0059] Therefore, when the rotation speed of the first cutter head is controlled to be 1800 rpm, and the first cutter head is in the first position or the second position at the same time, the working decibel of the intelligent mower can be kept in a suitable range (80 decibels and below), the grass-remaining rate can be kept in a reasonable range (below 10%), and the power utilization rate of the intelligent mower can be kept at a high level.

[0060] In addition, the rotation speed of the first cutter head also affects the service life of the cutting blade. Before the rotation speed of the cutter head is 1800 rpm, the cutting blade is basically in a non-cutting state, and the service life of the cutting blade can be maintained basically stable. When the rotation speed of the cutter head reaches 1800 rpm, the cutting blade enters a working state of cutting vegetation, and the service life of the cutting blade begins to decrease. When the rotation speed of the cutter head exceeds 3500 rpm, the service life of the cutting blade decreases obviously. Too high rotation speed can easily form negative pressure, which can suck particles and foreign matters (such as small stones) outside the vegetation to the cutting blade, causing damage to the cutting edge, thereby affecting the service life of the cutting head. Therefore, the rotation speed of the cutter head is maintained at 1800 rpm-3500 rpm, which is an ideal cutting state, and the service life of the cutting head can be maintained below a normal wear expectation.

[0061] In addition, by arranging the detection device 140, the intelligent mower 100 can perform a safety protection action according to the biological information detected by the detection device 140, thereby improving the safety performance of the intelligent mower 100.

[0062] By arranging the first cutter disc between the front wheel and the rear wheel and in the first position or the second position, the intelligent mower generally performs the boundary mowing work of the work area after completing the mowing work of the work area. Arranging the first cutter disc between the front wheel and the rear wheel can increase the gravity of the front wheel and the rear wheel, improve the grip of the front wheel and the rear wheel on one side of the first cutter disc, ensure that the front wheel and the rear wheel do not slip, and make the gravity borne by the front wheel and the rear wheel be equivalent or have little difference, thereby avoiding the problem of excessive local stress, which causes the local lawn to be excessively rolled and is not conducive to the healthy growth of the lawn. In addition, the advancing speed of the intelligent mower during mowing can be ensured not to be easily reduced.

[0063] Furthermore, the first cutter disc is located at the edge and between the front wheel and the rear wheel. Compared with the technical solution in which the cutter disc is located at the center of the body, at least part of the first cutter disc overlaps the rear wheel in the advancing direction, thereby reducing the area of airflow obstruction and making the air flow more smoothly through the body, so as to reduce the air resistance and the power of the motor required for advancing. As a result, the power consumption can be saved, the recharging frequency of the intelligent mower robot can be reduced, and the intelligent mower robot can complete the cutting work in the work area and the boundary thereof in a smaller number of times. In addition, since the first cutter disc is located between the front wheel and the rear wheel, the first cutter disc can be closer to the front wheel and the rear wheel compared with the case in which the first cutter disc is located at the middle of the body. During the edge cutting of the first cutter disc, the grass clippings adhered to the front wheel and the rear wheel can be blown out, so as to ensure that the intelligent mower does not easily slip due to the adhesion of the grass clippings during advancing and ensure the cutting efficiency of the intelligent mower.

[0064] The third aspect of the present application provides an intelligent mower, comprising:

[0065] a body comprising a first end portion and a second end portion arranged oppositely along the advancing direction of the intelligent mower;

[0066] a front wheel and a rear wheel, both arranged on the side of the intelligent mower facing the ground, and the front wheel and the rear wheel are arranged at intervals in the advancing direction of the intelligent mower;

[0067] a first cutter disc connected to the side of the body facing the ground, the outer side of the first cutter disc being provided with a cutting edge, and the cutting edge being a metal piece;

[0068] In the advancing direction of the intelligent mower, the first cutter disc is located between the first cutting surface of the front wheel and the second cutting surface of the rear wheel.

[0069] The first tangent plane is perpendicular to the advancing direction and passes through a first end point of the front wheel, the first end point being defined as a point farthest from the first end portion of the front wheel;

[0070] The second tangent plane is perpendicular to the advancing direction and passes through a second end point of the rear wheel, the second end point being defined as a point farthest from the second end portion of the rear wheel;

[0071] The first cutter head moves through at least a first position and a second position relative to the machine body;

[0072] The first position is defined as at least part of the first cutter head being located outside the ground projection of the machine body;

[0073] The second position is defined as the first cutter head being located inside the ground projection of the machine body, and the minimum horizontal distance from the outer edge of the cutting blade to the outer edge of the machine body being greater than or equal to 0 and less than or equal to 50 mm;

[0074] The first cutter head is configured to have a rotating speed of V1 when the intelligent mower is in a mowing state and does not get stuck, and the rotating speed of the first cutter head during movement relative to the machine body is less than or equal to V1, V1 being between 1800 rpm and 3500 rpm;

[0075] A detection device is arranged on the machine body, and the detection device is used to detect biological information, and the intelligent mower is used to perform a safety protection action according to the biological information.

[0076] The intelligent mower provided in the application can make the first cutter head face the grassland to be cut by arranging the first cutter head below the machine body, facilitating the intelligent mower to perform cutting work. The sharpness of the first cutter head can be improved by arranging a metal cutting blade on the outer side of the first cutter head, which is conducive to improving the cutting efficiency of the first cutter head. The first cutter head can closely follow the boundary line to perform mowing work when the intelligent mower closely follows the boundary line to perform edge cutting in the cutting area, the cutting is more to the edge, the grass retention rate of the cutting area is greatly reduced, the overall cutting efficiency of the intelligent mower is improved, and the grassland is more neat and more beautiful after being trimmed.

[0077] In addition, when the first cutter head is located at the first position, at least part of the first cutter head is located outside the outer edge of the machine body, so that the cutting width outside the machine body is increased and the cutting range of the intelligent mower is expanded, so that the intelligent mower has a smaller cutting blind area of the boundary line, the cutting is to the edge, and the problems of high grass retention rate and inability to cut to the edge of the intelligent mower in the related art are solved.

[0078] When the first cutter head is in the second position, the first cutter head is located inside the machine body, and the distance between the first cutter head and the outer edge of the machine body is greater than or equal to 0 and less than or equal to 50 mm, so that the cutting safety can be guaranteed to the maximum extent while cutting to the edge. By reducing the distance between the first cutter head and the outer edge of the machine body, the cutting blind area of the first cutter head of the intelligent mower from the boundary line can be reduced, and cutting to the edge can be achieved, thereby solving the problems of high grass-remaining rate and inability to cut to the edge of the intelligent mower in the related art.

[0079] By setting the rotating speed of the first cutter head to be between 1800 rpm and 3500 rpm and allowing the first cutter head to be in the first position or the second position, the grass-remaining rate of the lawn after the mowing work can be ensured to be within a reasonable range (5%-10%), the working decibel during the mowing work can be maintained to be low, the hearing damage and adverse effects on the human body and / or surrounding organisms can be avoided, the service life of the first cutter head can be ensured, the power utilization rate of the intelligent mower can be maintained to be high, and the like.

[0080] It should be noted that the grass-remaining rate refers to the proportion of the area of the lawn that is not cut to the area of the original or expectedly completed cutting lawn. To better express this proportion, the following formula can be used: grass-remaining rate = (sum of the area of the lawn that is not cut and the area of the lawn with unexpected cutting effect / area of the original or expectedly completed cutting lawn) x 100%.

[0081] The working decibel of the intelligent mower refers to the unit of the noise level generated within a range of 1 m around the intelligent mower during operation, which can reflect the sound pressure level of the noise generated by the rotation of the blade in the normal working state of the intelligent mower.

[0082] It should be further noted that when the grass-remaining rate of the lawn in the area after the intelligent mower completes the cutting work is greater than 10%, the cutting work fails, and the user still needs to perform secondary trimming. When the grass-remaining rate of the lawn is 5% and tends to be 0%, the user's perception of the quality of the lawn is not obvious, and the intelligent mower does not need to invest more cost to control the grass-remaining rate to be lower than 5%. In addition, when the working decibel generated by the intelligent mower during the operation is greater than 80 decibels, irreversible serious damage to the hearing of the human body and great influence on the surrounding organisms can be caused.

[0083] When the first cutter head speed is approaching 3500 rpm from 1400 rpm, the working decibel is between 45 dB and 80 dB, and when the first cutter head speed is above 3500 rpm, the working decibel exceeds 80 dB, and the upward trend increases significantly. When the working decibel exceeds 80 dB, it will cause irreversible serious damage to human hearing and have a greater impact on surrounding organisms. Therefore, controlling the first cutter head speed at 3500 rpm and below can make people and organisms around the intelligent mower not be greatly affected, which is an ideal working state.

[0084] It should be noted that the data in FIG. 3 is obtained under the same grass condition environment (the same grass distribution density), using the same intelligent mower and controlling the intelligent mower speed to remain the same.

[0085] In order to make the grass retention rate be in the appropriate range, as shown in FIG. 3, it can be seen that the distance between the first cutter head and the body and the first cutter head speed are related to the grass retention rate. It can be seen that the faster the first cutter head speed, the lower the grass retention rate. Although the first cutter head speed can be controlled to be above 3500 rpm (for example, 3600 rpm) to control the grass retention rate to be lower, this effect is not obvious to the user. The intelligent mower does not need to control the grass retention rate to be extremely low to set the first cutter head speed above 3500 rpm. Moreover, when the first cutter head speed exceeds 3500 rpm, the working decibel of the intelligent mower exceeds 80 dB, which will cause irreversible serious damage to human hearing and have a greater impact on surrounding organisms in the long term. At the same time, even if the first cutter head speed is increased, the cutting effect of the lawn cannot be significantly improved, but the power utilization rate of the intelligent mower will be reduced.

[0086] Continuing to refer to FIG. 3, it can be seen that when the first cutter head speed is below 1800 rpm (for example, 1400 rpm, 1600 rpm), the grass retention rate is above 10% whether the first cutter head is in the first position or the second position, and the user still needs to perform secondary trimming.

[0087] When the rotation speed of the first cutter head is 1800 rpm and the minimum horizontal distance from the outer edge of the first cutter head to the outer edge of the machine body is greater than 50 mm (for example, 60 mm), the grass retention rate is still above 10%, and the user still needs to perform secondary trimming. When the rotation speed of the first cutter head is 1800 rpm and the minimum horizontal distance from the outer edge of the first cutter head to the outer edge of the machine body is 50 mm, the grass retention rate is just around 10%, and the user does not need to perform secondary trimming. As can be seen from FIG. 3, when the rotation speed of the first cutter head is above 1800 rpm (for example, 2000 rpm, 2200 rpm, 2400 rpm, 2600 rpm, 2800 rpm, 3000 rpm, 3200 rpm), and the first cutter head is in the first position or the second position, the grass retention rate can be below 10%, and the user does not need to perform secondary trimming. In addition, the closer the first cutter head is to the outer edge of the machine body or beyond the outer edge of the machine body, the lower the grass retention rate.

[0088] Therefore, by controlling the rotation speed of the first cutter head to be 1800 rpm and at the same time being in the first position or the second position, the working decibel of the intelligent lawn mower can be kept in a suitable range (80 decibels or below), the grass retention rate can be kept in a reasonable range (10% or below), and the power utilization rate of the intelligent lawn mower can be kept at a high level.

[0089] In addition, the rotation speed of the first cutter head also affects the service life of the cutting edge. Before the rotation speed of the cutter head is 1800 rpm, the cutting edge is basically in a non-cutting state, and the service life of the cutting edge can be maintained basically stable. When the rotation speed of the cutter head reaches 1800 rpm, the cutting edge enters the working state of cutting vegetation, and the service life of the cutting edge begins to decrease. When the rotation speed of the cutter head exceeds 3500 rpm, the service life of the cutting edge decreases significantly. Too high rotation speed can easily form negative pressure, which can suck particles and foreign matters (such as small stones) outside the vegetation to the cutting edge, causing damage to the cutting edge, thereby affecting the service life of the cutting head. Therefore, the rotation speed of the cutter head maintained at 1800 rpm-3500 rpm is an ideal cutting state, and the service life of the cutting head is also maintained below a normal wear expectation.

[0090] In addition, by setting the detection device 140, the intelligent lawn mower 100 can perform a safety protection action according to the biological information detected by the detection device 140, thereby improving the safety performance of the intelligent lawn mower 100.

[0091] By setting the first cutter head between the front and rear wheels and in the first position or the second position, the intelligent mower generally performs the boundary mowing work of the work area after completing the mowing work of the work area. By setting the first cutter head between the front and rear wheels, on the one hand, the gravity of the front and rear wheels can be increased, the grip of the front and rear wheels on one side of the first cutter head can be improved, and it can be ensured that the front and rear wheels do not slip. In addition, the gravity borne by the front and rear wheels can be made to be relatively equal or not much different, so as to avoid the problem of excessive local stress, which leads to excessive compaction of the lawn and is not conducive to the healthy growth of the lawn. In addition, the speed of the intelligent mower during mowing can be prevented from being easily reduced.

[0092] In addition, the first cutter head is located at the edge and between the front and rear wheels. Compared with the technical solution in which the cutter head is located at the center of the body, at least part of the first cutter head overlaps the rear wheel in the forward direction, so as to reduce the area of airflow obstruction, so that air can flow more smoothly through the body, thereby reducing air resistance. As a result, the resistance to be overcome can be smaller, and the motor power during travel can also be correspondingly smaller. In this way, the power consumption can be saved, the number of recharging of the intelligent mower robot can be reduced, and the intelligent mower robot can complete the cutting work in the work area and the boundary thereof in a smaller number of times. In addition, since the first cutter head is located between the front and rear wheels, compared with the case in which the first cutter head is located at the middle of the body, the first cutter head can be closer to the front and rear wheels. In addition, the first cutter head can blow away the grass clippings adhered to the front and rear wheels during edge cutting, so as to prevent the intelligent mower from easily slipping due to the adhesion of the grass clippings during travel, and to ensure the cutting efficiency of the intelligent mower.

[0093] The first cutter head is configured to have a rotating speed of V1 when the intelligent mower is in a mowing state and does not jam grass. When the first cutter head moves relative to the body, the rotating speed of the first cutter head is less than V1. When the first cutter head moves, the rotating speed of the cutter head is less than V1. On the one hand, the shaking of the first cutter head during movement can be reduced, and the stability of the first cutter head during movement can be improved.

[0094] On the other hand, the resistance to movement of the first cutter head can be reduced, and the energy consumption can be saved. On the other hand, the movement is performed to adjust the cutting position of the first cutter head, for example, to adjust the first cutter head from the first position to the second position. During the adjustment of the cutting position of the first cutter head, people or animals often exist around, which causes a safety hazard. At this time, an alarm sound needs to be emitted to drive away the people or animals. The faster the rotating speed of the first cutter head, the louder the noise emitted by the intelligent mower. If the noise is too loud, the alarm sound will be blocked, the people or animals cannot be normally driven away, and the normal mowing work is affected. When the rotating speed of the first cutter head during movement is less than the rotating speed V1 of the first cutter head during normal mowing, the noise emitted by the first cutter head is small, the noise does not block the alarm sound, and the smooth driving away of the living obstacle can be ensured.

[0095] The first cutter head is configured to have a rotating speed of V1 when the intelligent mower is in a mowing state and does not get stuck, and the rotating speed of the first cutter head is equal to V1 when the first cutter head moves relative to the machine body. When the first cutter head moves, the rotating speed of the cutter head is consistent with the rotating speed V1 of the cutter head when it performs mowing work. On the one hand, the speed of the first cutter head position adjustment can be improved, and the working efficiency of the mower can be improved. On the other hand, the speed-up and speed-down actions of the first cutter head are reduced, the load of the first cutter head motor is reduced, and the service life of the motor is improved.

[0096] The fourth aspect of the present application provides an intelligent mower, comprising:

[0097] The machine body comprises a first end portion and a second end portion arranged opposite in the forward direction of the intelligent mower;

[0098] The front wheel and the rear wheel are arranged on the side of the intelligent mower facing the ground, and are arranged at intervals in the forward direction of the intelligent mower;

[0099] The first cutter head is connected to the side of the machine body facing the ground, and the outer side of the first cutter head is provided with a cutting edge, which is a metal piece;

[0100] In the forward direction of the intelligent mower, the first cutter head is located between a first tangent plane of the front wheel and a second tangent plane of the rear wheel;

[0101] The first tangent plane is perpendicular to the forward direction and passes through a first endpoint of the front wheel, and the first endpoint is defined as the farthest point of the front wheel from the first end portion;

[0102] The second tangent plane is perpendicular to the forward direction and passes through a second endpoint of the rear wheel, and the second endpoint is defined as the farthest point of the rear wheel from the second end portion;

[0103] The first cutter head moves relative to the machine body and at least passes through a first position and a second position;

[0104] The first position is defined as: at least part of the first cutter head is located outside the orthographic projection of the machine body facing the ground, and the minimum horizontal distance between the farthest point of the first cutter head away from the machine body and the machine body in the transverse direction of the machine body is greater than 1 / 10 of the diameter of the first cutter head, and the minimum horizontal distance is less than 2 / 3 of the diameter of the first cutter head;

[0105] the second position is defined as: the first cutter head is located within the normal projection of the machine body towards the ground, and the minimum horizontal distance from the outer side edge of the cutting blade to the outer side edge of the machine body is greater than or equal to 0 and less than or equal to 50 mm;

[0106] the first cutter head is configured to rotate at a speed of V1 when the intelligent mower is in a mowing state and does not get stuck, and the speed of the first cutter head during movement relative to the machine body is less than or equal to V1, V1 being between 1800 rpm and 3500 rpm;

[0107] a detection device is arranged on the machine body, and the detection device is used to detect biological information, and the intelligent mower is used to perform a safety protection action according to the biological information.

[0108] The intelligent mower provided in the application has the following advantages. The first cutter head is arranged below the machine body, so that the first cutter head faces the grassland to be cut, facilitating the intelligent mower to perform cutting work. The outer side of the first cutter head is provided with a metal cutting blade, so that the sharpness of the first cutter head is improved, which is conducive to improving the cutting efficiency of the first cutter head. The first cutter head passes through at least the first position and the second position during movement, so that when the intelligent mower performs edge cutting along the boundary line in the cutting area, the first cutter head can perform mowing work close to the boundary line, the cutting is more to the edge, the grass retention rate of the cutting area is greatly reduced, the overall cutting efficiency of the intelligent mower is improved, and the grassland is more neat and more beautiful after being trimmed.

[0109] In addition, when the first cutter head is located at the first position, at least part of the first cutter head is located outside the outer side edge of the machine body, so that the cutting width outside the machine body is increased and the cutting range of the intelligent mower is expanded, so that the cutting blind area of the intelligent mower at the boundary line is smaller, the cutting is to the edge, and the problems of high grass retention rate and inability to cut to the edge of the intelligent mower in the related art are solved.

[0110] When the first cutter head is located at the second position, the first cutter head is located inside the machine body and is greater than or equal to 0 and less than or equal to 50 mm away from the outer side edge of the machine body, so that the cutting safety is guaranteed to the maximum extent while the cutting is to the edge, the distance from the first cutter head of the intelligent mower to the cutting blind area of the boundary line is small, the cutting is to the edge, and the problems of high grass retention rate and inability to cut to the edge of the intelligent mower in the related art are solved.

[0111] By setting the rotating speed of the first cutter head between 1800 rpm and 3500 rpm and placing the first cutter head in the first position or the second position, the grass-keeping rate of the lawn after the mowing work can be ensured to be within a reasonable range (5%-10%), the working decibel during the mowing work can be maintained to be low, the hearing damage and adverse effects on the human body and / or surrounding organisms can be avoided, the service life of the first cutter head can be ensured, and the power utilization rate of the intelligent mower can be maintained to be high.

[0112] It should be noted that the grass-keeping rate refers to the proportion of the area of the lawn that is not cut to the area of the original or expectedly completed cut lawn, which can be expressed by the following formula: grass-keeping rate = (the sum of the area of the lawn that is not cut and the area of the lawn with unexpected cutting effect / original or expectedly completed cut lawn area) x 100%.

[0113] For example, the cutting effect that is not expected refers to that the actual cutting height of the lawn is different from the expected cutting height of the lawn by 1 cm or more.

[0114] The working decibel of the intelligent mower refers to the noise level within a range of 1 m around the intelligent mower during operation, which can reflect the sound pressure level of the noise generated by the rotation of the cutter blade in the normal working state of the intelligent mower.

[0115] It should be further noted that when the grass-keeping rate of the lawn in the area is greater than 10% after the intelligent mower completes the cutting work, the cutting work fails, and the user still needs to perform secondary trimming, when the grass-keeping rate of the lawn is 5% and tends to be 0%, the user's perception of the quality of the lawn is not obvious, and the intelligent mower does not need to invest more cost to control the grass-keeping rate to be lower than 5%, and when the working decibel generated by the intelligent mower during the operation is greater than 80 dB, irreversible serious damage to the hearing of the human body and great influence on the surrounding organisms can be caused.

[0116] As shown in FIG. 2, when the rotating speed of the first cutter head approaches 3500 rpm from 1400 rpm, the working decibel is between 45 dB and 80 dB, and when the rotating speed of the first cutter head is greater than 3500 rpm, the working decibel exceeds 80 dB, and the upward trend is obviously increased, and when the working decibel exceeds 80 dB, irreversible serious damage to the hearing of the human body and great influence on the surrounding organisms can be caused, and therefore, the rotating speed of the first cutter head is controlled to be 3500 rpm or less, so that the human body and organisms around the intelligent mower can not be greatly affected, which is an ideal working state.

[0117] It should be noted that the data in each group in FIG. 3 is obtained under the same grass condition (the same grass distribution density), using the same intelligent mower and under the condition that the intelligent mower is controlled to have the same driving speed.

[0118] In order to make the grass retention rate be in a proper range, as shown in FIG. 3, it can be seen that the distance between the first cutter head and the machine body and the rotating speed of the first cutter head are both related to the grass retention rate. It can be seen that the faster the rotating speed of the first cutter head is, the lower the grass retention rate can be. Although the grass retention rate can be controlled to be lower when the rotating speed of the first cutter head is controlled to be above 3500 rpm (for example, 3600 rpm), the effect is not obvious to the user. The intelligent mower does not need to set the rotating speed of the first cutter head to be above 3500 rpm to control the grass retention rate to be more extreme. Moreover, when the rotating speed of the first cutter head is above 3500 rpm, the working decibel of the intelligent mower will exceed 80 decibels, which will cause irreversible serious damage to human hearing in a long-term environment and have a greater impact on the surrounding organisms. In addition, even if the rotating speed of the first cutter head is increased, the cutting effect of the lawn cannot be obviously improved, but the power utilization rate of the intelligent mower will be reduced.

[0119] Continuing to refer to FIG. 3, it can be seen that when the rotating speed of the first cutter head is below 1800 rpm (for example, 1400 rpm, 1600 rpm), the grass retention rate is above 10% no matter whether the first cutter head is in the first position or the second position, and the user still needs to perform secondary trimming.

[0120] When the rotating speed of the first cutter head is 1800 rpm and the minimum horizontal distance from the outer edge of the first cutter head to the outer edge of the machine body is greater than 50 mm (for example, 60 mm), the grass retention rate is still above 10%, and the user still needs to perform secondary trimming. When the rotating speed of the first cutter head is 1800 rpm and the minimum horizontal distance from the outer edge of the first cutter head to the outer edge of the machine body is equal to 50 mm, the grass retention rate is just around 10%, and the user does not need to perform secondary trimming. It can also be seen from FIG. 3 that when the rotating speed of the first cutter head is above 1800 rpm (for example, 2000 rpm, 2200 rpm, 2400 rpm, 2600 rpm, 2800 rpm, 3000 rpm, 3200 rpm) and the first cutter head is in the first position or the second position, the grass retention rate can be below 10%, and the user does not need to perform secondary trimming. Moreover, the closer the first cutter head is to the outer edge of the machine body or the farther the first cutter head is from the outer edge of the machine body, the lower the grass retention rate will be.

[0121] Therefore, the rotation speed of the first cutter head is controlled at 1800 rpm, and when the first cutter head is located at the first position or the second position, the working decibel of the intelligent mower is not only in a suitable range (80 decibels or less), but also the retention rate of grass is in a reasonable range (10% or less), and the power utilization rate of the intelligent mower is at a high level.

[0122] In addition, the rotation speed of the first cutter head also affects the service life of the cutting blade. When the rotation speed of the cutter head is less than 1800 rpm, the cutting blade is basically in a non-cutting state, and the service life of the cutting blade can be maintained basically stable. When the rotation speed of the cutter head reaches 1800 rpm, the cutting blade enters the working state of cutting vegetation, and the service life of the cutting blade begins to decrease. When the rotation speed of the cutter head exceeds 3500 rpm, the service life of the cutting blade decreases obviously. Too high rotation speed can easily form negative pressure, which can suck particles and foreign matters (such as small stones) outside the vegetation to the cutting blade, causing damage to the cutting edge, thereby affecting the service life of the cutting head. Therefore, the rotation speed of the cutter head is maintained at 1800 rpm-3500 rpm, which is an ideal cutting state, and the service life of the cutting head is also maintained below a normal wear expectation.

[0123] In addition, by setting the detection device 140, the intelligent mower 100 can perform a safety protection action according to the biological information detected by the detection device 140, thereby improving the safety performance of the intelligent mower 100.

[0124] By setting the first cutter head between the front wheels and the rear wheels and at the first position or the second position, the intelligent mower generally performs boundary mowing work in the working area after completing mowing work in the working area. By setting the first cutter head between the front wheels and the rear wheels, the gravity of the front wheels and the rear wheels can be increased, the grip of the front wheels and the rear wheels on one side of the first cutter head is improved, and the front wheels and the rear wheels are ensured not to slip. The first cutter head is located between the front wheels and the rear wheels, so that the gravity borne by the front wheels and the rear wheels is equivalent or has little difference, thereby avoiding the problem of excessive local stress, which can cause excessive compaction of the lawn and is not conducive to the healthy growth of the lawn. In addition, the traveling speed during mowing is not prone to decrease.

[0125] Moreover, the first cutter head is located at the edge and between the front wheel and the rear wheel. Compared with the technical solution that the cutter head is located at the center of the machine body, the first cutter head at least partially overlaps with the rear wheel in the forward direction, thereby reducing the area of airflow obstruction, allowing air to flow more smoothly through the machine body, and reducing air resistance. Therefore, the resistance to be overcome is smaller, and the motor power for traveling can also be correspondingly smaller, thereby saving electric energy, reducing the number of recharging of the intelligent mowing robot, and enabling the intelligent mowing robot to complete the cutting work in the working area and its boundary in a smaller number of times. In addition, since the first cutter head is located between the front wheel and the rear wheel, compared with the first cutter head being located at the middle of the machine body, the first cutter head can be closer to the front wheel and the rear wheel. During the cutting process at the edge, the first cutter head can also blow away the grass clippings adhered to the front wheel and the rear wheel, thereby ensuring that the intelligent mowing robot does not easily slip due to the adhesion of grass clippings during the traveling process, and ensuring the cutting efficiency of the intelligent mowing robot.

[0126] The first cutter head is configured to have a rotating speed of V1 when the intelligent mowing robot is in a mowing state and does not jam grass. When the first cutter head moves relative to the machine body, the rotating speed of the first cutter head is less than V1. When the first cutter head performs a moving action, the rotating speed of the cutter head is less than V1. On the one hand, this can reduce the shaking of the first cutter head during movement, thereby improving the stability of the first cutter head during movement.

[0127] On the other hand, this can reduce the resistance received by the first cutter head during movement, thereby saving energy. On the other hand, the moving action is performed to adjust the cutting position of the first cutter head, for example, to adjust the first cutter head from a first position to a second position. During the adjustment of the cutting position of the first cutter head, people or animals often exist around, which causes a safety hazard. At this time, an alarm sound needs to be emitted to drive away the people or animals. The faster the rotating speed of the first cutter head, the louder the noise emitted by the intelligent mowing robot. If the noise is too loud, it will block the alarm sound, which cannot normally drive away the people or animals, and affects the normal mowing work. When the rotating speed of the first cutter head during movement is less than the rotating speed V1 of the first cutter head during normal mowing, the noise emitted by the first cutter head is small, the noise does not block the alarm sound, and the smooth driving away of the living obstacle can be ensured.

[0128] The first cutter head is configured to have a rotating speed of V1 when the intelligent mowing robot is in a mowing state and does not jam grass. When the first cutter head moves relative to the machine body, the rotating speed of the first cutter head is equal to V1. When the first cutter head performs a moving action, the rotating speed of the cutter head is consistent with the rotating speed V1 of the cutter head during mowing work. On the one hand, this can reduce the actions of increasing and decreasing the rotating speed of the first cutter head, thereby improving the speed of adjusting the position of the first cutter head, and further improving the working efficiency of the mowing robot. On the other hand, the reduction of the actions of increasing and decreasing the rotating speed of the first cutter head can reduce the load of the motor of the first cutter head, thereby improving the service life of the motor.

[0129] By limiting the first position of the first cutter to a minimum horizontal distance between the farthest point of the first cutter from the machine body and the machine body being less than 2 / 3 of the diameter of the first cutter, the first cutter can work at a more comfortable temperature when the intelligent mower is cutting. However, if the distance is more than 2 / 3, the first cutter will be exposed to more sunlight, and heat generated by the high-speed operation of the first cutter will increase the probability of cracking of the first cutter. In addition, since the first cutter is far away from the machine body, the vibration generated will be larger, which will affect the efficiency of the machine body.

[0130] The intelligent mower provided by the embodiments of the present application can make the first cutter face the grassland to be cut, so as to facilitate the intelligent mower to perform cutting work. By setting the metal cutting edge on the outer side of the first cutter, the sharpness of the first cutter can be improved, which is beneficial to improve the cutting efficiency of the first cutter. By setting the first cutter between the first cutting surface of the front wheel and the second cutting surface of the rear wheel, and moving the first cutter relative to the machine body to pass through at least the first position and the second position, the first cutter can be located on the side of the machine body, and the first cutter can move relative to the machine body, for example, along the radial extension and contraction of the first cutter. In this way, the distance from the first cutter to the outer edge of the machine body can be changed, so that the cutting can be performed as needed, the edge can be ensured to be cut, and the safety performance can be ensured.

[0131] In addition, when the first cutter is located at the first position, part of the structure of the first cutter can be located on the outside of the machine body, so that the cutting range of the intelligent mower can be expanded, so that the intelligent mower can cut to the edge, solving the problem that the intelligent mower cannot cut to the edge in the related art. When the first cutter is located at the second position, the first cutter can be located on the inside of the machine body, so as to improve the safety performance of the intelligent mower. In addition, when the first cutter is located at the second position, the distance from the first cutter to the outer edge of the machine body can be reduced, so that the intelligent mower can cut to the edge, solving the problem that the intelligent mower cannot cut to the edge in the related art.

[0132] By setting the rotation speed of the first cutter when cutting at the first position or the second position to be greater than or equal to the rotation speed of the first cutter during the movement of the first cutter relative to the machine body, the shaking of the first cutter can be reduced by reducing the rotation speed when the first cutter moves relative to the machine body, so as to improve the safety and stability. In addition, by setting the rotation speed to be higher when the first cutter is located at the first position or the second position, the cutting efficiency can be improved.

[0133] By setting the rotating speed of the first cutter head between 1800 rpm and 3500 rpm, the cutting efficiency can be improved and the service life of the first cutter head can be ensured. Because the rotating speed of the cutter head (including the first cutter head and the second cutter head) of the intelligent mower cannot be lower than 1800 rpm, otherwise, the force on the vegetation when it contacts the cutting blade is too small to cut the vegetation smoothly, and the grass is prone to be stuck, which may even cause the cutter head to stop rotating, and may also cause missed cutting, and the resistance of the grass to the cutter head will be greater, causing the cutter head to stall. When the rotating speed of the cutter head is between 1800 rpm and 3500 rpm, it is an ideal cutting state. Increasing the rotating speed of the cutter head will also basically maintain the corresponding cutting efficiency, or even too fast rotating speed cannot form sufficient contact with the grass surface, and the cutting effect will be slightly worse. At the same time, the rotating speed during cutting cannot be greater than 3500 rpm, and higher than this speed will form greater noise due to the too fast rotation of the cutter head, bring more unnecessary energy consumption, and reduce the safety factor and increase the risk factor. Therefore, the rotating speed of the cutter head maintained between 1800 rpm and 3500 rpm is an ideal cutting state.

[0134] The rotating speed of the cutter head will also affect the service life of the cutting blade. When the rotating speed of the cutter head is less than 1800 rpm, it is basically in a non-cutting state, and the service life of the cutting blade can be maintained basically stable. When the rotating speed of the cutter head reaches 1800 rpm, it enters the working state of cutting vegetation, and the service life of the cutting blade begins to decrease. When the rotating speed of the cutter head exceeds 3500 rpm, the service life of the cutting blade decreases obviously. Too fast rotating speed will easily form negative pressure, which will suck particles such as small stones outside the vegetation to the cutting blade, causing damage to the cutting edge, thereby affecting the service life of the cutting head. Therefore, the rotating speed of the cutter head maintained between 1800 rpm and 3500 rpm is an ideal cutting state, and the service life of the cutting head is also maintained below a normal wear expectation.

[0135] By setting the detection device, the intelligent mower can perform a safety protection action according to the biological information detected by the detection device, thereby improving the safety performance of the intelligent mower.

[0136] In a possible implementation, the first cutter head further comprises a third position, when the first cutter head is in the third position, the first cutter head is located within the orthographic projection of the machine body towards the ground, and the minimum distance from the outer side edge of the cutting blade to the outer side edge of the machine body is greater than 50 mm; the first cutter head moves relative to the machine body and at least passes through the first position, the second position and the third position.

[0137] By setting the first cutter head to include the third position, the first cutter head can be located inside the machine body and far from the edge of the machine body. When the second position does not need to be cut, the first cutter head can be moved to the third position, thereby improving the safety performance of the intelligent mower. When the second position needs to be cut, the first cutter head can be moved to the first position or the second position, thereby expanding the cutting range of the first cutter head, and the intelligent mower can cut to the edge, thereby ensuring cutting to the edge and improving the cutting efficiency of the mower. In this way, the position of the first cutter head can be determined according to the cutting condition, thereby improving the adaptability of the intelligent mower.

[0138] In a possible implementation, the number of the first cutter heads is two, and the two first cutter heads are arranged side by side in the transverse direction of the machine body, which is perpendicular to the advancing direction of the intelligent mower.

[0139] In this way, on the one hand, the two first cutter heads arranged side by side can balance the center of gravity, and there is no need to consider additional counterweight blocks; on the other hand, the first cutter heads on both sides can perform cutting work, thereby expanding the cutting range of the first cutter head, and the intelligent mower can cut to the edge. Because any first cutter head on one side can be used for mowing, there is no need to modify the algorithm due to the change of the position of the first cutter head, and the universality is stronger. In addition, the rotation of the first cutter heads on both sides can drive the airflow in the space below the machine body, thereby having a better heat dissipation effect and blowing away the grass clippings wrapped around the front wheels, thereby preventing the front wheels from slipping due to the adhesion of the grass clippings.

[0140] In a possible implementation, the intelligent mower further includes a second cutter head, which is installed on the side of the machine body facing the ground; the first cutter head and the second cutter head are located between the first cutting surface of the front wheel and the second cutting surface of the rear wheel, and the second cutter head is arranged in a spaced manner with the first cutter head; the orthographic projection of the first cutter head and the second cutter head in the advancing direction of the intelligent mower at least partially coincides, or the first cutter head and the second cutter head are arranged side by side in the transverse direction of the machine body, which is perpendicular to the advancing direction of the intelligent mower.

[0141] By arranging the second cutter head, the cutting area can be expanded, and the cutting efficiency can be improved. By arranging the first cutter head and the second cutter head in a spaced manner, interference between the first cutter head and the second cutter head can be prevented. By arranging the orthographic projection of the first cutter head and the second cutter head in the advancing direction of the intelligent mower at least partially coincides, it can be prevented that there is an uncovered area between the first cutter head and the second cutter head when the intelligent mower performs cutting work, and the problem of missed cutting can be prevented.

[0142] When the first cutter head and the second cutter head are arranged side by side, on the one hand, the balance of the weight is facilitated, so that the intelligent mower is not prone to overturning, and on the other hand, the airflow flowing around the first cutter head and the second cutter head is more balanced, so that the instability of the mower during movement caused by unbalanced airflow is avoided, and the airflow between the first cutter head and the second cutter head can be utilized for heat dissipation. If only one cutter head is used, the other cutter head that is not in operation can act as a heat exchanger to assist the heat dissipation of the cutter head in operation.

[0143] When the first cutter head and the second cutter head at least partially overlap in the forward direction, the missed cutting is prevented, and when the first cutter head and the second cutter head are staggered in the forward direction, the heat generated by the first cutter head and the second cutter head is not concentrated, which facilitates the heat dissipation of the first cutter head and the second cutter head.

[0144] In a possible implementation, the number of the first cutter heads is two; and in the transverse direction of the machine body, the two first cutter heads are respectively located on the two sides of the second cutter head.

[0145] By arranging two first cutter heads, the cutting range of the intelligent mower is expanded, and the cutting efficiency of the automatic mower is improved.

[0146] By arranging the two first cutter heads on the two sides of the second cutter head, on the one hand, the balance of the weight is facilitated, and on the other hand, the edge cutting can be performed on both sides of the intelligent mower in the transverse direction, without the need to modify the algorithm due to the change of the position of the first cutter head. The edge cutting can be performed on either side of the cutter head, and the universality is high. In addition, since the first cutter heads on both sides can be close to or beyond the edge of the machine body, the first cutter heads on both sides can overlap in the forward direction between the rear wheels, and the first cutter heads on both sides can have hollows, so that the intelligent mower can better perform obstacle crossing and airflow flowing. The rotation of the two first cutter heads can also drive the airflow flowing therebetween, and the heat dissipation effect is good.

[0147] In a possible implementation, the first cutter head is detachably connected with the machine body.

[0148] In this way, different cutter heads can be installed when cutting different positions, so that the application flexibility of the intelligent mower is improved. For example, when cutting the edge area, the first cutter head close to the outer side of the machine body can be installed, so that the intelligent mower can cut to the edge. When cutting an area that does not involve the edge area, the first cutter head close to the outer side of the machine body can be detached, so that the safety performance is improved, and the wear of the first cutter head is reduced.

[0149] In a possible implementation, the intelligent mower further comprises a shield; the shield is located above the first cutter head to cover the first cutter head.

[0150] By arranging the shield, the first cutter head can be protected, and the grass cut by the first cutter head can be prevented from splashing onto the machine body. In addition, in some cases, the shield can also provide a mounting position for the installation of the first cutter head, so that the first cutter head is exposed to the outside of the machine body.

[0151] In a possible implementation, when the first cutter head is located at the first position, the outer side edge of the part of the first cutter head located outside the machine body is flush with the outer side edge of the shield in the vertical direction, or the horizontal distance between the outer side edge of the part of the first cutter head located outside the machine body and the outer side edge of the shield is greater than 0 mm and less than 50 mm.

[0152] Since the shield is directly exposed to the sunlight, that is, the shield absorbs more heat of the solar radiation, the shield can be cooled by the high-speed rotating first cutter head. When the outer side edge of the part of the first cutter head located outside the machine body is flush with the outer side edge of the shield, the cooling effect is better, and the shield will not crack due to serious heating. At the same time, since the shield covers the first cutter head, the first cutter head will not be directly exposed to the sunlight, and the cracking of the first cutter head due to high temperature will be greatly reduced. In addition, the shield can also block the heat of the cutter head from being transmitted to the motor or the whole machine, so as not to affect the heat balance of the whole machine.

[0153] In this way, the outer side edge of the first cutter head can be flush with the outer side edge of the shield, so that the cutting range of the first cutter head can cover the area covered by the shield, thereby preventing the shield from limiting the cutting of the first cutter head on the area outside the machine body.

[0154] In a possible implementation, the machine body has a first side edge and a second side edge oppositely arranged along the transverse direction of the machine body, and the transverse direction of the machine body is perpendicular to the forward direction of the intelligent mower; in the forward direction of the intelligent mower, both ends of the first side edge and the second side edge are connected with the second end portion and the first end portion, respectively.

[0155] In this way, the intelligent mower can have a quadrilateral structure as a whole, so as to improve the stability and aesthetics of the intelligent mower.

[0156] In a possible implementation, the shield is located at the first side edge and / or the second side edge, and the first cutter head corresponds to the shield.

[0157] In this way, the first cutter head is arranged to avoid the front wheel or the rear wheel of the intelligent mower, so that the first cutter head does not interfere with the front wheel or the rear wheel of the intelligent mower, and the problem that the first cutter head scratches the front wheel or the rear wheel is avoided.

[0158] In a possible implementation, the fuselage has a first side edge and a second side edge arranged opposite in a transverse direction of the fuselage, the transverse direction of the fuselage is perpendicular to the advancing direction of the intelligent mower.

[0159] When the first cutter head is in the second position, the minimum horizontal distance from the outer side edge of the cutting blade to the first side edge and / or the second side edge is less than or equal to 50 mm.

[0160] When the first cutter head is in the first position, the maximum horizontal distance from the outer side edge of the guard to the outer side edge of the fuselage is greater than 0 mm and less than or equal to 60 mm.

[0161] In this way, when the first cutter head is in the second position, the first cutter head is arranged to be inside the fuselage, so that the safety performance of the intelligent mower is improved. In addition, when the first cutter head is in the second position, the distance from the first cutter head to the outer side edge of the fuselage is reduced, so that the intelligent mower can cut to the edge, and the problem that the intelligent mower cannot cut to the edge in the related art is solved.

[0162] In a possible implementation, when the first cutter head is in the first position, the maximum horizontal distance from the outer side edge of the guard to the outer side edge of the fuselage is greater than 0 mm and less than or equal to 40 mm.

[0163] In this way, the cutting range of the intelligent mower is expanded, and the problem that the intelligent mower cannot cut to the edge in the related art is solved.

[0164] In a possible implementation, when the first cutter head is in the first position, in the transverse direction of the fuselage, the minimum horizontal distance between the farthest point of the first cutter head away from the fuselage and the fuselage is greater than 1 / 10 of the diameter of the first cutter head, and the minimum horizontal distance between the farthest point of the first cutter head away from the fuselage and the fuselage is less than 1 / 3 of the diameter of the first cutter head.

[0165] In a possible implementation, when the first cutter head is in the first position, in the transverse direction of the fuselage, the minimum horizontal distance between the farthest point of the first cutter head away from the fuselage and the fuselage is greater than 1 / 8 of the diameter of the first cutter head, and the minimum horizontal distance between the farthest point of the first cutter head away from the fuselage and the fuselage is less than 1 / 4 of the diameter of the first cutter head.

[0166] In this way, the design flexibility of the intelligent mower can be improved, so that the intelligent mower can be applied to different scenes, and the intelligent mower can cut to the edge, thereby solving the problem that the intelligent mower cannot cut to the edge in the related art.

[0167] In a possible implementation, the first cutter head is configured to have a rotating speed of 1800-2500 revolutions per minute when the intelligent mower is working and does not get stuck.

[0168] By setting the rotating speed of the first cutter head to 1800-2500 revolutions per minute, the cutting efficiency can be ensured, the energy consumption can be saved, the noise can be reduced, the safety factor can be improved, and the service life of the first cutter head can be prolonged.

[0169] In a possible implementation, the first cutter head is configured to have a rotating speed of 2000-2500 revolutions per minute when the intelligent mower is working and does not get stuck.

[0170] In this way, the rotating speed of the first cutter head can be high when the intelligent mower is working, and the cutting efficiency of the intelligent mower can be improved.

[0171] By setting the rotating speed of the first cutter head to 2000-2500 revolutions per minute, the cutting efficiency can be improved, the energy consumption can be saved, the noise can be reduced, the safety factor can be improved, and the service life of the first cutter head can be prolonged.

[0172] In a possible implementation, the first cutter head includes a rotating disc and a plurality of blades, the blades are metal pieces, the plurality of blades are arranged at intervals along the circumference of the rotating disc, and the outer side of each blade is provided with the cutting edge. The first cutter head includes a rebound device, the rebound device is arranged between the blade and the rotating disc, and when the resistance received by the blade is greater than a preset threshold value during the cutting operation of the first cutter head, the blade moves a preset horizontal distance towards the center axis of the first cutter head through the rebound device.

[0173] By arranging the blades, the cutting edges can be conveniently arranged. Compared with arranging the cutting edges on the outer periphery of the rotating disc, the size of the cutting edges in the circumferential direction of the rotating disc can be reduced, and the cost can be saved. In addition, by arranging the first cutter head to include the rotating disc and the plurality of blades, when one of the blades is damaged, only the damaged blade needs to be replaced, and the entire first cutter head does not need to be replaced, so that the maintenance cost can be saved.

[0174] By arranging the rebound device, the blade can be automatically retracted when the blade encounters a hard boundary (such as a stone), so that the blade can be prevented from being deformed or broken due to collision with the hard boundary, and the service life of the blade can be prolonged.

[0175] In a possible implementation, the balancing structure is further included; the balancing structure is arranged on the fuselage; when the number of the first cutter is one, the balancing structure is arranged opposite to the first cutter in the transverse direction of the fuselage, so as to balance the mass of the first cutter, the transverse direction of the fuselage is perpendicular to the advancing direction of the intelligent mower; when the number of the first cutter is two, the two first cutters are arranged side by side in the transverse direction of the fuselage, one of the first cutters acts as the balancing structure to balance the mass of the other first cutter, the transverse direction of the fuselage is perpendicular to the advancing direction of the intelligent mower.

[0176] In this way, the balance of the fuselage can be improved, and the intelligent mower can be prevented from being easily turned on one side or the like when mowing or encountering an obstacle.

[0177] In a possible implementation, the balancing structure is an iron block or a battery.

[0178] By setting the balancing structure as an iron block, the volume of the balancing structure can be reduced, the installation space required by the iron block can be reduced, the arrangement is facilitated, and the assembly difficulty is reduced, because the density of the iron block is relatively large.

[0179] By setting the balancing structure as a battery, the fuselage can be balanced by reasonably arranging the position of the battery, without the need to increase other devices, so that the structure of the intelligent mower can be simplified, the balancing effect can be achieved, the cost can be reduced, and the intelligent mower can be lightweight.

[0180] In a possible implementation, the moving speed of the intelligent mower is between 1 m / s and 3 m / s.

[0181] And / or, the minimum vertical distance from the first cutter to the ground is between 2 cm and 8 cm.

[0182] And / or, the minimum vertical distance from the first cutter and the second cutter to the ground is between 2 cm and 8 cm.

[0183] And / or, the mass of the first cutter is between 150 g and 250 g.

[0184] In this way, the moving speed of the intelligent mower can be in a reasonable range, and the mowing efficiency can be improved.

[0185] In this way, the obstacle crossing ability of the intelligent mower can be improved, that is, some small bumps or recesses can be crossed, and the adaptability of the intelligent mower can be improved.

[0186] In this way, the first cutter head can be relatively light, and the smart mower can be lightweight.

[0187] In a possible implementation, the smart mower further comprises a control device, the control device is connected to the detection device, and the control device is configured to control the smart mower to perform the safety protection action according to the biological information.

[0188] The control device is configured to control the smart mower to perform the safety protection action, so as to improve the safety performance of the smart mower.

[0189] In a possible implementation, the safety protection action comprises one or a combination of the following: the smart mower slows down, the smart mower stops, the first cutter head slows down, the first cutter head stops, the smart mower performs obstacle avoidance, and the smart mower performs obstacle circumvention.

[0190] In this way, the safety performance of the smart mower can be improved.

[0191] In a possible implementation, the smart mower further comprises a protective cover, the protective cover comprises an open state and a retracted state, the protective cover covers the outside of the first cutter head when the protective cover is in the open state, the protective cover does not cover the outside of the first cutter head when the protective cover is in the retracted state, the control device is connected to the protective cover, and the safety protection action at least comprises controlling the protective cover to switch to the open state.

[0192] In this way, the safety performance of the smart mower can be improved, the protective cover can cover the first cutter head when the distance between the smart mower and the biological object is less than the safety distance, so that the first cutter head can be prevented from accidentally injuring the biological object entering the mowing area, and the safety performance of the smart mower is improved. At the same time, the heat on the cutter head can be quickly blocked from being transmitted to the outside, so as to prevent the biological object around from being scalded.

[0193] In a possible implementation, the detection device comprises one or more of an infrared sensor, a line laser sensor, a camera, a distance sensor, a laser ranging sensor, an edge sensor, and a flight sensor.

[0194] In this way, the detection device can detect biological information, and the infrared sensor, the line laser sensor, the camera, the horizontal distance sensor, the laser ranging sensor, the edge sensor, and the flight sensor are common and easy to obtain, so that the cost of the smart mower can be reduced.

[0195] In a possible implementation, the fuselage has a first side edge and a second side edge arranged opposite along a transverse direction of the fuselage, the transverse direction of the fuselage being perpendicular to the advancing direction of the intelligent mower.

[0196] When the first cutter head is in the first position, at least part of the first cutter head is exposed to the outside of the fuselage through the first side edge, or at least part of the first cutter head is exposed to the outside of the fuselage through the second side edge.

[0197] In this way, the first cutter head avoids the front wheel or the rear wheel of the intelligent mower, preventing the first cutter head from interfering with the front wheel or the rear wheel of the intelligent mower and causing the first cutter head to scratch the front wheel or the rear wheel.

[0198] In a possible implementation, when the first cutter head is in the first position, the maximum horizontal distance from the outer side edge of the at least part of the first cutter head located outside the vertical projection of the fuselage to the outer side edge of the fuselage is greater than or equal to 0 mm and less than or equal to 60 mm.

[0199] In this way, the first cutter head is located inside the fuselage, which can expand the cutting range of the intelligent mower and solve the problem that the intelligent mower cannot cut to the edge in the related art.

[0200] In a possible implementation, when the first cutter head is in the first position, the maximum horizontal distance from the outer side edge of the at least part of the first cutter head located outside the vertical projection of the fuselage to the outer side edge of the fuselage is greater than or equal to 0 mm and less than or equal to 40 mm.

[0201] In a possible implementation, the first cutter head is connected with a motor, the motor is configured to drive the first cutter head to rotate, and a heat dissipation device is arranged on the motor, the heat dissipation device being configured to dissipate heat for the motor.

[0202] The heat dissipation device can dissipate heat for the motor, ensuring normal operation of the motor.

[0203] In a possible implementation, the first cutter head is connected with a motor, the motor is configured to drive the first cutter head to rotate, and a waterproof structure is arranged outside the motor.

[0204] The waterproof structure arranged outside the motor can prevent water from entering the motor or the motor from being damp, ensuring normal operation of the motor.

[0205] In a possible implementation, the intelligent mower further comprises a driving device, the driving device being arranged between the fuselage and the first cutter head, and the driving device being configured to drive the first cutter head to switch between the first position and the second position.

[0206] By setting the driving device, the first cutter head can be switched between the first position and the second position, so that the intelligent mower is suitable for different application scenarios, and cutting to the edge can be ensured.

[0207] In a possible implementation, the driving device is one or a combination of a worm gear driving device, a connecting rod driving device, and a gear driving device.

[0208] Among them, the worm gear structure, the connecting rod driving device, the connecting rod mechanism or the gear assembly are commonly used as driving devices, and they are relatively simple to assemble, so the driving device is set to the worm gear structure, the connecting rod driving device, the connecting rod mechanism or the gear assembly, which can simplify the driving device and reduce the cost of the intelligent mower.

[0209] In a possible implementation, the control device is further included; the control device is electrically connected with the detection device and the driving device; and the control device is configured to control the intelligent mower to perform the safety protection action according to the biological information, wherein the safety protection action at least includes controlling the driving device to move the first cutter head to the second position.

[0210] By setting the control device, the intelligent mower is controlled to perform the safety protection action, so as to improve the safety performance of the intelligent mower. By setting the safety protection action to at least include moving the first cutter head to the second position, the first cutter head can be retracted to the inner side of the machine body, thereby improving the safety performance of the intelligent mower. BRIEF DESCRIPTION OF DRAWINGS

[0211] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0212] Fig. 1 is a schematic diagram of the frame structure of an intelligent mower according to an embodiment of the present application;

[0213] Fig. 2 is a schematic diagram of the quantitative relationship between the working decibel of an intelligent mower and the cutter head speed according to an embodiment of the present application;

[0214] Fig. 3 is a data comparison table of the grass retention rate of an intelligent mower, the cutter head speed, and the distance between the outer edge of the cutter head and the machine body according to an embodiment of the present application;

[0215] Fig. 4 is a schematic diagram of the structure of the first cutter head of an intelligent mower in the first position according to an embodiment of the present application;

[0216] Fig. 5 is a structural schematic diagram of a first cutterhead of a smart mower in a first position according to an embodiment of the present application;

[0217] Fig. 6 is a structural schematic diagram of a first cutterhead of a smart mower in a second position according to an embodiment of the present application;

[0218] Fig. 7 is a structural schematic diagram of a first cutterhead of a smart mower in a second position according to an embodiment of the present application;

[0219] Fig. 8 is a schematic diagram of an application scenario of a smart mower according to an embodiment of the present application;

[0220] Fig. 9 is a structural schematic diagram of a first cutterhead of a smart mower according to an embodiment of the present application;

[0221] Fig. 10 is a sectional structural schematic diagram of a protective cover of a smart mower in an open state according to an embodiment of the present application;

[0222] Fig. 11 is a sectional structural schematic diagram of a protective cover of a smart mower in a stowed state according to an embodiment of the present application;

[0223] Fig. 12 is a structural schematic diagram of a first cutterhead of a smart mower in a first position and including a second cutterhead according to an embodiment of the present application;

[0224] Fig. 13 is a structural schematic diagram of a first cutterhead of a smart mower in a second position and including a second cutterhead according to an embodiment of the present application;

[0225] Fig. 14 is a structural schematic diagram of two first cutterheads of a smart mower in a first position according to an embodiment of the present application;

[0226] Fig. 15 is a structural schematic diagram of a frame of a smart mower according to an embodiment of the present application;

[0227] Fig. 16 is a structural schematic diagram of a first cutterhead of a smart mower in a first position according to an embodiment of the present application;

[0228] Fig. 17 is a structural schematic diagram of a first cutterhead of a smart mower in a first position according to an embodiment of the present application;

[0229] Fig. 18 is a structural schematic diagram of a frame of a smart mower according to an embodiment of the present application;

[0230] Fig. 19 is a structural schematic diagram of a first cutterhead of a smart mower located at a front end of a machine body according to an embodiment of the present application;

[0231] Fig. 20 is a structural schematic diagram of a first cutterhead of a smart mower located at a front end of a machine body and including a second cutterhead according to an embodiment of the present application;

[0232] Fig. 21 is a schematic diagram of a frame structure of a smart mower according to an embodiment of the present application;

[0233] Fig. 22 is a schematic diagram of a structure of a first cutter disc of a smart mower located at a rear end of a machine body according to an embodiment of the present application;

[0234] Fig. 23 is a schematic diagram of a structure of a first cutter disc of a smart mower located at a rear end of a machine body and including a second cutter disc according to an embodiment of the present application;

[0235] Fig. 24 is a schematic diagram of a frame structure of a smart mower according to an embodiment of the present application;

[0236] Fig. 25 is a schematic diagram of a structure of a smart mower according to an embodiment of the present application, in which two first cutter discs are located at a rear end of a machine body.

[0237] Legend: 100 - smart mower; 110 - machine body; 111 - first side edge; 112 - second side edge; 113 - first end; 114 - second end; 120 - first cutter disc; 121 - blade; 122 - second cutter disc; 123 - rotating disc; 124 - rebound device; 125 - protective cover; 1251 - main support; 1252 - telescopic arm; 1253 - support part; 1254 - telescopic part; 130 - motor; 140 - detection device; 150 - driving device; 161 - front wheel; 162 - rear wheel; 170 - balance structure; 180 - protective member; 190 - control device; 191 - first acquisition unit; 192 - second acquisition unit; 200 - area to be cut; 210 - along edge area; 220 - middle area; 230 - corner area; 300 - boundary line. DETAILED DESCRIPTION

[0238] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0239] The intelligent mower provided by the embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0240] FIG. 1 is a schematic diagram of a frame structure of an intelligent mower provided by the embodiment of the present application.

[0241] The embodiment of the present application provides an intelligent mower 100, as shown in FIG. 1, which can include a body 110, a first cutter 120, and a detection device 140. The body 110 is the main component of the intelligent mower 100, and is used to mount the first cutter 120 and the detection device 140 and other components. The intelligent mower can further include a motor 130, which is connected to the first cutter 120 and is used to drive the first cutter 120 to rotate so that the first cutter 120 performs a cutting operation.

[0242] For example, the body 110 can include a support chassis and an outer shell (not shown in the figure), wherein the main support chassis can be used to mount the motor 130, which is connected to the first cutter 120. It should be noted that the body 110 in the embodiment of the present application refers to the body in the macro sense, that is, the overall frame of the intelligent mower 100 formed by the entire intelligent mower except the front wheel 161 and the rear wheel 162 and the structure such as the motor and the first cutter 120 used for the cutting operation, and is not limited to one component. The "inner side of the body 110" refers to the vertical projection, which is located on the inner side of the vertical projection of the body 110, and the "outer side of the body 110" refers to the vertical projection, which is located on the outer side of the vertical projection of the body 110. The "lower side of the body 110" refers to the side of the body facing the ground.

[0243] For the convenience of description, the forward direction of the intelligent mower 100 is taken as the x direction, the transverse direction is taken as the y direction, and the vertical direction refers to the direction of the body 110 to the ground or the plane of the cutting area 200, in combination with FIG. 4.

[0244] For example, the first cutter 120 has a cutting edge 121, which is a metal piece, and the first cutter 120 performs a cutting operation on the grass in the cutting area through the cutting edge. The first cutter 120 is arranged at a first position or a second position relative to the body 110.

[0245] The first position is defined as: at least part of the first cutter 120 is located outside the vertical projection of the body 110 facing the ground.

[0246] For example, when the first cutter is at the first position, the horizontal distance h2 from the outer side edge of the first cutter 120 located on the outer side of the body 110 to the outer side edge of the body 110 can be greater than or equal to 0 and less than or equal to 60 mm.

[0247] In this way, the cutting range of the intelligent mower 100 can be expanded, and the problem that the intelligent mower 100 cannot cut to the edge in the related art is solved. For example, the horizontal distance h2 from the outer edge of the first cutter head 120 located outside the machine body 110 to the outer edge of the machine body 110 can be 60 mm, 55 mm, 50 mm, 45 mm, 40 mm, 35 mm, 30 mm, 25 mm, 20 mm, 15 mm, 10 mm, 5 mm, 0 mm, etc. In the embodiments of the present application, the horizontal distance h2 from the outer edge of the first cutter head 120 located outside the machine body 110 to the outer edge of the machine body 110 is not further limited.

[0248] Of course, in other embodiments, the horizontal distance h2 from the outer edge of the first cutter head 120 located outside the machine body 110 to the outer edge of the machine body 110 can be greater than 0, and even the first cutter head 120 can be located entirely outside the machine body 110.

[0249] The second position is defined as: the first cutter head 120 is located within the orthographic projection of the machine body 110 towards the ground, and the minimum horizontal distance (see h1 in FIG. 6) from the outer edge of the cutting edge to the outer edge of the machine body 110 is greater than or equal to 0 and less than or equal to 50 mm. For example, the minimum horizontal distance h1 from the outer edge of the first cutter head 120 to the outer edge of the machine body 110 can be 50 mm, 45 mm, 40 mm, 35 mm, 30 mm, 25 mm, 20 mm, 15 mm, 10 mm, 5 mm, 0 mm, etc. In the embodiments of the present application, the minimum horizontal distance from the outer edge of the first cutter head 120 to the outer edge of the machine body 110 is not further limited.

[0250] The first cutter head 120 is configured to have a rotation speed of between 1800 rpm and 3500 rpm when the intelligent mower 100 is located at the first position or the second position, the intelligent mower is in a mowing working state and does not jam. The detection device 140 is arranged on the machine body 110, and the detection device 140 is used to detect biological information, and the intelligent mower 100 is used to perform a safety protection action according to the biological information.

[0251] The intelligent mower 100 provided in the application can make the first cutter head 120 face the lawn to be cut (the area to be cut) by arranging the first cutter head 120 below the machine body 110, so as to facilitate the intelligent mower 100 to perform cutting work. The sharpness of the first cutter head 120 can be improved by arranging the cutting edge of the first cutter head 120 with metal, which is beneficial to improve the cutting efficiency of the first cutter head 120. By arranging the first cutter head 120 at the first position or the second position, the first cutter head 120 can closely adhere to the boundary line to perform mowing work when the intelligent mower 100 closely adheres to the boundary line to perform edge cutting in the area to be cut, the cutting is more to the edge, and the grass retention rate of the area to be cut is greatly reduced, thereby improving the overall cutting efficiency of the intelligent mower 100, so that the lawn is more neat and more beautiful after being trimmed.

[0252] In addition, when the first cutter head 120 is located at the first position, at least part of the first cutter head 120 is located outside the outer edge of the machine body 110, so that the cutting width outside the machine body 110 is increased and the cutting range of the intelligent mower 100 is expanded, so that the intelligent mower 100 has a smaller cutting blind area of the boundary line, and the cutting to the edge is realized, thereby solving the problems of high grass retention rate and inability to cut to the edge of the intelligent mower 100 in the related art.

[0253] When the first cutter head 120 is located at the second position, the first cutter head 120 is located inside the machine body 110 and has a distance from the outer edge of the machine body 110 greater than or equal to 0 and less than or equal to 50 mm, so that the cutting to the edge is realized while the cutting safety is guaranteed to the greatest extent, the distance between the first cutter head 120 and the outer edge of the machine body 110 is reduced, the cutting blind area of the intelligent mower 100 from the boundary line is small, the cutting to the edge is realized, and the problems of high grass retention rate and inability to cut to the edge of the intelligent mower 100 in the related art are solved. The reason that the rotating speed of the first cutter head is between 1800 rpm and 3500 rpm can be referred to the explanation of FIG. 2 and FIG. 3 in the application content, which will not be repeated here.

[0254] For example, as shown in FIG. 4, the machine body 110 includes a first end portion 113 and a second end portion 114 arranged oppositely along the forward direction of the intelligent mower 100. The intelligent mower 100 can further include front wheels 161 and rear wheels 162 arranged at intervals along the forward direction of the intelligent mower 100, wherein the front wheels 161 and the rear wheels 162 are arranged on the side of the machine body 110 facing the ground, and in the x direction, the front wheels 161 and the rear wheels 162 are arranged at intervals, and the front wheels 161 are located between the rear wheels 162 and the first end portion 113, and the rear wheels 162 are located between the front wheels 161 and the second end portion 114. That is, the front wheels 161 are mounted to the front end of the machine body 110, and the rear wheels 162 are mounted to the rear end of the machine body 110.

[0255] In the x direction, the first cutter head 120 is located between a first tangent plane a of the front wheel 161 and a second tangent plane b of the rear wheel 162. The first tangent plane a is perpendicular to the x direction and passes through a first end point of the front wheel 161, the first end point being defined as the farthest point of the front wheel 161 from the first end portion 113.

[0256] The second tangent plane b is perpendicular to the x direction and passes through a second end point of the rear wheel 162, the second end point being defined as the farthest point of the rear wheel 162 from the second end portion 114. The first cutter head 120 can be disposed between the front wheel 161 and the rear wheel 162.

[0257] It should be noted that the intelligent mower can be a rear-drive intelligent mower, in which case the rear wheel 162 has a driving force for driving the intelligent mower 100 to move forward or backward, and the front wheel 161 can be used to adjust the direction. For example, the front wheel 161 can be a universal wheel, which can facilitate the intelligent mower 100 to adjust the direction.

[0258] It should be noted that the number of rear wheels 162 is generally two, but in some embodiments, there can be one rear wheel, and in the embodiments of the present application, the number of rear wheels is not limited. Similarly, the number of front wheels 161 can also be two, but in some embodiments, the number of front wheels 161 can also be one, and in the embodiments of the present application, the number of front wheels 161 is not limited.

[0259] In a possible implementation, the machine body 110 can include a first side edge 111 and a second side edge 112 disposed opposite to each other in a transverse direction (y direction) perpendicular to the moving direction of the intelligent mower 100, wherein when the first cutter head 120 is in the first position, the first cutter head 120 is at least partially exposed to the outside of the machine body through the first side edge 111, or the first cutter head 120 is at least partially exposed to the outside of the machine body through the second side edge 112.

[0260] For example, the first cutter head 120 is mounted on the side of the machine body 110 facing the ground, wherein the relative position of the first cutter head 120 to the machine body 110 is fixed, and the first cutter head 120 is in the first position.

[0261] The intelligent mower 100 is generally used to perform cutting work on lawns and the like, so arranging the first cutter head 120 below the machine body 110 can facilitate the cutting work on lawns.

[0262] In some embodiments, the first cutter head 120 can be arranged close to the first side edge 111 of the machine body 110, and at least part of the structure of the first cutter head 120 can be exposed outside the machine body 110 from the first side edge 111 (as shown in FIG. 4), or the first cutter head 120 can be arranged close to the second side edge 112 of the machine body 110, and at least part of the structure of the first cutter head 120 can be exposed outside the machine body 110 from the second side edge 112 (not shown in the figure).

[0263] In the embodiments of the present application, by fixing the first cutter head 120 at the first position, the first cutter head 120 of the intelligent mower 100 can cut to the position outside the machine body 110, so that the intelligent mower 100 can cut to the edge, solving the problem that the intelligent mower 100 cannot cut to the edge in the related art.

[0264] Of course, in some embodiments, as shown in FIG. 5, the first cutter head 120 can be arranged close to the central axis of the machine body 110, and both sides of the first cutter head 120 in the transverse direction can be exposed outside the machine body 110 from the first side edge 111 and the second side edge 112 respectively. In the embodiments of the present application, which side of the first cutter head 120 is exposed outside the machine body 110 is not further limited.

[0265] In a possible implementation, when the first cutter head 120 is at the first position, the intelligent mower 100 can include a guard 180, wherein the guard 180 is located between the first cutter head 120 and the machine body 110, and the first cutter head 120 is located at the first position through the guard 180. For example, the guard 180 is located above the first cutter head 120 to cover above the first cutter head 120.

[0266] For example, when the first cutter head 120 is at the first position, the outer side edge of the part of the first cutter head 120 exposed outside the machine body 110 is flush with the outer side edge of the guard 180 in the vertical direction, or the horizontal distance between the outer side edge of the part of the first cutter head 120 exposed outside the machine body 110 and the outer side edge of the guard 180 is greater than 0 millimeters and less than 50 millimeters.

[0267] One end of the guard 180 is connected with the machine body 110, and the other end extends outside the machine body 110 along the transverse direction of the machine body, and in the vertical direction, the outer side edge of the part of the first cutter head 120 exposed outside the machine body 110 is flush with the outer side edge of the guard 180, so that the first cutter head 120 is exposed outside the machine body 110 through the guard 180.

[0268] It should be noted that in the embodiments of the present application, the shield 180 can be a plate structure located on the top of the first cutter head 120 and can be used to shield the first cutter head 120. Of course, in other embodiments, the shield 180 can also have other structures, and in the embodiments of the present application, the specific structure of the shield 180 is not limited further.

[0269] In a possible implementation, the first cutter head 120 is relatively fixed in position with the fuselage 110, and the first cutter head 120 is located at the second position, and the minimum horizontal distance h1 from the outer side edge of the cutting edge of the first cutter head 120 to the outer side edge of the fuselage 110 is greater than or equal to 0 and less than or equal to 50 mm.

[0270] In some embodiments, as shown in FIG. 6, the first cutter head 120 can be arranged at a position where the center axis of the fuselage 110 is located, the minimum horizontal distance h1 from the outer side edge of the surface of the first cutter head 120 facing the first side edge 111 to the outer side edge of the fuselage 110 is greater than or equal to 0 and less than or equal to 50 mm, and the minimum horizontal distance h1 from the outer side edge of the surface of the first cutter head 120 facing the second side edge 112 to the outer side edge of the fuselage 110 is also greater than or equal to 0 and less than or equal to 50 mm.

[0271] In some other embodiments, the first cutter head 120 can be arranged eccentrically, that is, the first cutter head 120 is arranged close to the first side edge 111 or the second side edge 112 of the fuselage 110. As shown in FIG. 7, the first cutter head 120 is arranged close to the first side edge 111 of the fuselage 110. The minimum horizontal distance h1 from the outer side edge of the surface of the first cutter head 120 facing the first side edge 111 to the outer side edge of the fuselage 110 is greater than or equal to 0 and less than or equal to 50 mm. It should be noted that the outer side edge of the first cutter head 120 is the outer side edge of the cutting edge.

[0272] Of course, in other embodiments, the first cutter head 120 can also be arranged close to the second side edge 112 of the fuselage 110, and the minimum horizontal distance h1 from the outer side edge of the surface of the first cutter head 120 facing the second side edge 112 to the outer side edge of the fuselage 110 is greater than or equal to 0 and less than or equal to 50 mm. In the embodiments of the present application, the arrangement position of the first cutter head 120 is not limited further.

[0273] In the embodiment of the present application, by setting the minimum horizontal distance h1 from the outer edge of the first cutter head 120 to the outer edge of the fuselage 110 to be greater than or equal to 0 and less than or equal to 50 mm, the horizontal distance of the first cutter head 120 to the outer edge of the fuselage 110 can be reduced, so that the intelligent mower 100 can cut to the edge. Compared with the related art, the horizontal distance of the first cutter head to the horizontal distance of the outer edge of the fuselage is relatively large (generally more than 50 mm), and the present solution can solve the problem that the intelligent mower 100 cannot cut to the edge in the related art. In addition, by setting the first cutter head 120 at the second position, the first cutter head 120 can be located inside the fuselage 110, thereby improving the safety performance of the intelligent mower 100.

[0274] In a possible implementation, the first position is defined as: at least part of the first cutter head 120 is located outside the orthographic projection of the fuselage 110 towards the ground, and the minimum horizontal distance h2 between the farthest point of the first cutter head 120 away from the fuselage 110 and the fuselage 110 in the transverse direction (y direction) of the fuselage is greater than 1 / 10 of the diameter of the first cutter head 120, and the minimum horizontal distance h2 between the farthest point of the first cutter head 120 away from the fuselage 110 and the fuselage 110 is less than 2 / 3 of the diameter of the first cutter head 120.

[0275] In a possible implementation, when the first cutter head 120 is located at the first position, the minimum horizontal distance h2 between the farthest point of the first cutter head 120 away from the fuselage 110 and the fuselage 110 in the y direction is greater than 1 / 10 of the diameter of the first cutter head, and the minimum horizontal distance h2 between the farthest point of the first cutter head 120 away from the fuselage 110 and the fuselage 110 is less than 1 / 3 of the diameter of the first cutter head.

[0276] In a possible implementation, when the first cutter head 120 is located at the first position, the minimum horizontal distance h2 between the farthest point of the first cutter head 120 away from the fuselage 110 and the fuselage 110 in the y direction is greater than 1 / 8 of the diameter of the first cutter head, and the minimum horizontal distance h2 between the farthest point of the first cutter head 120 away from the fuselage 110 and the fuselage 110 is less than 1 / 4 of the diameter of the first cutter head.

[0277] For example, the minimum horizontal distance h2 between the farthest point of the first cutter head 120 away from the fuselage 110 and the fuselage 110 can be 1 / 10, 1 / 9, 1 / 8, 1 / 7, 1 / 6, 1 / 5, 1 / 4, 1 / 3, 1 / 2, etc. of the diameter of the first cutter head 120. In the embodiment of the present application, the minimum horizontal distance h2 between the farthest point of the first cutter head 120 away from the fuselage 110 and the fuselage 110 is not limited to be a fraction of the diameter of the first cutter head 120.

[0278] In some embodiments, the first cutterhead 120 is configured to have a rotating speed of 1800-2500 rpm when the intelligent mower 100 is working and not stuck. In some other embodiments, the first cutterhead 120 is configured to have a rotating speed of 2000-2500 rpm when the intelligent mower 100 is working and not stuck. For example, the first cutterhead 120 can have a rotating speed of 1800 rpm, 1600 rpm, 1700 rpm, 1800 rpm, 1900 rpm, 2000 rpm, 2100 rpm, 2200 rpm, 2300 rpm, 2400 rpm, 2500 rpm, etc. In the embodiments of the present application, the rotating speed of the first cutterhead 120 is not limited further.

[0279] By setting the rotating speed of the first cutterhead to be between 1800 rpm and 2500 rpm, or between 2000 rpm and 2500 rpm, the cutting efficiency can be ensured, the energy consumption can be saved, the noise can be reduced, the safety factor can be improved, and the service life of the first cutterhead can be prolonged.

[0280] It should be noted that the rotating speed of the motor 130 in the embodiments of the present application refers to the rotating speed of the intelligent mower 100 when it is working stably, and does not represent the rotating speed when it is started or stopped.

[0281] In a possible implementation, as shown in FIG. 9, the first cutterhead 120 includes a plurality of blades 121 and a rotating disc 123, and the blades 121 are metal pieces. The plurality of blades 121 are arranged at intervals along the circumference of the rotating disc 123, and the outer side of the blade 121 is provided with a cutting edge, and the outer side edge of the cutting edge is the outer side edge of the first cutterhead 120 and also the outer side edge of the blade 121.

[0282] By providing the blades 121, the first cutterhead 120 can have a cutting function, so that the intelligent mower 100 can perform cutting work. The blades 121 have good rigidity and are relatively sharp, which can improve the cutting efficiency.

[0283] For example, the number of blades 121 can be multiple, and the plurality of blades 121 are arranged at intervals around the first cutterhead 120. In this way, the cutting efficiency can be improved. By providing a plurality of blades 121, the cutting efficiency of the first cutterhead 120 can be improved, and when one of the blades 121 fails, the other blades 121 can still work normally, thereby prolonging the service life of the first cutterhead 120.

[0284] In a possible implementation, the first cutter head 120 can include a rebound device 124, wherein the rebound device 124 is arranged between the blade 121 and the rotating disc 123 of the first cutter head 120. When the blade 121 is subjected to a force greater than a preset threshold during the cutting operation of the first cutter head 120, the blade 121 is automatically moved by a preset horizontal distance towards the central axis of the first cutter head 120 through the rebound device 124. When the force disappears, the blade 121 is automatically rebounded to the original position through the rebound device 124 and continues to work.

[0285] In some embodiments, a pressure sensor can be arranged on the first cutter head 120, wherein the pressure sensor is configured to detect the force of the blade 121, and when the force of the blade 121 is greater than a preset threshold, the blade 121 is moved by a preset horizontal distance towards the central axis of the first cutter head 120 through the rebound device 124. In this way, the instantaneous force can be relieved, and the blade 121 can be prevented from being damaged.

[0286] In some embodiments, the rebound device 124 can be a spring structure arranged between the blade 121 and the first cutter head 120. Two spring structures can be arranged on both sides of the blade 121 along the circumference of the first cutter head 120, wherein one end of the spring structure is connected to the first cutter head 120, and the other end is connected to the blade 121. In this way, when the force of the blade 121 is greater than a preset threshold, one side of the spring structure is stretched, and the other side of the spring structure is compressed, so that the blade 121 is offset by a certain distance, which is equivalent to that the blade 121 is moved by a preset horizontal distance towards the central axis of the first cutter head 120. It should be noted that the preset horizontal distance is related to the elasticity of the spring structure, and in the embodiments of the present application, the preset horizontal distance is not limited.

[0287] Of course, in other embodiments, the rebound device 124 can also be other structures, for example, can be a spring, a gear, a connecting rod, a cylinder, etc. In the embodiments of the present application, the structure of the rebound device 124 is not limited.

[0288] For example, the intelligent mower 100 can further include a control device, which can be connected with the detection device, and the control device is configured to control the intelligent mower 100 to perform a safety protection action according to the biological information.

[0289] In the embodiments of the present application, the safety protection action includes one or a combination of the following: the intelligent mower 100 slows down, the intelligent mower 100 stops, the first cutter head 120 slows down, the first cutter head 120 stops, the intelligent mower 100 performs obstacle avoidance, and the intelligent mower 100 performs obstacle circumvention. In this way, the safety performance of the intelligent mower 100 can be improved. When the intelligent mower 100 performs obstacle avoidance, the first cutter head 120 can be shielded in the protective cover 125.

[0290] It should be noted that the intelligent mower 100 performs a safety protection action, which is usually to prevent the cutting operation of the first cutter head 120 from causing damage to living beings. The first cutter head 120 slows down, the first cutter head 120 stops, the first cutter head 120 stops and is shielded in the protective cover 125, and the first cutter head 120 works normally and is shielded in the protective cover 125, all of which can prevent or reduce damage to living beings. Therefore, by controlling the intelligent mower 100 to perform a safety protection action according to the biological information, the safety of the intelligent mower 100 can be improved.

[0291] Of course, in other embodiments, there can be other forms of safety protection actions, for example, the intelligent mower 100 can be controlled to perform obstacle avoidance or to slow down, and the intelligent mower 100 can be automatically moved away from the living being according to the horizontal distance between the living being and the body 110, the first cutter head 120 can be stopped and the blades 121 can be retracted, etc. In the embodiments of the present application, the form of the safety protection action is not limited further.

[0292] It should be noted that the "biological information" refers to the information of an object with life. The basis for controlling the intelligent mower 100 to perform a safety protection action can be whether there is a living being in the cutting area 200 (see FIG. 8), whether the horizontal distance between the living being and the intelligent mower 100 is less than a preset horizontal distance, or whether the horizontal distance between the living being and the intelligent mower 100 is gradually decreasing, etc. In the embodiments of the present application, the basis for controlling the intelligent mower 100 to perform a safety protection action is not limited further.

[0293] For example, the detection device 140 can include one or more of an infrared sensor, a line laser sensor, a camera, a distance sensor, a laser ranging sensor, an edge sensor, and a flight sensor.

[0294] For example, the detection device 140 can be arranged on the first cutter head 120, or on the body 110 or the edge of the body 110. In the embodiments of the present application, the arrangement position of the detection device 140 is not limited further.

[0295] In a possible implementation, the detection device 140 can include an infrared sensor and a distance sensor, the infrared sensor is configured to detect whether there is a living being in the cutting area 200, and the distance sensor is configured to detect the horizontal distance between the intelligent mower 100 and the living being, and the living being information refers to the horizontal distance between the living being and the intelligent mower 100, so that the intelligent mower 100 can be controlled according to the living being information to perform the safety protection action.

[0296] In a possible implementation, the detection device 140 can include a camera and a laser ranging sensor, the camera is configured to capture an image in the cutting area 200, and analyze whether there is a living being in the image, and the laser ranging sensor is configured to measure the horizontal distance between the intelligent mower 100 and the living being, and the living being information refers to the horizontal distance between the living being and the intelligent mower 100, so that the detection device 140 can control the intelligent mower 100 to perform the safety protection action according to the living being information.

[0297] Of course, in other embodiments, the detection device 140 can also be other devices, and in the embodiments of the present application, the specific structure of the detection device 140 is not limited further.

[0298] In a possible implementation, the intelligent mower 100 can further include a protective cover 125, the outer side of the first cutter 120 is provided with the protective cover 125, and the protective cover 125 can include an open state and a stowed state. As shown in FIG. 10, when the protective cover 125 is in the open state, the protective cover 125 covers the outer side of the first cutter 120. As shown in FIG. 11, when the protective cover 125 is in the stowed state, the protective cover 125 does not cover the outer side of the first cutter 120, and specifically, the protective cover 125 can be stored on the side of the machine body 110 facing the ground or the side of the first cutter 120 away from the ground.

[0299] For example, the control device can be connected with the protective cover 125, and the control device is configured to control the protective cover 125 to switch between the stowed state and the open state according to the living being information. The safety protection action at least includes controlling the protective cover 125 to switch to the open state, that is, when the safety protection action is performed, the control device can control the protective cover 125 to adjust to the open state.

[0300] Referring to FIGS. 10 and 11, the protective cover 125 can include a main support 1251 and a telescopic arm 1252 located outside the main support 1251. The main support 1251 can be a telescopic structure. Specifically, the main support 1251 can include a support portion 1253 and a telescopic portion 1254. The telescopic portion 1254 is movably connected to the support portion 1253, so that the telescopic portion 1254 can move telescopically relative to the support portion 1253 along the radial direction of the first cutter head 120. When the protective cover 125 is in the retracted state, the protective cover 125 is located inside the first cutter head 120. When the protective cover 125 is in the extended state, part of the structure is located outside the first cutter head 120. The telescopic arm 1252 is arranged at one end of the main support 1251 towards the outer edge of the first cutter head 120 and is connected to the main support 1251. The telescopic arm 1252 is a telescopic structure and can move telescopically relative to the main support 1251 along the vertical direction.

[0301] When the protective cover 125 is in the open state, as shown in FIG. 10, the main support 1251 extends outward along the radial direction of the first cutter head 120 to the outside of the first cutter head 120, and the telescopic arm 1252 extends along the vertical direction towards the ground until the first cutter head 120 is shielded. When the protective cover 125 is in the retracted state, as shown in FIG. 11, the telescopic arm 1252 is retracted to the end of the main support 1251 towards the outer edge of the first cutter head 120, and the main support 1251 is retracted into the first cutter head 120.

[0302] For example, the control device can be connected to the main support 1251 and the telescopic arm 1252 of the protective cover 125, so that the control device can control the protective cover 125 to switch between the retracted state and the open state.

[0303] It should be noted that the structure of the protective cover 125 includes but is not limited to the structure in the above embodiment. In other embodiments, the protective cover 125 can also have other structures. In the embodiments of the present application, the structure of the protective cover 125 is not limited further.

[0304] In a possible implementation, the detection device 140 can be connected to the control device, and the control device can be connected to the motor 130. The detection device 140 can transmit the detected biological information to the control device, and the control device can control the motor 130 to slow down and / or stop rotating according to the biological information. For example, when the detection device 140 detects that there is a living being in the cutting area 200, the control device can control the motor 130 to slow down and / or stop rotating. When the detection device 140 detects that there is no living being in the cutting area 200, the control device can control the motor 130 to operate at a cutting speed, etc.

[0305] In this way, the motor 130 can be controlled to slow down or stop rotating after the biological information is detected, thereby preventing the first cutter head 120 from cutting the biological object entering the cutting area 200 and improving the safety performance of the intelligent mower 100.

[0306] In a possible implementation, as shown in FIG. 12, the intelligent mower 100 in the embodiment of the present application can further include a second cutter head 122, which is installed on the side of the machine body 110 facing the ground. The first cutter head 120 and the second cutter head 122 are both located between the front wheel 161 and the rear wheel 162 of the intelligent mower 100, and the second cutter head 122 is arranged apart from the first cutter head 120. The second cutter head 122 and the first cutter head 120 at least partially overlap in the x direction, or the second cutter head 122 and the first cutter head 120 are arranged side by side in the y direction.

[0307] For example, the outer side of the second cutter head 122 is provided with a cutting edge, which is a metal piece, and the second cutter head 122 also performs cutting operations.

[0308] It should be noted that the structure and principle of the second cutter head 122 can be the same as those of the first cutter head 120, and therefore, the specific structure of the second cutter head 122 can refer to the structure of the first cutter head 120, and the structure and principle of the second cutter head 122 will not be further described in the embodiment of the present application.

[0309] It should be noted that the first cutter head 120 and the second cutter head 122 both need to be driven by a motor, and the number of motors is the same as the number of cutter heads, that is, one first cutter head 120 corresponds to one motor, and one second cutter head 122 corresponds to one motor, so that the first cutter head 120 and the second cutter head 122 can both perform rotating cutting operations. The motors corresponding to the first cutter head 120 and the second cutter head 122 can be motors of the same type, and the rotating speeds of the first cutter head 120 and the second cutter head 122 when working can be the same or different. In the embodiment of the present application, the motors corresponding to the first cutter head 120 and the second cutter head 122, and the rotating speeds of the first cutter head 120 and the second cutter head 122 when working will not be further described.

[0310] In some embodiments, the first cutter head 120 can be detachably connected to the machine body 110. Alternatively, the intelligent mower 100 includes a motor 130, which is connected to the first cutter head 120 and is used to drive the first cutter head 120 to rotate, and the motor 130 is detachably connected to the machine body 110.

[0311] In some embodiments, as shown in FIG. 12, the intelligent mower 100 comprises a first cutter head 120 and a second cutter head 122. In the transverse direction of the machine body, the second cutter head 122 can be arranged at the position where the central axis of the machine body 110 is located, that is, at the central position in the transverse direction of the machine body 110, so that the second cutter head 122 can cut the area in the center below the machine body 110. The first cutter head 120 is located at the first position, and the first cutter head 120 is arranged close to the first side edge 111 of the machine body 110, that is, eccentrically arranged.

[0312] Of course, in other embodiments, as shown in FIG. 13, the first cutter head 120 can also be located at the second position.

[0313] For example, the size of the second cutter head 122 can be greater than that of the first cutter head 120, the second cutter head 122 can be arranged at the central position of the machine body 110, and the orthographic projection of the second cutter head 122 on the ground is located within the orthographic projection of the machine body 110 on the ground. In some embodiments, the minimum horizontal distance from the outer side edge of the second cutter head 122 to the outer side edge of the machine body 110 can be greater than 50 mm. The first cutter head 120 is located at the first position, and the maximum horizontal distance h2 from the outer side edge of the first cutter head 120 located outside the machine body 110 to the outer side edge of the machine body 110 is less than or equal to 60 mm.

[0314] It should be noted that the second cutter head 122 is large in size and can be used to perform the main cutting operation, for example, as shown in FIG. 8, when cutting the middle area 220 of the to-be-cut area 200 or when the to-be-cut area 200 does not have the edge area 210, because the edge area 210 is not involved, there is no problem of cutting to the edge, and only the second cutter head 122 can be used to perform the cutting operation. Since the second cutter head 122 is located inside the machine body 110, the safety performance of the intelligent mower 100 can be improved.

[0315] When cutting the edge area 210 of the to-be-cut area 200, the first cutter head 120 can be installed on the machine body 110. Since the first cutter head 120 is arranged eccentrically and part of the structure is arranged outside or close to the outside of the machine body 110, the first cutter head 120 can cut the area outside the machine body 110, thereby solving the problem of cutting to the edge of the intelligent mower 100.

[0316] It should be noted that the edge area 210 is usually the position close to the boundary of the to-be-cut area 200, for example, the cutting area close to the corner of the wall, the fence, the step, etc. Since the intelligent mower 100 needs to have a certain distance from the corner of the wall, the fence, the step, etc. when moving to ensure that the intelligent mower 100 is not scratched, if the first cutter head 120 is located inside the machine body 110, part of the area cannot be cut, resulting in the problem of cutting to the edge.

[0317] In a possible implementation, referring to FIG. 12, the intelligent mower 100 can further include a balancing structure 170, wherein the balancing structure 170 is arranged on the machine body 110, and the balancing structure 170 is used to balance the mass of the first cutter head 120 and the motor 130. In this way, the machine body 110 can be kept balanced, and the intelligent mower 100 can be prevented from tilting or the like when mowing.

[0318] For example, when the number of the first cutter head 120 is one, the balancing structure 170 is arranged opposite to the first cutter head 120 in the y direction, so as to balance the mass of the first cutter head 120. When the number of the first cutter head 120 is two, the two first cutter heads 120 are arranged side by side in the y direction, and one of the first cutter heads 120 acts as the balancing structure 170, so as to balance the mass of the other first cutter head 120.

[0319] It should be noted that when the first cutter head 120 and the second cutter head 122 are as a whole in the eccentric position of the disc, for example, the number of the first cutter head 120 and the second cutter head 122 is one, and the first cutter head 120 is in the eccentric position, and the second cutter head 122 is in the position of the central axis of the machine body 110. In this way, the gravity center of the two first cutter heads 120 and the second cutter head 122 as a whole is in the eccentric position, which causes the gravity center of the machine body 110 to deviate, and thus the machine body 110 is prone to tilting due to uneven force on both sides of the machine body 110 when performing the cutting operation. Therefore, the balancing structure 170 can be arranged to prevent the intelligent mower 100 from tilting or the like when mowing.

[0320] For example, the balancing structure 170 can be an iron block or a battery.

[0321] By arranging the balancing structure 170 as an iron block, the volume of the balancing structure 170 can be reduced, and thus the installation space required by the iron block can be reduced, the arrangement is facilitated, and the assembly difficulty is reduced, because the density of the iron block is relatively large.

[0322] By arranging the balancing structure 170 as a battery, the machine body 110 can be balanced by reasonably arranging the position of the battery, without the need to increase other devices, so that the structure of the intelligent mower 100 can be simplified, the balancing effect can be achieved, the cost can be reduced, and the intelligent mower can be developed to be lightweight.

[0323] It should be noted that the balancing structure 170 includes but is not limited to an iron block or a battery, and can also be a lead block, a copper block, or the like. In the embodiments of the present application, the specific structure of the balancing structure 170 is not limited further.

[0324] In the embodiments of the present application, the gravity center of the fuselage 110 is close to the geometric center of the fuselage 110, and therefore the weight and the setting position of the balancing structure 170 can be set according to specific conditions. In the embodiments of the present application, the weight and the setting position of the balancing structure 170 are not further limited.

[0325] In a possible implementation, continuing to refer to FIG. 12, when the outer side edge of the first cutter head 120 extends beyond the fuselage 110, that is, when the first cutter head 120 is in the first position, the maximum horizontal distance h2 from the outer side edge of the first cutter head 120 located on the outer side of the fuselage 110 to the outer side edge of the fuselage 110 is greater than or equal to 0 and less than or equal to 60 mm.

[0326] In this way, the cutting range of the intelligent mower 100 can be expanded, and the problem that the intelligent mower 100 cannot cut to the edge in the related art is solved. For example, the maximum horizontal distance h2 from the outer side edge of the first cutter head 120 located on the outer side of the fuselage 110 to the outer side edge of the fuselage 110 can be 60 mm, 55 mm, 50 mm, 45 mm, 40 mm, 35 mm, 30 mm, 25 mm, 20 mm, 15 mm, 10 mm, 5 mm, 0 mm, and the like. In the embodiments of the present application, the maximum horizontal distance from the outer side edge of the first cutter head 120 located on the outer side of the fuselage 110 to the outer side edge of the fuselage 110 is not further limited.

[0327] In a possible implementation, when the outer side edge of the first cutter head 120 extends beyond the fuselage 110, that is, when the first cutter head 120 is in the first position, the maximum horizontal distance h2 from the outer side edge of the first cutter head 120 located on the outer side of the fuselage 110 to the outer side edge of the fuselage 110 can be greater than or equal to 0 and less than or equal to 40 mm.

[0328] In the embodiments of the present application, one first cutter head 120 and one second cutter head 122 can be provided, and the first cutter head 120 is located on one side of the second cutter head 122 and does not interfere with each other.

[0329] In some embodiments, two first cutter heads 120 and one second cutter head 122 can also be provided, and the two first cutter heads 120 are respectively located on two sides of the second cutter head 122 (see FIG. 14) and do not interfere with each other.

[0330] In a possible implementation, the number of first cutter heads 120 is two, and in the transverse direction of the fuselage 110, the two first cutter heads 120 are arranged side by side, and the transverse direction of the fuselage 110 is perpendicular to the advancing direction of the intelligent mower 100.

[0331] Of course, in other embodiments, there can be other arrangements. In the embodiments of the present application, the number of the first cutter head 120 and the second cutter head 122 is not further limited.

[0332] In a possible implementation, the moving speed of the intelligent mower 100 is between 1 m / s and 3 m / s. For example, the moving speed of the intelligent mower 100 can be 1 m / s, 1.5 m / s, 2.0 m / s, 2.5 m / s, 3 m / s, etc. In the embodiments of the present application, the moving speed of the intelligent mower 100 is not further limited. Specifically, it can be set according to the situation of the cutting area 200. For example, when the grass in the cutting area 200 is relatively lush, the moving speed of the intelligent mower 100 is relatively small; when the grass in the cutting area 200 is relatively sparse, the moving speed of the intelligent mower 100 is relatively large.

[0333] It should be noted that the moving speed of the intelligent mower 100 refers to the moving speed of the intelligent mower on the ground.

[0334] In this way, the moving speed of the intelligent mower 100 can be in a reasonable range, which can improve the mowing efficiency while ensuring the cutting to be neat.

[0335] In a possible implementation, the minimum vertical distance from the first cutter head 120 and the second cutter head 122 to the ground is between 2 cm and 8 cm. For example, the minimum vertical distance from the first cutter head 120 and the second cutter head 122 to the ground is the same, and specifically can be 2 cm, 3 cm, 4 cm, 5 cm, 6 cm, 7 cm, 8 cm, etc. In the embodiments of the present application, the minimum vertical distance from the first cutter head 120 and the second cutter head 122 to the ground is not further limited.

[0336] In a possible implementation, the mass of the first cutter head 120 is between 150 g and 250 g. For example, the mass of the first cutter head 120 can be 150 g, 160 g, 170 g, 180 g, 190 g, 200 g, 210 g, 220 g, 230 g, 240 g, 250 g, etc. In the embodiments of the present application, the mass of the first cutter head 120 is not further limited.

[0337] It should be noted that the above embodiments introduce the technical solutions that the first cutter head 120 is fixedly connected with the machine body and the first cutter head 120 is located at the first position or the second position. Of course, in some other embodiments, the first cutter head 120 can be movably connected with the machine body 110, so that the first cutter head 120 can move relative to the machine body 110, so that it can be located inside the machine body 110 in some cases and outside the machine body 110 in some other cases. The embodiments in which the first cutter head 120 is movably connected with the machine body 110 will be described below with reference to the accompanying drawings.

[0338] As shown in FIG. 15, the intelligent mower 100 can include a body 110, a first cutter 120, a driving device 150, a motor 130 and a detection device 140. The body 110 is a main component of the intelligent mower 100, and is used to mount the first cutter 120, the motor 130 and the detection device 140 and other components. The first cutter 120 is arranged on the side of the body 110 facing the ground, and the outer side of the first cutter 120 is provided with a cutting edge, which is a metal piece. The first cutter 120 performs cutting work on the grass in the cutting area through the cutting edge.

[0339] In the embodiment of the present application, as shown in FIG. 16, the body 110 includes a first end 113 and a second end 114 arranged opposite to each other along the advancing direction of the intelligent mower 100. The intelligent mower 100 can further include a front wheel 161 and a rear wheel 162 arranged at intervals along the advancing direction of the intelligent mower 100, wherein the front wheel 161 and the rear wheel 162 are arranged on the side of the body 110 facing the ground, and in the x direction, the front wheel 161 and the rear wheel 162 are arranged at intervals, and the front wheel 161 is located between the rear wheel 162 and the first end 113, and the rear wheel 162 is located between the front wheel 161 and the second end 114. That is, the front wheel 161 is mounted on the front end of the body 110, and the rear wheel 162 is mounted on the rear end of the body 110.

[0340] In the x direction, the first cutter 120 is located between a first tangent plane a of the front wheel 161 and a second tangent plane b of the rear wheel 162. The first tangent plane a is perpendicular to the x direction and passes through a first end point of the front wheel, and the first end point is defined as the farthest point of the front wheel 161 from the first end 113. The second tangent plane b is perpendicular to the x direction and passes through a second end point of the rear wheel 162, and the second end point is defined as the farthest point of the rear wheel 162 from the second end 114. The first cutter 120 can be arranged between the front wheel 161 and the rear wheel 162.

[0341] In the x direction, the first cutter 120 is located between a first tangent plane a of the front wheel 161 and a second tangent plane b of the rear wheel 162. The first tangent plane a is perpendicular to the x direction and passes through a first end point of the front wheel, and the first end point is defined as the farthest point of the front wheel 161 from the first end 113. The second tangent plane b is perpendicular to the x direction and passes through a second end point of the rear wheel 162, and the second end point is defined as the farthest point of the rear wheel 162 from the second end 114. The first cutter 120 can be arranged between the front wheel 161 and the rear wheel 162.

[0342] The first position is defined as: at least part of the first cutter 120 is located outside the orthographic projection of the body 110 facing the ground.

[0343] For example, when the first cutter is located at the first position, the horizontal distance h2 from the outer side edge of the first cutter 120 located outside the body 110 to the outer side edge of the body 110 can be greater than or equal to 0 and less than or equal to 60 mm.

[0344] For example, the horizontal distance h2 from the outer edge of the first cutter head 120 located outside the fuselage 110 to the outer edge of the fuselage 110 can be 60 mm, 55 mm, 50 mm, 45 mm, 40 mm, 35 mm, 30 mm, 25 mm, 20 mm, 15 mm, 10 mm, 5 mm, 0 mm, etc. In the embodiments of the present application, the horizontal distance h2 from the outer edge of the first cutter head 120 located outside the fuselage 110 to the outer edge of the fuselage 110 is not further limited.

[0345] The second position is defined as: the first cutter head 120 is located within the orthographic projection of the fuselage 110 towards the ground, and the minimum horizontal distance (see h1 in FIG. 6) from the outer edge of the cutting blade to the outer edge of the fuselage 110 is greater than or equal to 0 and less than or equal to 50 mm. For example, the minimum horizontal distance h1 from the outer edge of the first cutter head 120 to the outer edge of the fuselage 110 can be 50 mm, 45 mm, 40 mm, 35 mm, 30 mm, 25 mm, 20 mm, 15 mm, 10 mm, 5 mm, 0 mm, etc. In the embodiments of the present application, the minimum horizontal distance from the outer edge of the first cutter head 120 to the outer edge of the fuselage 110 is not further limited.

[0346] It should be noted that in the embodiments of the present application, the first position and the second position are the same as the first position and the second position in the embodiments shown in FIGS. 1-14, and specific reference can be made to the description of the first position and the second position in the embodiments shown in FIGS. 1-14.

[0347] The first cutter head 120 is configured to have a rotation speed V1 when the intelligent mower 100 is in a mowing state and does not jam grass, and the rotation speed of the first cutter head 120 during movement of the first cutter head 120 relative to the fuselage 110 is less than or equal to V1, and V1 is between 1800 rpm and 3500 rpm.

[0348] The detection device 140 is arranged on the fuselage 110, and the detection device 140 is used to detect biological information, and the intelligent mower 100 is used to perform a safety protection action according to the biological information.

[0349] In a possible implementation, the first cutter head 120 also passes through a third position during movement of the first cutter head 120 relative to the fuselage 110.

[0350] The third position is defined as: the first cutter head 120 is located within the orthographic projection of the fuselage 110 towards the ground, and the minimum distance from the outer edge of the cutting blade to the outer edge of the fuselage 110 is greater than 50 mm;

[0351] The first cutter head 120 moves relative to the fuselage 110 and at least passes through the first position, the second position, and the third position.

[0352] Exemplarily, the driving device 150 is arranged between the machine body 110 and the first cutter head 120, and is configured to drive the first cutter head 120 to switch between the first position and the second position.

[0353] In some other embodiments, the driving device 150 can also be configured to drive the first cutter head 120 to switch between the first position, the second position and a third position.

[0354] By arranging the driving device 150 to enable the first cutter head 120 to switch between the first position, the second position and the third position, the intelligent mower 100 is suitable for different application scenarios and can ensure cutting to the edge.

[0355] In the embodiments of the present application, the intelligent mower 100 can also be configured to arrange a detection device 140 on the machine body 110, the detection device 140 being configured to detect biological information, and the intelligent mower 100 being configured to perform a safety protection action according to the biological information.

[0356] Exemplarily, the safety protection action at least includes one or more combinations of the following: the intelligent mower 100 slows down, the intelligent mower 100 stops, the first cutter head 120 slows down, the first cutter head 120 stops, the intelligent mower 100 performs obstacle avoidance, and the intelligent mower 100 performs obstacle circumvention.

[0357] When the intelligent mower 100 performs obstacle avoidance, the first cutter head 120 can be controlled to be in the second position or the third position, and / or the first cutter head 120 slows down and / or the first cutter head stops and / or the first cutter head 120 is shielded in the protective cover 125.

[0358] By arranging the first cutter head 120 to be movable relative to the machine body 110, so that the first cutter head 120 can switch between the first position, the second position and the third position, the intelligent mower 100 can be suitable for different application scenarios. For example, when the edge area 210 needs to be cut, the first cutter head 120 can be adjusted to the first position or the second position to cut the area on the edge or outside of the machine body 110, solving the problem that the intelligent mower 100 cannot cut to the edge in the related art. When the edge area 210 does not need to be cut, for example, when the middle area 220 is cut, the first cutter head 120 can be adjusted to the third position, so that the first cutter head 120 is located below the machine body 110, which can improve the safety performance of the intelligent mower 100.

[0359] In a possible implementation, the intelligent mower 100 can include a guard 180, wherein the guard 180 is located between the first cutter head 120 and the machine body 110, and the outer side edge of the first cutter head 120 is flush with the outer side edge of the guard 180 in the vertical direction. The guard 180 is fixedly connected with the first cutter head, so that the guard can move with the first cutter head 120.

[0360] By arranging the guard 180, the first cutter head 120 can be protected to some extent, and the grass cut by the first cutter head 120 can be prevented from splashing onto the machine body. In addition, in some cases, the guard 180 can also provide a mounting position for the installation of the first cutter head 120, so that the first cutter head 120 is exposed outside the machine body 110.

[0361] In a possible implementation, the intelligent mower 100 can include one second cutter head 122 and at least one first cutter head 120, wherein the second cutter head 122 is fixedly connected with the machine body 110, and the first cutter head 120 is movably connected with the machine body 110. When the number of the first cutter heads 120 is one and the first cutter head 120 is located at the first position, the first cutter head 120 can be extended outside the machine body 110 from the first side edge 111 or the second side edge 112. When the number of the first cutter heads 120 is more than one and each of the first cutter heads 120 is located at the first position, the first cutter heads 120 can be extended outside the machine body 110 from the first side edge 111 and / or the second side edge 112.

[0362] By arranging the second cutter head 122 and the first cutter head 120, the cutting efficiency can be improved. By movably connecting the first cutter head 120 with the machine body 110, the first cutter head 120 can be extended outside the machine body 110 when cutting the edge area 210, so that the intelligent mower 100 can cut to the edge. When cutting an area that does not involve the edge area 210, the first cutter head 120 can be retracted, so that the safety performance can be improved.

[0363] When the number of the first cutter heads 120 is one, the cutting to the edge can be realized, and the structure of the intelligent mower 100 can be simplified, and the cost can be reduced.

[0364] When the number of the first cutter heads 120 is more than one, the first cutter heads 120 can be arranged on both sides of the second cutter head 122, and the first cutter heads 120 can be extended outside the machine body 110 from the first side edge 111 and / or the second side edge 112, so that the intelligent mower 100 can be applied to different application scenarios, and the applicability of the intelligent mower 100 can be improved.

[0365] As shown in FIG. 16, the number of the first cutter head 120 and the second cutter head 122 is one. In the transverse direction of the machine body, the second cutter head 122 can be arranged at the position of the central axis of the machine body 110, and the orthographic projection of the second cutter head 122 on the ground is within the orthographic projection of the machine body 110 on the ground. That is, the second cutter head 122 is arranged at the central position in the transverse direction of the machine body 110, so that the second cutter head 122 can cut the area at the center below the machine body 110. The first cutter head 120 is arranged at the first position, and the first cutter head 120 is arranged close to the first side edge 111 of the machine body 110, that is, the first cutter head 120 is arranged eccentrically. That is, the first cutter head 120 can be arranged at one side of the second cutter head 122, and the first cutter head 120 is movably connected with the machine body 110, and the first cutter head 120 can be extended out of the machine body 110 from the first side edge 111 of the machine body 110.

[0366] Of course, in other embodiments, the first cutter head 120 can also be extended out of the machine body 110 from the second side edge 112 of the machine body 110.

[0367] It should be noted that the first cutter head 120 can be extended out of the machine body 110 from the side close to the edge of the machine body 110, or can be extended out of the machine body 110 from the side far away from the edge of the machine body 110, as long as it does not interfere with other structures during the extension and retraction. In the embodiments of the present application, the direction of the extension of the first cutter head 120 is not limited further.

[0368] When cutting the edge area 210 of the cutting area 200, the first cutter head 120 can be moved to the first position, and at this time, the first cutter head 120 is extended out of the machine body 110, so that the first cutter head 120 can cut the area outside the machine body 110, thereby solving the problem that the intelligent mowing machine 100 cannot cut the edge.

[0369] It should be noted that the adjustment of the moving mode of the first cutter head 120 can be controlled by a remote controller, or can be automatically controlled by setting other devices, and in the embodiments of the present application, the adjustment of the moving mode of the first cutter head 120 is not limited further.

[0370] In other embodiments, as shown in FIG. 14, the intelligent mowing machine 100 can include two first cutter heads 120 and one second cutter head 122, wherein the second cutter head 122 is arranged at the central position of the machine body 110, the two first cutter heads 120 are arranged at the two sides of the second cutter head 122, and when the first cutter head 120 is at the first position, one of the first cutter heads 120 is extended out of the machine body 110 from the first side edge 111 of the machine body 110, and the other first cutter head 120 is extended out of the machine body 110 from the second side edge 112 of the machine body 110. So as to increase the cutting area.

[0371] Of course, in other embodiments, the number of first cutter heads 120 can also be set to other values. As shown in FIG. 17, only one first cutter head 120 is provided, and the first cutter head 120 is movably connected to the machine body 110, and in the first position, the first cutter head 120 extends outward from the first side edge 111 of the machine body 110. In some other embodiments, in the first position, the first cutter head 120 can also extend outward from the second side edge 112 of the machine body 110.

[0372] By providing one first cutter head 120, the structure of the intelligent mower 100 can be simplified, and by movably connecting the first cutter head 120 to the machine body 110, the first cutter head 120 can be extended outward from the machine body 110, thereby ensuring that the edge can be cut, and the first cutter head 120 can also be retracted inward into the machine body 110, thereby improving safety performance, so that the intelligent mower 100 can be suitable for different environments.

[0373] For example, as shown in FIG. 18, the intelligent mower 100 can further include a control device 190, which can be connected to the detection device 140, and the control device 190 is configured to control the intelligent mower 100 to perform a safety protection action according to the biological information. The control device 190 can be connected to the driving device 150, and when the detection device 140 detects the biological information, the control device 190 can control the driving device 150 to move the first cutter head 120 to the first position, and when the detection device 140 does not detect the biological information, the control device 190 can control the driving device 150 to move the first cutter head 120 to the second position.

[0374] It should be noted that in the embodiments of the present application, the connection mode between the control device 190 and the detection device 140, and the connection mode between the control device 190 and the driving device 150 are not described further.

[0375] In a possible implementation, the intelligent mower 100 can further include a first acquisition unit (not shown in the figure), which is configured to detect position information of the intelligent mower 100 in the cutting area 200, and the first acquisition unit can be connected to the control device, and the control device is configured to control the driving device to move the first cutter head 120 to the first position or the second position according to the position information.

[0376] For example, when the position information is that the intelligent mower 100 is located in the corner area 230, the first cutter head 120 can be moved to the first position to cut the area on the edge of the machine body 110 or outside the edge, thereby solving the problem that the intelligent mower 100 cannot cut to the edge in the related art. When the position information is the middle area 220, the first cutter head 120 can be moved to the second position, so that the first cutter head 120 is located below the machine body 110, thereby improving the safety performance of the intelligent mower 100.

[0377] For example, the first acquisition unit can include one or more of a radar, a time of flight (TOF) sensor, a depth camera, a stereo camera, a camera, a horizontal distance sensor, a laser ranging sensor, an edge-following sensor, so that the position information of the intelligent mower in the area to be cut can be acquired, so that the intelligent mower can control the position of the first cutter based on the position information.

[0378] In a possible implementation, the driving device 150 can be one or a combination of a worm gear driving device, a connecting rod driving device, and a gear driving device. Among them, the worm gear structure, the connecting rod driving device 150, the connecting rod mechanism, or the gear assembly are more common as the driving device 150, and are relatively simple to assemble, so the driving device 150 is set to the worm gear structure, the connecting rod driving device 150, the connecting rod mechanism, or the gear assembly, which can simplify the driving device 150 and reduce the cost of the intelligent mower 100.

[0379] It should be noted that in the embodiments of the present application, the specific structure of the driving device 150 is not further limited as long as it can achieve the switching of the first cutter 120 between the first position and the second position.

[0380] It should be noted that the intelligent mower 100 performs a safety protection action, which is usually to prevent the first cutter 120 from causing damage to living beings. For example, the first cutter 120 is in the second position, the first cutter 120 is in the second position and is stopped, the first cutter 120 is in the second position and is stopped and is shielded in the protective cover 125, the first cutter 120 is stopped, the first cutter 120 is stopped and is shielded in the protective cover 125, the first cutter 120 is working normally and the first cutter 120 is shielded in the protective cover 125, etc. These methods can ensure that the first cutter 120 will not cause harm to living beings and can improve the safety of the intelligent mower 100.

[0381] Of course, in some other embodiments, there can also be other forms of safety protection actions, for example, the first cutter 120 can also be stopped and the blade 121 can be retracted according to the horizontal distance between the living being and the machine body 110 to automatically move away from the living being. In the embodiments of the present application, the form of the safety protection action is not further limited.

[0382] It should be noted that the "biological information" refers to the information of the object with life. The basis for controlling the intelligent mower 100 to perform the safety protection action can be whether there is a biological object in the cutting area 200, can also be whether the distance between the biological object and the intelligent mower 100 is less than a preset distance, and can also be whether the distance between the biological object and the intelligent mower 100 is gradually decreasing. In the embodiment of the present application, the basis for controlling the intelligent mower 100 to perform the safety protection action is not limited further.

[0383] For example, the detection device 140 can include one or more of an infrared sensor, a line laser sensor, a camera, a distance sensor, a laser ranging sensor, an edge sensor, and a flight sensor.

[0384] In this way, the detection device 140 can have the performance of detecting biological information. In addition, the infrared sensor, the line laser sensor, the camera, the distance sensor, the laser ranging sensor, the edge sensor, and the flight sensor are relatively common and easy to obtain, which can reduce the cost of the intelligent mower 100.

[0385] For example, the detection device 140 can be arranged on the first cutter head 120, or can be arranged on the body 110 or the edge of the body 110. In the embodiment of the present application, the arrangement position of the detection device 140 is not limited further.

[0386] In a possible implementation, the detection device 140 can include an infrared sensor and a distance sensor. The infrared sensor is used to detect whether there is a biological object in the cutting area 200, and the distance sensor is used to detect the horizontal distance between the intelligent mower 100 and the biological object. Therefore, the biological information refers to the horizontal distance between the biological object and the intelligent mower 100. In this way, the intelligent mower 100 can be controlled according to the biological information to perform the safety protection action.

[0387] In a possible implementation, the detection device 140 can include a camera and a laser ranging sensor. The camera is used to capture an image in the cutting area 200 and analyze whether there is a biological object in the image, and the laser ranging sensor is used to measure the horizontal distance between the intelligent mower 100 and the biological object. At this time, the biological information refers to the horizontal distance between the biological object and the intelligent mower 100. In this way, the detection device 140 can control the intelligent mower 100 to perform the safety protection action according to the biological information.

[0388] Of course, in other embodiments, the detection device 140 can also be other devices. In the embodiment of the present application, the specific structure of the detection device 140 is not limited further.

[0389] It should be noted that in the embodiments of the present application, the shape, structure, principle and setting position of the protective cover 125 are the same as those of the protective cover 125 in the embodiments shown in FIGS. 1-14, and thus in the embodiments of the present application, the shape, structure, principle and setting position of the protective cover 125 can be referred to the description of the protective cover 125 in the embodiments shown in FIGS. 1-14, which will not be further described herein.

[0390] In a possible implementation, the motor 130 is provided with a heat dissipation device (not shown in the figure), which is used to dissipate heat for the motor 130. For example, the heat dissipation device can be a fan, a water cooling device, an air cooling device, etc., and in the embodiments of the present application, the specific structure of the heat dissipation device will not be further limited. By providing the heat dissipation device, the motor 130 can be cooled to ensure normal operation of the motor 130.

[0391] It should be noted that in some embodiments, the heat dissipation device can also not be provided on the outer side of the motor, and in the embodiments of the present application, the specific shape and setting position of the heat dissipation device will not be further limited.

[0392] In a possible implementation, the outer side of the motor 130 can also be provided with a waterproof structure.

[0393] It should be noted that in the embodiments of the present application, the shape, structure, principle and setting position of the features other than the first cutter head 120 which can move relative to the machine body are the same as those of the features in the embodiments shown in FIGS. 1-14, for example, the shape, structure, principle and setting position of the front wheel 161, the rear wheel 162, the first cutter head 120, the second cutter head 122 and the balance structure 170 are the same as those of the front wheel 161, the rear wheel 162, the first cutter head 120, the second cutter head 122 and the balance structure 170 in the embodiments shown in FIGS. 1-14, and thus in the embodiments of the present application, the shape, structure, principle and setting position of the front wheel 161, the rear wheel 162, the first cutter head 120, the second cutter head 122 and the balance structure 170 can be referred to the description of the front wheel 161, the rear wheel 162, the first cutter head 120, the second cutter head 122 and the balance structure 170 in the embodiments shown in FIGS. 1-14, which will not be further described herein.

[0394] In addition, the moving speed of the intelligent mower 100, the minimum vertical distance of the first cutter head 120 and the second cutter head 122 to the ground, and the mass of the first cutter head 120 are the same as those of the intelligent mower 100, the minimum vertical distance of the first cutter head 120 and the second cutter head 122 to the ground, and the mass of the first cutter head 120 in the embodiments shown in FIGS. 1-14, respectively, and the specific description can be referred to the description in the embodiments shown in FIGS. 1-14, which will not be further described herein.

[0395] In the above embodiments, the first cutter head 120 is arranged on the side surface of the machine body 110. Of course, in some embodiments, the first cutter head 120 can also be arranged at other positions, for example, at the front end or the rear end of the machine body 110.

[0396] As shown in FIG. 19, the intelligent mower 100 provided in the embodiments of the present application includes a machine body 110, a rear wheel 162, a front wheel 161, and a first cutter head 120. The machine body 110 includes a first end portion 113 and a second end portion 114 arranged oppositely along the advancing direction (x direction) of the intelligent mower 100. For example, the first end portion 113 of the intelligent mower 100 is the front end of the machine body 110, and the second end portion 114 is the rear end of the machine body 110. It should be noted that the front end and the rear end refer to the macroscopic front end and rear end, which represent the front and rear of the intelligent mower 100 as generally considered by people.

[0397] In the embodiments of the present application, the front wheel 161 and the rear wheel 162 are arranged on the side of the machine body 110 facing the ground, and in the x direction, the front wheel 161 and the rear wheel 162 are arranged at intervals, and the front wheel 161 is located between the rear wheel 162 and the first end portion 113, that is, the rear wheel 162 is arranged close to the rear end of the machine body 110, and the front wheel 161 is arranged close to the front end of the machine body 110.

[0398] As shown in FIG. 19, the first cutter head 120 is installed on the side of the machine body 110 facing the ground, and is used to perform cutting work on the cutting area 200. In the advancing direction of the intelligent mower, at least part of the first cutter head 120 is located between the first cutting surface a of the front wheel 161 and the first end portion 113. The first cutting surface a is perpendicular to the x direction and passes through the first end point of the front wheel, and the first end point is defined as the farthest point of the front wheel 161 from the first end portion 113.

[0399] In some embodiments, the relative position of the first cutter head 120 to the machine body 110 is fixed, and the first cutter head 120 is fixed at the first position or the second position.

[0400] The first position is defined as: at least part of the first cutter head 120 is located outside the orthographic projection of the machine body 110 facing the ground.

[0401] For example, when the first cutter head is located at the first position, the horizontal distance h3 from the outer edge of the first cutter head 120 located outside the machine body 110 to the outer edge of the machine body 110 can be greater than or equal to 0 and less than or equal to 60 mm.

[0402] In this way, the cutting range of the intelligent mower 100 can be expanded, and the problem that the intelligent mower 100 cannot cut to the edge in the related art is solved. For example, the horizontal distance h3 from the outer edge of the first cutter head 120 located outside the machine body 110 to the outer edge of the machine body 110 can be 60 mm, 55 mm, 50 mm, 45 mm, 40 mm, 35 mm, 30 mm, 25 mm, 20 mm, 15 mm, 10 mm, 5 mm, 0 mm, etc. In the embodiment of the present application, the horizontal distance h3 from the outer edge of the first cutter head 120 located outside the machine body 110 to the outer edge of the machine body 110 is not further limited.

[0403] The second position is defined as: the first cutter head 120 is located within the orthographic projection of the machine body 110 towards the ground, and the minimum horizontal distance (see h1 in FIG. 6) from the outer edge of the cutting edge to the outer edge of the machine body 110 is greater than or equal to 0 and less than or equal to 50 mm.

[0404] For example, the minimum horizontal distance h1 from the outer edge of the first cutter head 120 to the outer edge of the machine body 110 can be 50 mm, 45 mm, 40 mm, 35 mm, 30 mm, 25 mm, 20 mm, 15 mm, 10 mm, 5 mm, 0 mm, etc. In the embodiment of the present application, the minimum horizontal distance from the outer edge of the first cutter head 120 to the outer edge of the machine body 110 is not further limited.

[0405] It should be noted that in the embodiment of the present application, the first position and the second position are the same as the first position and the second position in the embodiment shown in FIGS. 1-14, and the description of the first position and the second position in the embodiment shown in FIGS. 1-14 can be referred to.

[0406] The first cutter head 120 is configured to have a rotating speed between 1800 rpm and 3500 rpm when the intelligent mower 100 is in a mowing state and does not jam grass. The intelligent mower 100 can further include a detection device 140 disposed on the machine body 110, the detection device 140 being configured to detect biological information, and the intelligent mower 100 being configured to perform a safety protection action according to the biological information.

[0407] As shown in FIG. 20, the intelligent mower 100 provided by the embodiment of the present application includes a machine body 110, a rear wheel 162, a front wheel 161, a first cutter head 120, and a second cutter head 122. The second cutter head 122 is mounted on the side of the machine body 110 towards the ground, and the position of the second cutter head 122 relative to the machine body 110 does not change in the forward direction of the intelligent mower 100. The second cutter head 122 is disposed between the front wheel 161 and the rear wheel 162, and the first cutter head 120 is located on one side of the front wheel 161.

[0408] In this way, the cutting range of the intelligent mower 100 can be expanded, and the cutting efficiency can be improved. By arranging the second cutter 122 between the body 110 and the rear wheel 162, on the one hand, the interference between the first cutter 120 and the second cutter 122 can be prevented, and on the other hand, the first cutter 120 and the second cutter 122 can be prevented from interfering with the body 110 and the rear wheel 162 of the intelligent mower 100, and the problem of scratching the body 110 and the rear wheel 162. On the other hand, the first cutter 120 and the second cutter 122 can rotate together to generate a strong rotating air flow, so that the air flow generated by the first cutter 120 and the second cutter 122 on the body 110 will be stronger, and the grass clippings adhered to the body 110 can be better blown out to ensure that the body 110 is not prone to slipping, thereby ensuring the stability of the intelligent mower 100. At the same time, the high-speed rotating air flow can better carry away the heat generated during the operation of the cutter, and the heat dissipation effect is better.

[0409] In some embodiments, two first cutters 120 and one second cutter 122 can also be arranged, and the two first cutters 120 are respectively located on the two sides of the second cutter 122 (not shown in the figure) and do not interfere with each other.

[0410] By arranging two first cutters 120 on the two sides of the second cutter 122, on the one hand, the balance of the weight can be facilitated, and on the other hand, the edge cutting can be performed on both sides of the intelligent mower 100 in the transverse direction, and the algorithm does not need to be modified due to the change of the position of the first cutter 120. No matter which side of the cutter is used for edge cutting, it can be used, and the versatility is strong. At the same time, since the first cutters 120 on both sides can be close to or beyond the edge of the body 110, the first cutters 120 on both sides can coincide with the rear wheel 162 in the forward direction, and the first cutters 120 on both sides can have a hollow portion, which can better perform obstacle crossing and air flow. The rotation of the two first cutters 120 can also drive the air flow between them, and the heat dissipation effect is good.

[0411] In a possible implementation, the number of first cutters 120 is two, and the two first cutters 120 are arranged side by side in the transverse direction of the body 110, and the transverse direction of the body 110 is perpendicular to the forward direction of the intelligent mower 100.

[0412] In this way, on the one hand, the two first cutter heads 120 arranged side by side play a role in balancing the center of gravity, and there is no need to consider the additional arrangement of counterweights for the entire machine; on the other hand, the first cutter heads 120 on both sides can perform cutting work, thereby expanding the cutting range of the first cutter heads 120, and further enabling the intelligent mower 100 to cut to the edge, and because the first cutter heads 120 on either side can be used for mowing, there is no need to modify the algorithm due to the change in the position of the first cutter heads 120, and the universality is stronger; in addition, the rotation of the cutter heads on both sides can drive the airflow in the space below the machine body 110, which has better heat dissipation effect and can also blow away the grass clippings wrapped around the front wheels 161, thereby preventing the front wheels 161 from slipping due to the adhesion of grass clippings.

[0413] In the embodiment of the present application, as shown in FIG. 19, the machine body 110 further includes a first side edge 111 and a second side edge 112. In the forward direction of the intelligent mower, both ends of the first side edge 111 and the second side edge 112 are respectively connected to the second end portion 114 and the first end portion 113, and the first side edge 111 and the second side edge 112 are oppositely arranged on both sides of the machine body 110 in the transverse direction, which is perpendicular to the forward direction.

[0414] Both ends of the first end portion 113 of the machine body 110 extend in the opposite direction of the forward direction of the intelligent mower. Both ends of the second end portion 114 extend in the forward direction of the intelligent mower. Part of the structure of the first end portion 113 and the second end portion 114 can extend in the transverse direction (y direction).

[0415] By arranging the first end portion 113 and the second end portion 114 as components with part of the structure extending in the transverse direction, the intelligent mower can have a certain transverse in the y direction, so that when the first cutter head 120 is installed at one end of the first end portion 113, the first cutter head 120 can be located on one side of the front end of the intelligent mower, and the first cutter head 120 can cut to the position on one side of the front end of the intelligent mower, thereby expanding the cutting area and ensuring that the cutting can reach the edge.

[0416] In some embodiments, the number of first cutter heads 120 is one, wherein the first cutter head 120 is arranged on the side of the first end portion 113 connected to the first side edge 111, or the first cutter head 120 can be located on the side of the first end portion 113 connected to the second side edge 112. In this way, the first cutter head 120 can be located at the outer edge of the machine body 110, so that the first cutter head 120 can cover the outer edge of the mower during cutting operation, thereby ensuring that the cutting can reach the edge.

[0417] In some embodiments, the number of the first cutter heads 120 is at least two, wherein at least one first cutter head 120 is arranged at one side of the first end 113 connecting with the first side edge 111, and at least one first cutter head 120 is arranged at one side of the first end 113 connecting with the second side edge 112. In this way, the first cutter head 120 can be located at the outer side edge of the machine body 110, so that the first cutter head 120 can cover the outer side edge of the mower when performing the cutting operation, thereby ensuring the cutting to the edge.

[0418] It should be noted that the extension of the first end 113 along the transverse direction refers to the macroscopic extension along the transverse direction, rather than the strict extension along the straight line direction. For example, in some embodiments, the first end 113 can have an arc-shaped structure, the whole arc-shaped structure is arranged along the transverse direction, and the two ends of the arc-shaped structure are gradually curved towards the second end 114 of the machine body 110.

[0419] In addition, it should be noted that the relative arrangement refers to the macroscopic relative arrangement, which can be positive relative arrangement or oblique relative arrangement.

[0420] The embodiment shown in FIG. 20 includes one first cutter head 120 and one second cutter head 122. The first cutter head 120 is located at the front end of the machine body, and the second cutter head 122 is located between the front wheel 161 and the rear wheel 162.

[0421] In a possible implementation, continuing to refer to FIG. 20, the rotation radius of the second cutter head 122 can be greater than or equal to the rotation radius of the first cutter head 120.

[0422] In this way, the second cutter head 122 can perform the main cutting operation, and the first cutter head 120 can be relatively light, so that the assembly difficulty of the first cutter head 120 can be reduced when assembling. When the first cutter head 120 is movably connected with the machine body 110, the smaller first cutter head 120 is more convenient to assemble and easier to control, so that the structure of the driving device 150 for movably connecting the first cutter head 120 with the machine body 110 can be simplified, thereby reducing the cost. In addition, the smaller first cutter head 120 can not only save the layout space on the inner side of the machine body 110, but also can reduce the wind resistance as much as possible, so as to reduce the whole machine power consumption of the intelligent mower 100 in the cutting process, and achieve the effect of low energy consumption and high efficiency cutting.

[0423] Of course, in some embodiments, the first cutter head 120 can also be detachably connected with the machine body 110, and whether to install the first cutter head 120 can be selected when cutting different areas, so that the application flexibility of the intelligent mower 100 can be improved. For example, when cutting the edge area 210, the first cutter head 120 close to the outer side of the machine body 110 can be installed, so that the intelligent mower 100 can cut to the edge, and when cutting an area that does not involve the edge area 210, the first cutter head 120 close to the outer side of the machine body 110 can be detached, and only the second cutter head 122 is used for cutting work. Since the second cutter head 122 is located on the inner side of the machine body 110, the safety performance can be improved.

[0424] Of course, in some embodiments, the number of the first cutter head 120 can be at least two, and the at least two first cutter heads 120 are oppositely arranged at the first end 113 in the transverse direction of the machine body.

[0425] In this way, on the one hand, the two oppositely arranged first cutter heads 120 play a role in balancing the center of gravity, and there is no need to consider the additional arrangement of a counterweight; on the other hand, the first cutter heads 120 on both sides can perform cutting work, which expands the cutting range of the first cutter head 120, and thus the intelligent mower 100 can cut to the edge, and because any one side of the first cutter head 120 can be used for mowing, there is no need to modify the algorithm due to the change of the position of the first cutter head 120, and the universality is stronger; in addition, the rotation of the cutter heads on both sides can drive the airflow in the space below the machine body to flow, which has better heat dissipation effect and can also blow away the grass clippings wrapped around the front wheels, preventing the front wheels from slipping due to the adhesion of the grass clippings.

[0426] When the first cutter head 120 and the second cutter head 122 at least partially overlap in the forward direction, it is beneficial to prevent missed cutting, and when the first cutter head 120 and the second cutter head 122 are staggered in the forward direction, the heat generated by the first cutter head 120 and the second cutter head 122 will not be more concentrated, which is beneficial to the heat dissipation of the first cutter head 120 and the second cutter head 122.

[0427] In addition, in some embodiments, the second cutter head 122 can not be provided, and only the first cutter head 120 is provided. In the embodiments of the present application, the number of the first cutter head 120, whether to provide the second cutter head 122, and the number of the second cutter head 122 when the second cutter head 122 is provided are not further limited.

[0428] It should be noted that in the embodiment of the present application, when the position of the first cutter head 120 relative to the machine body 110 is relatively constant, the connection mode of the first cutter head 120 and the machine body 110 is the same as that shown in the above-mentioned embodiments of FIGS. 1-14, for example, the first cutter head 120 can be detachably connected with the machine body, and the like. For the connection mode between the first cutter head 120 and the machine body 110 in the embodiment of the present application, reference can be made to the description of the above-mentioned embodiments of FIGS. 1-14, and the like, which will not be repeated herein.

[0429] By arranging the second cutter head 122 between the rear wheels 162 and the front wheels 161, and arranging the first cutter head 120 between the first cutting surface a of the front wheels 161 and the first end 113, the first cutter head 120 and the second cutter head 122 can be kept away from the front wheels 161 and the rear wheels 162 of the intelligent mower 100, so as to prevent the first cutter head 120 and the second cutter head 122 from interfering with the front wheels 161 and the rear wheels 162 of the intelligent mower 100, and scratching the front wheels 161 or the rear wheels 162.

[0430] As shown in FIG. 19, the number of the front wheels 161 is one, and in the transverse direction and in the advancing direction of the intelligent mower, the front wheel 161 is located on the transverse direction center axis of the machine body. By arranging the number of the front wheels 161 to be one, the structure of the mower can be simplified, and the cost can be reduced. In addition, the single front wheel 161 occupies a small space, so that arranging one front wheel 161 can provide sufficient space for the arrangement of the first cutter head 120, so as to ensure that the rotation radius of the first cutter head 120 is large enough, thereby expanding the cutting range of the mower and ensuring that the mower can cut the grass.

[0431] Of course, in some other embodiments, the number of the front wheels 161 can also be two, and in the advancing direction of the intelligent mower, the front wheels are symmetrically arranged in the transverse direction of the machine body. Arranging two front wheels can improve the obstacle crossing ability of the intelligent mower. In the embodiment of the present application, the number of the front wheels 161 is not limited further.

[0432] It should be noted that the number of the rear wheels 162 is generally two, and the two rear wheels 162 are arranged on the two sides of the machine body 110 in the transverse direction, wherein the outer side edge of the rear wheel 162 can be located outside the outer side edge of the machine body 110, flush with the outer side edge of the machine body 110, or inside the outer side edge of the machine body 110. In the embodiment of the present application, the number, size and arrangement position of the rear wheels 162 are not limited further.

[0433] It should be noted that in the embodiment of the present application, the intelligent mower 100 can further include a motor 130 (see FIG. 21), wherein the motor 130 is connected with the first cutter head 120, the motor 130 is used to drive the first cutter head 120 to rotate, so that the first cutter head 120 performs cutting work, and the rotating speed of the motor 130 is between 1800 revolutions / minute and 3500 revolutions / minute.

[0434] It should be noted that the rotating speed and technical effect of the first cutter head and the second cutter head in the embodiment of the present application are the same as those of the first cutter head and the second cutter head in FIGS. 1-14. In the embodiment of the present application, the rotating speed and technical effect of the first cutter head and the second cutter head can refer to the description of the rotating speed of the first cutter head and the second cutter head in the embodiment shown in FIGS. 1-14. In the embodiment of the present application, the rotating speed and technical effect of the first cutter head and the second cutter head will not be described again.

[0435] Continuing to refer to FIG. 20, the first cutter head 120 and the second cutter head 122 can each include a blade 121 and a rotating disc 123. A plurality of blades 121 are arranged at intervals along the circumference of the rotating disc 123. The outer side of the blade 121 is provided with a cutting edge, and the outer side edge of the cutting edge is the outer side edge of the first cutter head 120 and the outer side edge of the blade 121.

[0436] It should be noted that the shape, structure and principle of the first cutter head 120 and the second cutter head 122 in the embodiment of the present application are the same as those of the first cutter head 120 and the second cutter head 122 in the embodiment shown in FIGS. 1-14. Therefore, in the embodiment of the present application, the shape, structure and principle of the first cutter head 120 and the second cutter head 122 can refer to the description of the first cutter head 120 and the second cutter head 122 in the embodiment shown in FIGS. 1-14. In the embodiment of the present application, the shape, structure and principle of the first cutter head 120 and the second cutter head 122 will not be described further.

[0437] In the above embodiment, the first cutter head 120 is located at the first end 113 of the machine body 110, and the position of the first cutter head 120 relative to the machine body 110 can be relatively unchanged, and the first cutter head can be located at the first position and the second position.

[0438] In some other embodiments in which the first cutter head 120 is located at the first end 113 of the machine body 110, the first cutter head 120 can be movably connected with the machine body 110, and the first cutter head 120 moves relative to the machine body 110 at least through the first position and the second position.

[0439] It should be noted that the technical solutions of the first cutter head 120 movably connected with the machine body 110 and the technical solutions of the first cutter head 120 fixedly positioned relative to the machine body 110 are different in the connection manner of the first cutter head 120 with the machine body 110, and the other positional relationships and the structures of the machine body, the front wheel, the rear wheel and the like are the same as those of the first cutter head 120 fixedly positioned relative to the machine body 110. Therefore, in the technical solutions of the first cutter head 120 movably connected with the machine body 110, the structures and principles other than the connection manner of the first cutter head 120 with the machine body 110 will not be described again.

[0440] By movably connecting the first cutter head 120 with the machine body 110, when the intelligent mower 100 identifies that there is a hard obstacle, such as a stone, in the front path, which has a probability of damaging the cutter head, the first cutter head 120 can be swung from the second position to the first position to cross the obstacle, and the probability of damage to the cutter head is small at this time. For example, when the intelligent mower 100 identifies that there is a hard obstacle on the side, which may cause the first cutter head 120 in the first position to be working to mow the grass to have a probability of damage, the first cutter head 120 can be swung from the first position to the second position to pass through, and the probability of damage to the first cutter head 120 can also be reduced at this time. In this way, the service life of the first cutter head and the overall safety of the intelligent mower 100 can be effectively prolonged.

[0441] In the embodiments of the present application, the first position is defined as: at least part of the first cutter head 120 is located outside the vertical projection of the machine body 110 towards the ground, and in the transverse direction (y direction) of the machine body, the minimum horizontal distance h2 between the farthest point of the first cutter head 120 away from the machine body 110 and the machine body 110 is greater than 1 / 10 of the diameter of the first cutter head 120, and the minimum horizontal distance h2 between the farthest point of the first cutter head 120 away from the machine body 110 and the machine body 110 is less than 2 / 3 of the diameter of the first cutter head 120.

[0442] In some embodiments, the first cutter head 120 is configured to have a rotation speed V1 when the intelligent mower 100 is in a mowing state and does not block grass, and the rotation speed of the first cutter head 120 during movement relative to the machine body 110 is less than or equal to V1, and V1 is between 1800 revolutions / minute and 3500 revolutions / minute.

[0443] When the first cutter head 120 is located at the first position and the distance between the first cutter head 120 and the machine body 110 is less than 1 / 10 of the diameter of the first cutter head 120, the grass leaving rate is high. By setting the distance between the first cutter head 120 and the machine body 110 to be greater than 1 / 10 of the diameter of the first cutter head 120 and less than 2 / 3 of the diameter of the first cutter head 120, the first cutter head 120 can work at a more appropriate temperature when the intelligent mower 100 is cutting. However, when the distance exceeds 2 / 3 of the diameter of the first cutter head 120, the area of the cutter head exposed to sunlight is larger, and the cutter head also generates heat during high-speed operation, which increases the probability of cutter head cracking. In addition, since the cutter head is far away from the machine body 110, the vibration generated is also large, which affects the working efficiency of the intelligent mower 100.

[0444] In one possible implementation, the first cutter head 120 is configured to rotate at a speed of V1 when the intelligent mower 100 is in a mowing state and does not block grass. When the first cutter head 120 moves relative to the machine body 110, the speed of the first cutter head 120 is less than V1. When the first cutter head 120 performs a moving action, the speed of the cutter head is less than V1. On the one hand, this can reduce the shaking of the first cutter head 120 during movement and improve the stability of the first cutter head 120 during movement. On the other hand, this can reduce the resistance experienced by the first cutter head 120 during movement and save energy. On the other hand, the moving action is performed to adjust the cutting position of the first cutter head 120, for example, to adjust the first cutter head 120 from the first position to the second position. During the adjustment of the cutting position of the first cutter head 120, people or animals often exist in the surrounding environment, which poses a safety hazard. At this time, an alarm sound needs to be emitted to drive away the people or animals. The faster the speed of the first cutter head 120, the louder the noise emitted by the intelligent mower 100. If the noise is too loud, it will block the alarm sound and prevent the normal driving away of people or animals, which will affect the normal mowing work. When the speed of the first cutter head 120 during movement is less than the speed V1 of the first cutter head 120 during normal mowing, the noise emitted by the first cutter head 120 is small, and the noise does not block the alarm sound, which can ensure the smooth driving away of living obstacles.

[0445] The first cutter head 120 is configured to rotate at a speed of V1 when the intelligent mower 100 is in a mowing state and does not block grass. When the first cutter head 120 moves relative to the machine body 110, the speed of the first cutter head 120 is equal to V1. When the first cutter head 120 performs a moving action, the speed of the cutter head is consistent with the speed V1 of the cutter head during mowing. On the one hand, this can reduce the speed-up and speed-down actions of the first cutter head 120, improve the speed of position adjustment of the first cutter head 120, and thus improve the working efficiency of the mower. On the other hand, reducing the speed-up and speed-down actions of the first cutter head 120 can reduce the load on the motor of the first cutter head 120 and improve the service life of the motor.

[0446] In a possible implementation, when the first cutter head 120 is movably connected to the machine body 110, the first cutter head 120 further comprises a third position (not shown in the figure), when the first cutter head 120 is in the third position, the first cutter head 120 is located within the orthographic projection of the machine body 110 towards the ground, and the minimum distance from the outer side edge of the cutting blade to the outer side edge of the machine body 110 is greater than 50 mm. For example, the minimum distance from the outer side edge of the cutting blade to the outer side edge of the machine body 110 can be 51 mm, 52 mm, 53 mm, 54 mm, etc.

[0447] In a possible implementation, the first cutter head 120 moves relative to the machine body 110 at least through the first position, the second position, and the third position.

[0448] By setting the first cutter head 120 to comprise the third position, the first cutter head 120 can be located inside the machine body 110 and far away from the edge of the machine body 110. When the second position does not need to be cut, the first cutter head 120 can be moved to the third position, which can improve the safety performance of the intelligent mower. When the second position needs to be cut, the first cutter head 120 can be moved to the first position or the second position, which can expand the cutting range of the first cutter head 120, and thus the intelligent mower can cut the position outside the machine body 110, so as to ensure cutting to the edge and improve the cutting efficiency of the mower. In this way, the position of the first cutter head 120 can be determined according to the cutting condition, and the adaptability of the intelligent mower can be improved.

[0449] In a possible implementation, the first cutter head 120 moves relative to the machine body 110 at least through the first position and the second position. In this way, the cutting area of the first cutter head 120 can be expanded, so as to ensure cutting to the edge and improve the cutting efficiency of the mower.

[0450] In a possible implementation, when cutting in the first position or the second position, the rotating speed of the first cutter head 120 is greater than or equal to the rotating speed of the first cutter head 120 during the movement of the first cutter head 120 relative to the machine body. In this way, the shaking of the first cutter head 120 can be reduced by reducing the rotating speed when the first cutter head 120 moves relative to the machine body, and the safety and stability can be improved. When the first cutter head 120 is in the first position or the second position, the rotating speed is set to be relatively high, which can improve the cutting efficiency.

[0451] In a possible implementation, the intelligent mower 100 further comprises that, when the first cutter head 120 is in the third position, the orthographic projection of at least part of the first cutter head 120 and the second cutter head 122 towards the ground in the forward direction of the intelligent mower 100 coincides.

[0452] In this way, when the first cutter head 120 is in the third position, on the one hand, there is no missed cutting area between the first cutter head 120 and the second cutter head 122, which can prevent missed cutting and improve cutting efficiency. On the other hand, the first cutter head 120 and the second cutter head 122 partially overlap in the forward direction, and the space outside the overlap has a certain obstacle utilization rate, which can cross more complex terrains.

[0453] In a possible implementation, as shown in FIG. 21, the intelligent mower 100 can include a driving device 150 and a control device 190, wherein the driving device 150 is arranged between the machine body 110 and the first cutter head 120, and is used to drive the first cutter head 120 to move along the radial direction of the first cutter head 120; the control device 190 is connected with the driving device 150, and is used to control the driving device 150 to move the first cutter head 120 to the first position, the second position, or the third position.

[0454] By arranging the driving device 150 and the control device 190, and connecting the driving device 150 with the first cutter head 120 and connecting the control device 190 with the driving device 150, the position switching efficiency of the first cutter head 120 is improved.

[0455] For example, the driving device 150 is one or a combination of a worm gear structure, a connecting rod driving device, a connecting rod mechanism, or a gear assembly. Among them, the worm gear structure, the connecting rod driving device, the connecting rod mechanism, or the gear assembly is relatively common as a driving device, and is relatively simple to assemble. Therefore, the driving device 150 is arranged as a worm gear structure, a connecting rod driving device, a connecting rod mechanism, or a gear assembly, which can simplify the driving device 150 and reduce the cost of the intelligent mower 100.

[0456] In some embodiments, the intelligent mower 100 can further include a first acquisition unit 191 configured to acquire position information of the intelligent mower 100 in the cutting area 200, the first acquisition unit 191 is electrically connected with the control device 190, and the control device 190 is configured to control the driving device 150 to move the first cutter head 120 to the first position, the second position, or the third position according to the position information of the intelligent mower 100 in the cutting area 200.

[0457] It should be noted that the position information of the intelligent mower 100 in the cutting area 200 refers to that the intelligent mower 100 is located in the edge area 210, the middle area 220, or the corner area 230.

[0458] The state of the first cutter head 120 is controlled according to the position information of the intelligent mower 100 in the to-be-cut region 200, so that the first cutter head 120 can be located at a suitable position when the intelligent mower 100 performs cutting work on different regions, improving cutting efficiency while ensuring that the edge can be cut.

[0459] For example, when the position information is that the intelligent mower 100 is located in the edge region 210, the first cutter head 120 can be adjusted to the first position or the second position to cut the region on the edge of the body 110 or outside the edge of the body 110, solving the problem that the intelligent mower 100 cannot cut to the edge in the related art. When the position information is the middle region 220, the first cutter head 120 can be moved to the third position, so that the first cutter head 120 is located below the body 110, which can improve the safety performance of the intelligent mower 100. When the position information is the corner region, the first cutter head 120 can be moved to the first position to cut the region on the edge of the body 110 and outside the edge of the body 110, solving the problem that the intelligent mower 100 cannot cut to the edge in the related art.

[0460] Of course, in other embodiments, the first cutter head 120 can also be moved to other states according to the position information, which can be set according to specific conditions, and is not limited in the embodiments of the present application.

[0461] For example, the first acquisition unit 191 can include one or more of a radar, a time of flight (TOF), a depth camera, a binocular camera, a camera, a distance sensor, a laser ranging sensor, an edge sensor, and a time of flight sensor, so that the position information of the intelligent mower 100 in the to-be-cut region 200 can be obtained, so that the intelligent mower 100 can control the position of the first cutter head 120 according to the position information.

[0462] In one possible implementation, the intelligent mower 100 can further include a second acquisition unit 192, wherein the second acquisition unit 192 is configured to acquire minimum horizontal distance information of the first cutter head 120 to a boundary line 300 of the to-be-cut region 200. The second acquisition unit 192 is connected to the control device 190, and the control device 190 is configured to drive the driving device 150 to move the first cutter head 120 to the first position, the second position, or the third position according to the minimum horizontal distance information.

[0463] Exemplarily, when the first cutter head 120 is in the first position, the control device 190 is further configured to control the driving device 150 to extend the first cutter head 120 out of the first end 113 by a first preset length according to the minimum horizontal distance information, and the minimum horizontal distance from the first cutter head 120 to the boundary line 300 of the region to be cut 200 is greater than the first preset length. That is, the control device 190 can control the horizontal distance of the first cutter head 120 to extend according to the minimum horizontal distance, so as to prevent the first cutter head 120 from colliding with the boundary line 300 and the like, and prevent the first cutter head 120 from being damaged. In other words, the first cutter head 120 can expand the cutting range without collision, and thus cut to the edge.

[0464] Exemplarily, the first preset length is between 10-20 cm. For example, the first preset length can be 10 cm, 11 cm, 12 cm, 13 cm, 14 cm, 15 cm, 16 cm, 17 cm, 18 cm, 19 cm, 20 cm, etc. Of course, in other embodiments, the first preset length can also be other values, and in the embodiments of the present application, the first preset length is not limited further. By setting the first preset length to 10-20 cm, the cutting range of the first cutter head can be expanded, the edge can be ensured to be cut, and in addition, the problem of the first cutter head being difficult to retract due to the first cutter head extending too long can be prevented.

[0465] In a possible implementation, when the first cutter head 120 is in the first position, in the y direction, the minimum horizontal distance h3 between the farthest point of the first cutter head 120 away from the machine body 110 and the machine body 110 is greater than 1 / 10 of the diameter of the first cutter head, and the minimum horizontal distance h3 between the farthest point of the first cutter head 120 away from the machine body 110 and the machine body 110 is less than 1 / 3 of the diameter of the first cutter head.

[0466] In a possible implementation, when the first cutter head 120 is in the first position, in the y direction, the minimum horizontal distance h3 between the farthest point of the first cutter head 120 away from the machine body 110 and the machine body 110 is greater than 1 / 8 of the diameter of the first cutter head, and the minimum horizontal distance h3 between the farthest point of the first cutter head 120 away from the machine body 110 and the machine body 110 is less than 1 / 4 of the diameter of the first cutter head.

[0467] Exemplarily, the minimum horizontal distance h3 between the farthest point of the first cutter head 120 away from the machine body 110 and the machine body 110 can be 1 / 10, 1 / 9, 1 / 8, 1 / 7, 1 / 6, 1 / 5, 1 / 4, 1 / 3, 1 / 2, etc. of the diameter of the first cutter head 120, and in the embodiments of the present application, the minimum horizontal distance h3 between the farthest point of the first cutter head 120 away from the machine body 110 and the machine body 110 is not limited to be a fraction of the diameter of the first cutter head 120.

[0468] Exemplarily, the second acquisition unit 192 can be a device capable of measuring distance, such as a distance sensor, an edge sensor, an edge radar, etc. In the present application, the structure of the second acquisition unit 192 is not limited further.

[0469] In a possible implementation, the intelligent mower 100 can further include a detection device 140, which is arranged on the machine body 110 and configured to detect biological information, and the intelligent mower 100 is configured to perform a safety protection action according to the biological information.

[0470] In the present application, the safety protection action includes one or a combination of the following: the intelligent mower 100 slows down, the intelligent mower 100 stops, the first cutter head 120 slows down, the first cutter head 120 stops, the intelligent mower 100 performs obstacle avoidance, and the intelligent mower 100 performs obstacle circumvention. In this way, the safety performance of the intelligent mower 100 can be improved. When the intelligent mower 100 performs obstacle avoidance, the first cutter head 120 can be shielded in the protective cover 125.

[0471] Of course, in other embodiments, the safety protection action can further include controlling the first cutter head 120 to move to a third position, controlling the first cutter head 120 to slow down, etc. In the present application, the safety protection action can have multiple settings, and in the present application, the safety protection action is not limited further.

[0472] By arranging the detection device 140, the intelligent mower can be controlled to enter the safety protection action according to the biological information detected by the detection device 140, and in the safety protection action, the first cutter head can be slowed down and / or stopped and / or shielded in the protective cover 125, which can improve the safety performance of the intelligent mower.

[0473] It should be noted that in the present application, when the first cutter head 120 is fixedly connected to the machine body 110, the safety protection action is the same as that in the embodiments shown in FIGS. 1-14, and the description of the safety protection action in the present embodiment can refer to the description of the safety protection action in the embodiments shown in FIGS. 1-14, which is not described further in the present embodiment. When the first cutter head 120 is movably connected to the machine body 110, the safety protection action is the same as that in the embodiments shown in FIGS. 15-18, and the description of the safety protection action in the present embodiment can refer to the description of the safety protection action in the embodiments shown in FIGS. 15-18, which is not described further in the present embodiment.

[0474] Exemplarily, the intelligent mower 100 can further include a balancing structure 170 arranged on the machine body 110, and the balancing structure 170 is used to balance the mass of the first cutter head 120 and the motor 130. In this way, the machine body 110 can be kept balanced, and the intelligent mower 100 can be prevented from tilting and other problems during mowing.

[0475] In a possible implementation, the motor 130 is provided with a heat dissipation device, and the heat dissipation device is used to dissipate heat for the motor 130. Exemplarily, the heat dissipation device can be a fan, a water cooling device, an air cooling device, etc., and the specific structure of the heat dissipation device is not limited in the embodiment of the present application. By arranging the heat dissipation device, the motor 130 can be cooled, and the normal operation of the motor 130 can be ensured.

[0476] It should be noted that in some implementations, the heat dissipation device can also not be arranged on the outer side of the motor 130, and the specific shape and arrangement position of the heat dissipation device are not limited in the embodiment of the present application.

[0477] In a possible implementation, the motor 130 can be further provided with a waterproof structure on the outer side.

[0478] By arranging the waterproof structure on the outer side of the motor 130, the motor 130 can be prevented from being waterlogged or damp, and the normal operation of the motor 130 can be ensured.

[0479] It should be noted that the waterproof structure can be arranged between the output shaft of the motor 130 and the body of the motor 130, so that the output shaft of the motor 130 is exposed and the motor 130 is not exposed, thereby effectively preventing the motor 130 from being waterlogged or damp, and ensuring the normal operation of the motor 130.

[0480] It should be noted that in the embodiment of the present application, the shapes, structures, principles and arrangement positions of the rear wheels 162, the detection device 140, the protective cover 125 and the balancing structure 170 are the same as those of the rear wheels 162, the detection device 140, the protective cover 125 and the balancing structure 170 in the embodiments shown in FIGS. 1-14, and therefore, in the embodiment of the present application, the shapes, structures, principles and arrangement positions of the rear wheels 162, the detection device 140, the protective cover 125 and the balancing structure 170 can be referred to the description of the rear wheels 162, the detection device 140, the protective cover 125 and the balancing structure 170 in the embodiments shown in FIGS. 1-14, and in the embodiment of the present application, no further description is made.

[0481] In addition, the moving speed of the intelligent mower 100, the minimum horizontal distance from the first cutter head 120 and the second cutter head 122 to the ground, and the mass of the first cutter head 120 are the same as those of the intelligent mower 100 in the embodiments shown in FIGS. 1-14, and specific descriptions can be referred to the embodiments shown in FIGS. 1-14, which will not be further described herein.

[0482] The embodiment shown in FIG. 19 introduces the embodiment in which the first cutter head 120 is arranged at the first end portion 113 of the machine body 110. Of course, in some embodiments, the first cutter head 120 can also be arranged at other positions, for example, the first cutter head 120 can also be arranged at the second end portion 114 of the machine body 110.

[0483] As shown in FIG. 22, the intelligent mower 100 provided in the embodiments of the present application includes a machine body 110, a rear wheel 162, a front wheel 161, and a first cutter head 120. The machine body 110 includes a first end portion 113 and a second end portion 114 arranged oppositely along the advancing direction (x direction) of the intelligent mower 100. For example, the first end portion 113 of the intelligent mower 100 is the front end of the machine body 110, and the second end portion 114 is the rear end of the machine body 110. It should be noted that the front end and the rear end refer to the macroscopic front end and rear end, which represent the front and rear of the intelligent mower 100 as generally considered by people.

[0484] In the embodiments of the present application, the front wheel 161 and the rear wheel 162 are arranged on the side of the machine body 110 facing the ground, and in the x direction, the front wheel 161 and the rear wheel 162 are arranged at intervals, and the front wheel 161 is located between the rear wheel 162 and the first end portion 113, that is, the rear wheel 162 is arranged close to the rear end of the machine body 110, and the front wheel 161 is arranged close to the front end of the machine body 110.

[0485] As shown in FIG. 22, the first cutter head 120 is installed below the machine body 110 and is used to perform cutting work on the cutting area 200. In the advancing direction of the intelligent mower, at least part of the first cutter head 120 is located between the second cutting surface b of the rear wheel 162 and the second end portion 114. The second cutting surface is perpendicular to the advancing direction of the intelligent mower and passes through the second end point of the rear wheel 162, and the second end point is defined as the farthest point of the rear wheel 162 from the second end portion 114.

[0486] In some embodiments, the relative position of the first cutter head 120 to the machine body 110 is fixed, and the first cutter head 120 is fixed at the first position or the second position.

[0487] The first position is defined as: at least part of the first cutter head 120 is located outside the vertical projection of the machine body 110 towards the ground. For example, when the first cutter head is in the first position, the horizontal distance h4 between the outer edge of the first cutter head 120 located outside the machine body 110 and the outer edge of the machine body 110 can be greater than or equal to 0 and less than or equal to 60 mm.

[0488] In this way, the cutting range of the intelligent mower 100 can be expanded, and the problem that the intelligent mower 100 cannot cut to the edge in the related art can be solved. For example, the horizontal distance h4 between the outer edge of the first cutter head 120 located outside the machine body 110 and the outer edge of the machine body 110 can be 60 mm, 55 mm, 50 mm, 45 mm, 40 mm, 35 mm, 30 mm, 25 mm, 20 mm, 15 mm, 10 mm, 5 mm, 0 mm, etc. In the embodiments of the present application, the horizontal distance h3 between the outer edge of the first cutter head 120 located outside the machine body 110 and the outer edge of the machine body 110 is not further limited.

[0489] The second position is defined as: the first cutter head 120 is located inside the vertical projection of the machine body 110 towards the ground, and the minimum horizontal distance (see h1 in FIG. 6) between the outer edge of the cutting blade and the outer edge of the machine body 110 is greater than or equal to 0 and less than or equal to 50 mm.

[0490] For example, the minimum horizontal distance h1 between the outer edge of the first cutter head 120 and the outer edge of the machine body 110 can be 50 mm, 45 mm, 40 mm, 35 mm, 30 mm, 25 mm, 20 mm, 15 mm, 10 mm, 5 mm, 0 mm, etc. In the embodiments of the present application, the minimum horizontal distance between the outer edge of the first cutter head 120 and the outer edge of the machine body 110 is not further limited.

[0491] It should be noted that in the embodiments of the present application, the first position and the second position are the same as the first position and the second position in the embodiments shown in FIGS. 1-14, and specific descriptions can be referred to the descriptions of the first position and the second position in the embodiments shown in FIGS. 1-14.

[0492] The first cutter head 120 is configured to have a rotating speed between 1800 rpm and 3500 rpm when the intelligent mower 100 is in a mowing state and does not block grass. The intelligent mower 100 can further include a detection device 140 arranged on the machine body 110, the detection device 140 being configured to detect biological information, and the intelligent mower 100 being configured to perform a safety protection action according to the biological information.

[0493] The intelligent mower 100 provided in the application can make the first cutter head 120 face the lawn to be cut, so as to facilitate the intelligent mower 100 to perform the cutting operation, by arranging the first cutter head 120 below the machine body 110. By arranging the cutting edge of metal on the outer side of the first cutter head 120, the sharpness of the first cutter head 120 can be improved, and the cutting efficiency of the first cutter head 120 can be improved.

[0494] By arranging at least part of the first cutter head 120 at the rear end of the machine body 110, on the one hand, when the cutter head needs to be stopped or decelerated in an emergency, such as obstacle avoidance or obstacle circumnavigation or obstacle crossing, the cutter head can be controlled to decelerate or stop in time, and since the cutter head is located at the rear side of the machine body 110, the cutter head has a longer reaction time when being controlled to decelerate or stop, so as to ensure that the cutter head has enough time to switch to the preset deceleration or preset stop state before the intelligent mower 100 performs these actions, thereby avoiding the cutter head from colliding with obstacles or stones due to insufficient switching time, and causing damage to the cutter head. In this way, the precision and cost of the software layer and the sensor layer do not need to be excessively improved to realize the timeliness of the cutter head state switching, and further cost investment of the software layer and the sensor layer can be effectively saved. On the other hand, when the intelligent mower 100 performs backward mowing, the problem of inconsistent cutting height caused by the rear wheels bending the lawn and affecting the mowing efficiency is avoided.

[0495] When the first cutter head 120 is located at the first position, at least part of the first cutter head 120 is located outside the outer edge of the machine body 110, so that the cutting width outside the machine body 110 is increased, and the cutting range of the intelligent mower 100 is expanded, so that the cutting blind area of the intelligent mower 100 near the boundary line is smaller, and the cutting to the boundary is realized, thereby solving the problem of high grass retention rate and inability to cut to the boundary of the intelligent mower 100 in the related art.

[0496] When the first cutter head 120 is located at the second position, the first cutter head 120 is located inside the machine body 110, and the distance between the first cutter head 120 and the outer edge of the machine body 110 is greater than or equal to 0 and less than or equal to 50 mm. In this way, the cutting to the boundary can be realized while the cutting safety is guaranteed to the greatest extent, by reducing the distance between the first cutter head 120 and the outer edge of the machine body 110, the cutting blind area of the first cutter head 120 of the intelligent mower 100 near the boundary line is small, and the cutting to the boundary can be realized, thereby solving the problem of high grass retention rate and inability to cut to the boundary of the intelligent mower 100 in the related art.

[0497] As shown in FIG. 23, the intelligent mower 100 provided by the embodiment of the present application can further include a second cutter head 122. In the forward direction of the intelligent mower 100, the position of the second cutter head 122 relative to the machine body is unchanged, and the second cutter head 122 is arranged between the front wheel 161 and the rear wheel 162, and the first cutter head 120 is arranged on one side of the rear wheel 162. The first cutter head 120 and the second cutter head 122 are arranged at intervals. The first cutter head 120 and the second cutter head 122 are both installed below the machine body 110, and are used to perform cutting operations on the cutting area 200.

[0498] In this way, the cutting range of the intelligent mower 100 can be expanded, and the cutting efficiency can be improved. By arranging the second cutter head 122 between the machine body 110 and the rear wheel 162, on the one hand, the interference problem between the first cutter head 120 and the second cutter head 122 can be prevented, and on the other hand, the problem of scratching the machine body 110 and the rear wheel 162 caused by the interference between the first cutter head 120 and the second cutter head 122 and the machine body 110 and the rear wheel 162 of the intelligent mower 100 can be prevented. On the other hand, the first cutter head 120 and the second cutter head 122 can rotate in cooperation with each other to generate a strong rotating air flow. Therefore, the air flow generated by the first cutter head 120 and the second cutter head 122 on the machine body 110 will be stronger, so that the grass clippings adhered to the machine body 110 can be better blown out, so as to ensure that the machine body 110 is not prone to skidding, thereby ensuring the stability of the intelligent mower 100. At the same time, the high-speed rotating air flow can better carry away the heat generated during the operation of the cutter head, so that the heat dissipation effect is better.

[0499] It should be noted that the rear wheel 162 can be a driving roller for driving the intelligent mower 100 to move forward or backward. The front wheel 161 can be used to adjust the direction. For example, the front wheel 161 can be a universal wheel.

[0500] In the embodiment of the present application, as shown in FIG. 22, the machine body 110 further includes a first side edge 111 and a second side edge 112. The first side edge 111 and the second side edge 112 both extend along the forward direction (x direction) of the intelligent mower 100. In the forward direction of the intelligent mower, the two ends of the first side edge 111 and the second side edge 112 are respectively connected to the second end 114 and the first end 113, and the first side edge 111 and the second side edge 112 are arranged on opposite sides of the machine body 110 in the transverse direction, which is perpendicular to the forward direction.

[0501] The two ends of the first end 113 of the machine body 110 extend in the opposite direction of the forward direction of the intelligent mower. The two ends of the second end 114 extend in the forward direction of the intelligent mower. Part of the structure of the first end 113 and the second end 114 can extend in the transverse direction (y direction).

[0502] By setting the first end portion 113 and the second end portion 114 as components extending along the transverse direction in a partial structure, the intelligent mower can have a certain transverse in the y direction, so that when the first cutter head 120 is installed at one end of the second end portion 114, the first cutter head 120 can be located at one side of the rear end of the intelligent mower, and the first cutter head 120 can cut to the position of one side of the rear end of the intelligent mower, so as to expand the cutting area and ensure that the edge can be cut.

[0503] In some embodiments, the number of the first cutter head 120 is one, wherein the first cutter head 120 is arranged at one side where the second end portion 114 is connected with the first side edge 111, or the first cutter head 120 can be located at one side where the second end portion 114 is connected with the second side edge 112. In this way, the first cutter head 120 can be located at the outer side edge of the machine body 110, so that the first cutter head 120 can cover the outer side edge of the mower during the cutting operation, thereby ensuring that the edge can be cut.

[0504] In some embodiments, the number of the first cutter head 120 is at least two, wherein at least one first cutter head 120 is arranged at one side where the second end portion 114 is connected with the first side edge 111, and at least one first cutter head 120 is arranged at one side where the second end portion 114 is connected with the second side edge 112 (see FIG. 25). In this way, the first cutter head 120 can be located at the outer side edge of the machine body 110, so that the first cutter head 120 can cover the outer side edge of the mower during the cutting operation, thereby ensuring that the edge can be cut.

[0505] It should be noted that the extension of the second end portion 114 along the transverse direction refers to the macroscopic extension along the transverse direction, rather than the strict extension along the straight line direction. For example, in some embodiments, the second end portion 114 can have an arc-shaped structure, and the overall arc shape is arranged along the transverse direction, and the two ends of the arc-shaped structure in the transverse direction gradually curve towards the first end portion 113 of the machine body 110.

[0506] In addition, it should be noted that the relative arrangement refers to the macroscopic relative arrangement, which can be positive relative or oblique relative.

[0507] The embodiment shown in FIG. 23 includes one first cutter head 120 and one second cutter head 122. In one possible implementation, continuing to refer to FIG. 23, the rotation radius of the second cutter head 122 is greater than or equal to the rotation radius of the first cutter head 120.

[0508] In this way, the second cutter head 122 can perform the main cutting operation, and the first cutter head 120 can be relatively light, so that the assembly difficulty of the first cutter head 120 can be reduced when assembling. When the first cutter head 120 is movably connected to the machine body 110, the smaller first cutter head 120 is more convenient to assemble and easier to control, so that the structure of the driving device 150 for movably connecting the first cutter head 120 and the machine body 110 can be simplified, and the cost can be reduced. On the other hand, the smaller first cutter head 120 not only saves the layout space inside the machine body 110, but also reduces the wind resistance as much as possible, so as to reduce the power consumption of the intelligent mower 100 during cutting, and achieve the effect of low energy consumption and high efficiency cutting.

[0509] Of course, in some embodiments, the first cutter head 120 can also be detachably connected to the machine body 110, and whether to install the first cutter head 120 can be selected when cutting different areas, so that the application flexibility of the intelligent mower 100 can be improved. For example, when cutting the corner area 230, the first cutter head 120 close to the outer side of the machine body 110 can be installed, so that the intelligent mower 100 can cut to the edge. When cutting an area that does not involve the corner area 230, the first cutter head 120 close to the outer side of the machine body 110 can be detached, and only the second cutter head 122 can be used for cutting operation. Since the second cutter head 122 is located inside the machine body 110, the safety performance can be improved.

[0510] Of course, in some embodiments, the number of first cutter heads 120 can be at least two, and the at least two first cutter heads 120 are oppositely arranged at the second end 114 in the transverse direction of the machine body.

[0511] In this way, on the one hand, the two oppositely arranged first cutter heads 120 can balance the center of gravity, and there is no need to consider the additional arrangement of counterweights; on the other hand, the first cutter heads 120 on both sides can perform cutting work, which expands the cutting range of the first cutter head 120, and thus the intelligent mower 100 can cut to the edge. Since any side of the first cutter head 120 can be used for mowing, there is no need to modify the algorithm due to the change of the position of the first cutter head 120, and the universality is stronger. In addition, the rotation of the two cutter heads can drive the airflow in the space below the machine body to flow, which has better heat dissipation effect and can also blow away the grass clippings wrapped around the front wheels, preventing the front wheels from slipping due to the adhesion of the grass clippings.

[0512] When the first cutter head 120 and the second cutter head 122 at least partially coincide in the forward direction, it is beneficial to prevent missed cutting, and when the first cutter head 120 and the second cutter head 122 are staggered in the forward direction, the heat generated by the first cutter head 120 and the second cutter head 122 is not concentrated, which is beneficial to the heat dissipation of the first cutter head 120 and the second cutter head 122, and facilitates the heat dissipation efficiency of the first cutter head 120 and the second cutter head 122.

[0513] In addition, in some embodiments, the second cutter head 122 can also not be provided, and only the first cutter head 120 is provided. In the embodiments of the present application, the number of first cutter heads 120, whether the second cutter head 122 is provided, and the number of second cutter heads 122 when the second cutter head 122 is provided are not limited further.

[0514] It should be noted that in the embodiments of the present application, when the position of the first cutter head 120 relative to the fuselage 110 is relatively constant, the connection mode of the first cutter head 120 and the fuselage 110 is the same as that shown in the above-mentioned FIGS. 1-14, for example, the first cutter head 120 can be detachably connected with the fuselage, and the connection mode between the first cutter head 120 and the fuselage 110 in the embodiments of the present application can be referred to the description of the above-mentioned FIGS. 1-14, which will not be described in detail in the embodiments of the present application.

[0515] As shown in FIG. 23, the number of front wheels 161 can be one, and in the first direction, the front wheel 161 is located at the center position of the fuselage 110. By setting the number of front wheels 161 to one, the structure of the lawn mower can be simplified, and the cost can be reduced.

[0516] Of course, in other embodiments, as shown in FIG. 25, the number of front wheels 161 can also be two, wherein the two front wheels 161 are spaced apart in the transverse direction and symmetrically distributed relative to the center axis of the fuselage 110. By setting the number of front wheels 161 to two, the stability of the lawn mower can be improved, and the obstacle crossing ability of the lawn mower can be improved.

[0517] It should be noted that the number of rear wheels 162 is generally two, and the two rear wheels 162 are symmetrically arranged on both sides of the fuselage 110 in the transverse direction, wherein the outer edge of the rear wheel 162 can be located outside the outer edge of the fuselage 110, flush with the outer edge of the fuselage 110, or inside the outer edge of the fuselage 110. In the embodiments of the present application, the number, size and arrangement position of the rear wheel 162 are not limited further.

[0518] For example, the first cutter head 120 can be located at the connection between the second end 114 and the first side edge 111, or the first cutter head 120 can be located at the connection between the second end 114 and the second side edge 112. In this way, the first cutter head 120 can be located at the outer side edge of the machine body 110, so that the first cutter head 120 can cover the outer side edge of the mower when performing the cutting operation, thereby ensuring that the cutting is to the edge.

[0519] It should be noted that the extension of the second end 114 along the transverse direction refers to the macroscopic extension along the transverse direction, rather than the strict extension along the straight line direction. For example, in some embodiments, the second end 114 can have an arc-shaped structure, the arc-shaped structure as a whole is arranged along the transverse direction, and the two ends of the arc-shaped structure in the transverse direction are gradually curved towards the first end 113 of the machine body 110.

[0520] It should be noted that in the embodiments of the present application, the intelligent mower 100 can further include a motor 130 (see FIG. 24), wherein the motor is connected with the first cutter head 120, the motor 130 is used to drive the first cutter head 120 to rotate, so that the first cutter head 120 performs the cutting operation, and the rotating speed of the motor 130 is between 1800 revolutions / minute and 3500 revolutions / minute.

[0521] It should be noted that the rotating speed and technical effect of the first cutter head and the second cutter head in the embodiments of the present application are the same as those of the first cutter head and the second cutter head in FIGS. 1-14. In the embodiments of the present application, the rotating speed and technical effect of the first cutter head and the second cutter head can refer to the description of the rotating speed of the first cutter head and the second cutter head in the embodiments shown in FIGS. 1-14. In the embodiments of the present application, no further description is made.

[0522] Continuing to refer to FIG. 23, the first cutter head 120 and the second cutter head 122 can each include a blade 121 and a rotating disc 123. A plurality of blades 121 are arranged along the circumferential direction of the rotating disc 123, and the outer side of the blade 121 is provided with a cutting edge, and the outer side edge of the cutting edge is the outer side edge of the first cutter head 120 and the outer side edge of the blade 121.

[0523] It should be noted that the shape, structure and principle of the first cutter head 120 and the second cutter head 122 in the embodiments of the present application are the same as those of the first cutter head 120 and the second cutter head 122 in the embodiments shown in FIGS. 1-14. Therefore, in the embodiments of the present application, the shape, structure and principle of the first cutter head 120 and the second cutter head 122 can refer to the description of the first cutter head 120 and the second cutter head 122 in the embodiments shown in FIGS. 1-14. In the embodiments of the present application, no further description is made.

[0524] In the above embodiments, the first cutter head 120 is located at the second end 114 of the machine body 110, and the first cutter head 120 can be relatively fixed with the machine body 110, and the first cutter head can be located at the first position and the second position. In some other embodiments, the first cutter head 120 is located at the second end 114 of the machine body 110, and the first cutter head 120 can be movably connected with the machine body 110, and the first cutter head 120 moves relative to the machine body 110 at least through the first position and the second position.

[0525] It should be noted that the technical solution of movably connecting the first cutter head 120 with the machine body 110 and the technical solution of fixing the relative position of the first cutter head 120 with the machine body 110 are different in the connection mode of the first cutter head 120 with the machine body 110, and the other positional relationships and the structures of the machine body, the front wheel, the rear wheel, etc. are the same as those of the technical solution of fixing the relative position of the first cutter head 120 with the machine body 110. Therefore, in the technical solution of movably connecting the first cutter head 120 with the machine body 110, the structures and principles other than the connection mode of the first cutter head 120 with the machine body 110 will not be described again.

[0526] By movably connecting the first cutter head 120 with the machine body 110, when the intelligent mower 100 identifies that there is a hard obstacle, such as a stone, in the front path that can damage the cutter head, the first cutter head 120 can be swung from the second position to the first position to cross the obstacle, and the probability of damage to the cutter head is small at this time. For example, when the intelligent mower 100 identifies that there is a hard obstacle on the side, which can cause the first cutter head 120 in the first position to be damaged during mowing, the first cutter head 120 can be swung from the first position to the second position to pass through, and the probability of damage to the first cutter head 120 can also be reduced. In this way, the service life of the first cutter head and the safety of the intelligent mower 100 can be effectively prolonged.

[0527] In the embodiments of the present application, the first position is defined as: at least part of the first cutter head 120 is located outside the orthographic projection of the machine body 110 towards the ground, and the minimum horizontal distance h2 between the farthest point of the first cutter head 120 away from the machine body 110 and the machine body 110 in the transverse direction (y direction) of the machine body is greater than 1 / 10 of the diameter of the first cutter head 120, and the minimum horizontal distance h2 between the farthest point of the first cutter head 120 away from the machine body 110 and the machine body 110 is less than 2 / 3 of the diameter of the first cutter head 120.

[0528] When the first cutter head 120 is located at the first position and the distance between the first cutter head 120 and the machine body 110 is less than 1 / 10 of the diameter of the first cutter head 120, the grass-remaining rate is high. By setting the distance between the first cutter head 120 and the machine body 110 to be greater than 1 / 10 of the diameter of the first cutter head 120 and less than 2 / 3 of the diameter of the first cutter head 120, the first cutter head 120 can work at a more appropriate temperature when the intelligent mower 100 is cutting. However, when the distance is greater than 2 / 3 of the diameter of the first cutter head 120, the area of the first cutter head 120 exposed to sunlight is large, and the first cutter head 120 also generates heat during high-speed operation, which increases the probability of cracking of the first cutter head 120. In addition, since the first cutter head 120 is far away from the machine body 110, the vibration generated is large, which affects the working efficiency of the intelligent mower 100.

[0529] In one possible implementation, the first cutter head 120 is configured to rotate at a speed of V1 when the intelligent mower 100 is in a mowing state and does not jam grass, and the speed of the first cutter head 120 during movement relative to the machine body 110 is less than or equal to V1. V1 is between 1800 revolutions per minute and 3500 revolutions per minute.

[0530] The first cutter head 120 is configured to rotate at a speed of V1 when the intelligent mower 100 is in a mowing state and does not jam grass. When the first cutter head 120 moves relative to the machine body 110, the speed of the first cutter head 120 is less than V1. When the first cutter head 120 moves, the speed of the first cutter head 120 is less than V1. On the one hand, this can reduce the shaking of the first cutter head 120 during movement and improve the stability of the first cutter head 120 during movement. On the other hand, this can reduce the resistance experienced by the first cutter head 120 during movement and save energy. On the other hand, the movement is performed to adjust the cutting position of the first cutter head 120, for example, to adjust the first cutter head 120 from the first position to the second position. During the adjustment of the cutting position of the first cutter head 120, people or animals are often present in the surrounding area, which poses a safety hazard. At this time, an alarm sound needs to be emitted to drive away the people or animals. The faster the speed of the first cutter head 120, the louder the noise emitted by the intelligent mower 100. If the noise is too loud, it will block the alarm sound and prevent the normal driving away of people or animals, which will affect the normal mowing work. When the speed of the first cutter head 120 during movement is less than the speed V1 of the first cutter head 120 during normal mowing, the noise emitted by the first cutter head 120 is small, the noise does not block the alarm sound, and the smooth driving away of living obstacles can be ensured.

[0531] The first cutter head 120 is configured to have a rotating speed of V1 when the intelligent mower 100 is in a mowing state and does not block grass, and the rotating speed of the first cutter head 120 is equal to V1 when the first cutter head 120 moves relative to the machine body 110. When the first cutter head 120 moves, the rotating speed of the cutter head is consistent with the rotating speed V1 of the cutter head when the cutter head performs mowing work. On the one hand, the speed of the first cutter head 120 position adjustment can be improved, and the working efficiency of the mower can be improved. On the other hand, the speed-up and speed-down actions of the first cutter head 120 are reduced, the load of the motor of the first cutter head 120 is reduced, and the service life of the motor is improved.

[0532] In a possible implementation, when the first cutter head 120 is movably connected to the machine body 110, the first cutter head 120 further includes a third position (not shown in the figure). When the first cutter head 120 is in the third position, the first cutter head 120 is located in the orthographic projection of the machine body 110 towards the ground, and the minimum distance from the outer side edge of the cutting blade to the outer side edge of the machine body 110 is greater than 50 mm. For example, the minimum distance from the outer side edge of the cutting blade to the outer side edge of the machine body 110 can be 51 mm, 52 mm, 53 mm, 54 mm, etc.

[0533] In a possible implementation, the first cutter head 120 moves relative to the machine body 110 at least through the first position, the second position, and the third position.

[0534] By setting the first cutter head 120 to include the third position, the first cutter head 120 can be located inside the machine body 110 and far away from the edge of the machine body 110. When the second position does not need to be cut, the first cutter head 120 can be moved to the third position, which can improve the safety performance of the intelligent mower. When the second position needs to be cut, the first cutter head 120 can be moved to the first position or the second position, which can expand the cutting range of the first cutter head 120, and the intelligent mower can cut the position outside the machine body 110, so as to ensure that the edge is cut and improve the cutting efficiency of the mower. In this way, the position of the first cutter head 120 can be determined according to the cutting condition, and the adaptability of the intelligent mower can be improved.

[0535] In a possible implementation, the first cutter head 120 moves relative to the machine body 110 at least through the first position and the second position. In this way, the cutting area of the first cutter head 120 can be expanded, so as to ensure that the edge is cut and improve the cutting efficiency of the mower.

[0536] When the cutting is performed at the first position or the second position, the rotating speed of the first cutter head 120 is greater than or equal to the rotating speed of the first cutter head 120 during the movement of the first cutter head 120 relative to the machine body. In this way, the shaking of the first cutter head 120 can be reduced by reducing the rotating speed when the first cutter head 120 moves relative to the machine body, thereby improving the safety and stability. When the first cutter head 120 is at the first position or the second position, the rotating speed is set to be relatively high, thereby improving the cutting efficiency.

[0537] In a possible implementation, the intelligent mower 100 further includes that, when the first cutter head 120 is at the third position, the projections of at least part of the first cutter head 120 and the second cutter head 122 on the ground in the forward direction of the intelligent mower 100 coincide.

[0538] In this way, it can be ensured that there is no missed cutting area between the first cutter head 120 and the second cutter head 122 when the first cutter head 120 is at the third position, thereby preventing missed cutting and improving the cutting efficiency. On the other hand, the first cutter head 120 and the second cutter head 122 partially coincide in the forward direction, and the space other than the coincidence has a certain obstacle crossing utilization rate, which can cross more complex terrains.

[0539] In a possible implementation, as shown in FIG. 24, the intelligent mower 100 can include a driving device 150 and a control device 190, wherein the driving device 150 is arranged between the machine body 110 and the first cutter head 120, and the driving device 150 is configured to drive the first cutter head 120 to move along the radial direction of the first cutter head 120, and the control device 190 is connected with the driving device 150, and the control device 190 is configured to control the driving device 150 to move the first cutter head 120 to the first position, the second position or the third position.

[0540] By arranging the driving device 150 and the control device 190, and connecting the driving device 150 with the first cutter head 120 and connecting the control device 190 with the driving device 150, the position switching efficiency of the first cutter head 120 can be improved.

[0541] For example, the driving device 150 is one or a combination of a worm gear structure, a connecting rod driving device, a connecting rod mechanism or a gear assembly. The worm gear structure, the connecting rod driving device, the connecting rod mechanism or the gear assembly are commonly used as driving devices, and are relatively simple to assemble. Therefore, the driving device 150 is arranged as the worm gear structure, the connecting rod driving device, the connecting rod mechanism or the gear assembly, so as to simplify the driving device 150 and reduce the cost of the intelligent mower 100.

[0542] In some embodiments, the intelligent mower 100 can further include a first acquisition unit 191 configured to acquire position information of the intelligent mower 100 in the cutting area 200, the first acquisition unit 191 being electrically connected to the control device 190, and the control device 190 being configured to control the driving device 150 to move the first cutter head 120 to the first position, the second position or the third position according to the position information of the intelligent mower 100 in the cutting area 200.

[0543] It should be noted that the position information of the intelligent mower 100 in the cutting area 200 refers to the intelligent mower 100 being located in the edge area 210, the middle area 220 or the corner area 230.

[0544] By controlling the state of the first cutter head 120 according to the position information of the intelligent mower 100 in the cutting area 200, the first cutter head 120 can be located at a suitable position when the intelligent mower 100 performs cutting operations on different areas, thereby improving cutting efficiency and ensuring that the edge can be cut.

[0545] For example, when the position information is that the intelligent mower 100 is located in the edge area 210, the first cutter head 120 can be adjusted to the first position or the second position to cut the area on the edge of the body 110 or outside the edge of the body 110, thereby solving the problem that the intelligent mower 100 cannot cut to the edge in the related art. When the position information is the middle area 220, the first cutter head 120 can be moved to the third position so that the first cutter head 120 is located below the body 110, thereby improving the safety performance of the intelligent mower 100. When the position information is the corner area, the first cutter head 120 can be moved to the first position to cut the area on the edge of the body 110 and outside the edge of the body 110, thereby solving the problem that the intelligent mower 100 cannot cut to the edge in the related art.

[0546] Of course, in other embodiments, the first cutter head 120 can also be moved to other states according to the position information, which can be set according to specific circumstances, and in the embodiments of the present application, no further limitation is made.

[0547] For example, the first acquisition unit 191 can include one or more of a radar, a time of flight (TOF) sensor, a depth camera, a binocular camera, a camera, a distance sensor, a laser ranging sensor, an edge sensor, and a time of flight sensor, so that the position information of the intelligent mower 100 in the cutting area 200 can be obtained, and the intelligent mower 100 can control the position of the first cutter head 120 according to the position information.

[0548] In a possible implementation, the intelligent mower 100 can further include a second acquisition unit 192, where the second acquisition unit 192 is configured to acquire minimum horizontal distance information of the first cutter head 120 to the boundary line 300 of the area to be cut 200. The second acquisition unit 192 is connected to the control device 190, and the control device 190 is configured to drive the driving device 150 to move the first cutter head 120 to the first position, the second position, or the third position according to the minimum horizontal distance information.

[0549] For example, when the first cutter head 120 is at the first position, the control device 190 is further configured to control the driving device 150 to extend the first cutter head 120 out of the second end portion 114 by a first preset length according to the minimum horizontal distance information, and the minimum horizontal distance of the first cutter head 120 to the boundary line 300 of the area to be cut 200 is greater than the first preset length. That is, the control device 190 can control the horizontal distance of the first cutter head 120 to extend according to the minimum horizontal distance, so as to prevent the first cutter head 120 from colliding with the boundary line 300 and the like, and prevent the first cutter head 120 from being damaged. In other words, the first cutter head 120 can expand the cutting range without collision, and thus cut to the edge.

[0550] For example, the first preset length can be 10 cm, 11 cm, 12 cm, 13 cm, 14 cm, 15 cm, 16 cm, 17 cm, 18 cm, 19 cm, 20 cm, etc. Of course, in other embodiments, the first preset length can also be other values, and in the embodiments of the present application, the first preset length is not limited further. By setting the first preset length to 10-20 cm, the cutting range of the first cutter head can be expanded, the cutting to the edge can be ensured, and in addition, the problem of the first cutter head being difficult to retract due to the excessively large extension length can be prevented.

[0551] In a possible implementation, when the first cutter head 120 is at the first position, in the y direction, the minimum horizontal distance h4 between the farthest point of the first cutter head 120 away from the machine body 110 and the machine body 110 is greater than 1 / 10 of the diameter of the first cutter head, and the minimum horizontal distance h4 between the farthest point of the first cutter head 120 away from the machine body 110 and the machine body 110 is less than 1 / 3 of the diameter of the first cutter head.

[0552] In a possible implementation, when the first cutter head 120 is at the first position, in the y direction, the minimum horizontal distance h4 between the farthest point of the first cutter head 120 away from the machine body 110 and the machine body 110 is greater than 1 / 8 of the diameter of the first cutter head, and the minimum horizontal distance h4 between the farthest point of the first cutter head 120 away from the machine body 110 and the machine body 110 is less than 1 / 4 of the diameter of the first cutter head.

[0553] Exemplarily, the minimum horizontal distance h4 between the farthest point of the first cutter head 120 away from the machine body 110 and the machine body 110 can be 1 / 10, 1 / 9, 1 / 8, 1 / 7, 1 / 6, 1 / 5, 1 / 4, 1 / 3, 1 / 2, etc. of the diameter of the first cutter head 120. In the embodiment of the present application, the minimum horizontal distance h4 between the farthest point of the first cutter head 120 away from the machine body 110 and the machine body 110 is a fraction of the diameter of the first cutter head 120, and is not limited further.

[0554] Exemplarily, the second acquisition unit 192 can be a distance sensor, an edge sensor, an edge radar, or other devices capable of measuring distance. In the embodiment of the present application, the structure of the second acquisition unit 192 is not limited further.

[0555] In a possible implementation, the intelligent mower 100 can further include a detection device 140, which is arranged on the machine body 110. The detection device 140 is configured to detect biological information. The intelligent mower 100 is configured to perform a safety protection action according to the biological information, wherein the safety protection action at least includes controlling the first cutter head 120 to slow down and / or stop rotating and / or shielding the first cutter head 120 in the protective cover 125.

[0556] Of course, in other embodiments, the safety protection action can further include controlling the first cutter head 120 to move to a third position, controlling the first cutter head 120 to slow down, etc. In the embodiment of the present application, the safety protection action can have multiple settings. In the embodiment of the present application, the safety protection action is not limited further.

[0557] By arranging the detection device 140, the mower can be controlled to enter the safety protection action according to the biological information detected by the detection device 140, and in the safety protection action, the first cutter head is slowed down and / or stopped rotating and / or shielded in the protective cover 125. In this way, the safety performance of the mower can be improved.

[0558] It should be noted that when the first cutter head 120 is fixedly connected to the machine body 110 in the embodiment of the present application, the safety protection action is the same as that in the embodiment shown in FIGS. 1-14. For the description of the safety protection action in the present embodiment, reference can be made to the description of the safety protection action in the embodiment shown in FIGS. 1-14. In the present embodiment, no further description is made. When the first cutter head 120 is movably connected to the machine body 110, the safety protection action is the same as that in the embodiment shown in FIGS. 15-18. For the description of the safety protection action in the present embodiment, reference can be made to the description of the safety protection action in the embodiment shown in FIGS. 15-18. In the present embodiment, no further description is made.

[0559] Exemplarily, the intelligent mower 100 can further include a balancing structure 170 arranged on the machine body 110, and the balancing structure 170 is used to balance the mass of the first cutter head 120 and the motor 130. In this way, the machine body 110 can be kept balanced, and the intelligent mower 100 can be prevented from tilting and other problems during mowing.

[0560] In a possible implementation, the motor 130 is provided with a heat dissipation device, and the heat dissipation device is used to dissipate heat for the motor 130. Exemplarily, the heat dissipation device can be a fan, a water cooling device, an air cooling device, etc., and the specific structure of the heat dissipation device is not limited in the embodiment of the present application. By arranging the heat dissipation device, the motor 130 can be cooled, and the normal operation of the motor 130 can be ensured.

[0561] It should be noted that in some implementations, the heat dissipation device can also not be arranged on the outer side of the motor 130, and the specific shape and arrangement position of the heat dissipation device are not limited in the embodiment of the present application.

[0562] In a possible implementation, the motor 130 can be further provided with a waterproof structure on the outer side.

[0563] By arranging the waterproof structure on the outer side of the motor 130, the motor 130 can be prevented from being waterlogged or damp, and the normal operation of the motor 130 can be ensured.

[0564] It should be noted that the waterproof structure can be arranged between the output shaft of the motor 130 and the body of the motor 130, so that the output shaft of the motor 130 is exposed and the motor 130 is not exposed, thereby effectively preventing the motor 130 from being waterlogged or damp, and ensuring the normal operation of the motor 130.

[0565] It should be noted that in the embodiment of the present application, the shapes, structures, principles and arrangement positions of the rear wheels 162, the detection device 140, the protective cover 125 and the balancing structure 170 are the same as those of the rear wheels 162, the detection device 140, the protective cover 125 and the balancing structure 170 in the embodiments shown in FIGS. 1-14, and therefore, in the embodiment of the present application, the shapes, structures, principles and arrangement positions of the rear wheels 162, the detection device 140, the protective cover 125 and the balancing structure 170 can be referred to the description of the rear wheels 162, the detection device 140, the protective cover 125 and the balancing structure 170 in the embodiments shown in FIGS. 1-14, and in the embodiment of the present application, no further description is made.

[0566] Furthermore, the moving speed of the intelligent lawnmower 100, the minimum horizontal distance between the first blade 120 and the second blade 122 and the ground, and the mass of the first blade 120 are all the same as those of the intelligent lawnmower 100 in the embodiments shown in Figures 1-14. For details, please refer to the descriptions in the embodiments shown in Figures 1-14. In this embodiment, no further explanation is given.

[0567] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0568] In the description of this application, it should be understood that the terms “comprising” and “having” as used herein, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are expressly listed, but may include other steps or units that are not expressly listed or that are inherent to such process, method, product, or apparatus.

[0569] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the connection within two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0570] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A smart lawnmower, characterized in that, The application relates to a smart mower, comprising: a machine body; a first cutter head having a cutting blade, the cutting blade being a metal piece, the first cutter head being arranged at a first position or a second position relative to the machine body; the first position is defined as: at least part of the first cutter head is located outside the vertical projection of the machine body towards the ground; the second position is defined as: the first cutter head is located inside the vertical projection of the machine body towards the ground, and the minimum horizontal distance between the outer edge of the cutting blade and the outer edge of the machine body is greater than or equal to 0 and less than or equal to 50 mm; the first cutter head is configured to rotate at a speed of 1800-3500 rpm when the smart mower is located at the first position or the second position, the smart mower is in a mowing working state and does not get stuck; a detection device arranged on the machine body, the detection device being used for detecting biological information, and the smart mower being used for executing a safety protection action according to the biological information.

2. A smart lawnmower, characterized in that, The application relates to a smart mower, comprising: a machine body comprising a first end portion and a second end portion arranged oppositely along the advancing direction of the smart mower; a front wheel and a rear wheel, both of which are arranged on the side of the smart mower facing the ground, and in the advancing direction of the smart mower, the front wheel and the rear wheel are arranged at intervals, the front wheel is located between the rear wheel and the first end portion, and the rear wheel is located between the front wheel and the second end portion; a first cutter head having a cutting blade, the cutting blade being a metal piece; in the advancing direction of the smart mower, the first cutter head is located between a first tangent plane of the front wheel and a second tangent plane of the rear wheel; the first tangent plane is perpendicular to the advancing direction and passes through a first end point of the front wheel, the first end point being defined as the farthest point of the front wheel from the first end portion; the second tangent plane is perpendicular to the advancing direction and passes through a second end point of the rear wheel, the second end point being defined as the farthest point of the rear wheel from the second end portion; the relative position between the first cutter head and the machine body is fixed, the first cutter head is fixed at a first position or a second position, the first position is defined as: at least part of the first cutter head is located outside the vertical projection of the machine body towards the ground, the second position is defined as: the first cutter head is located inside the vertical projection of the machine body towards the ground, and the minimum horizontal distance between the outer edge of the cutting blade and the outer edge of the machine body is greater than or equal to 0 and less than or equal to 50 mm; the first cutter head is configured to rotate at a speed of 1800-3500 rpm when the smart mower is in a mowing state and does not get stuck; a detection device arranged on the machine body, the detection device being used for detecting biological information, and the smart mower being used for executing a safety protection action according to the biological information.

3. A smart lawnmower, characterized in that, The application relates to a smart mower, comprising: a machine body comprising a first end portion and a second end portion arranged oppositely along the advancing direction of the smart mower; a front wheel and a rear wheel, both of which are arranged on the side of the smart mower facing the ground, and in the advancing direction of the smart mower, the front wheel and the rear wheel are arranged at intervals, A first cutter head is connected to the side of the machine body facing the ground, and the outer side of the first cutter head is provided with a cutting blade, which is a metal piece; In the forward direction of the intelligent mower, the first cutter head is located between a first tangent plane of the front wheel and a second tangent plane of the rear wheel; The first tangent plane is perpendicular to the forward direction and passes through a first end point of the front wheel, and the first end point is defined as the farthest point of the front wheel from the first end portion; The second tangent plane is perpendicular to the forward direction and passes through a second end point of the rear wheel, and the second end point is defined as the farthest point of the rear wheel from the second end portion; The first cutter head moves relative to the machine body through at least a first position and a second position; The first position is defined as: at least part of the first cutter head is located outside the orthographic projection of the machine body facing the ground, The second position is defined as: the first cutter head is located inside the orthographic projection of the machine body facing the ground, and the minimum horizontal distance between the outer edge of the cutting blade and the outer edge of the machine body is greater than or equal to 0 and less than or equal to 50 mm; The first cutter head is configured to rotate at a speed of V1 when the intelligent mower is in a mowing state and does not get stuck, and the speed of the first cutter head during movement relative to the machine body is less than or equal to V1, and V1 is between 1800 rpm and 3500 rpm; A detection device is provided on the machine body, and the detection device is used to detect biological information, and the intelligent mower is used to perform a safety protection action according to the biological information.

4. A smart lawnmower, characterized in that, Comprise: A machine body comprising a first end portion and a second end portion arranged opposite in the forward direction of the intelligent mower; A front wheel and a rear wheel are arranged on the side of the intelligent mower facing the ground, and in the forward direction of the intelligent mower, the front wheel and the rear wheel are arranged at intervals; A first cutter head is connected to the side of the machine body facing the ground, and the outer side of the first cutter head is provided with a cutting blade, which is a metal piece; In the forward direction of the intelligent mower, the first cutter head is located between a first tangent plane of the front wheel and a second tangent plane of the rear wheel; The first tangent plane is perpendicular to the forward direction and passes through a first end point of the front wheel, and the first end point is defined as the farthest point of the front wheel from the first end portion; The second tangent plane is perpendicular to the forward direction and passes through a second end point of the rear wheel, and the second end point is defined as the farthest point of the rear wheel from the second end portion; The first cutter head moves relative to the machine body through at least a first position and a second position; The first position is defined as: at least part of the first cutter head is located outside the orthographic projection of the machine body facing the ground, The second position is defined as: the first cutter head is located inside the orthographic projection of the machine body facing the ground, and the minimum horizontal distance between the outer edge of the cutting blade and the outer edge of the machine body is greater than or equal to 0 and less than or equal to 50 mm; The second position is defined as: the first cutter head is located within the projection of the machine body towards the ground, and the minimum horizontal distance from the outer side edge of the cutting blade to the outer side edge of the machine body is greater than or equal to 0 and less than or equal to 50 mm; The first cutter head is configured to rotate at a speed of V1 when the intelligent mower is in a mowing state without grass clamping, and the speed of the first cutter head during movement relative to the machine body is less than or equal to V1, and V1 is between 1800 rpm and 3500 rpm. The detection device is arranged on the machine body, and the detection device is used to detect biological information, and the intelligent mower is used to perform a safety protection action according to the biological information.

5. The intelligent lawnmower as claimed in claim 3 or 4, characterized in that, The first cutter head further comprises a third position, when the first cutter head is in the third position, the first cutter head is located within the projection of the machine body towards the ground, and the minimum distance from the outer side edge of the cutting blade to the outer side edge of the machine body is greater than 50 mm. The first cutter head moves relative to the machine body and at least passes through the first position, the second position and the third position.

6. The intelligent lawnmower as claimed in any one of claims 1 to 4, wherein, The number of the first cutter heads is two, and the two first cutter heads are arranged side by side in the transverse direction of the machine body, which is perpendicular to the advancing direction of the intelligent mower.

7. The intelligent lawnmower as claimed in any one of claims 2 to 4, wherein, Further comprising a second cutter head, the second cutter head is installed on the side of the machine body towards the ground; wherein, The first cutter head and the second cutter head are located between the first section of the front wheel and the second section of the rear wheel, and the second cutter head is arranged in a spaced manner with the first cutter head. The first cutter head and the second cutter head at least partially overlap in the projection of the advancing direction of the intelligent mower, or the first cutter head and the second cutter head are arranged side by side in the transverse direction of the machine body, which is perpendicular to the advancing direction of the intelligent mower.

8. The intelligent lawnmower as claimed in claim 7, characterized in that, The number of the first cutter heads is two; wherein, In the transverse direction of the machine body, the two first cutter heads are respectively located on both sides of the second cutter head.

9. The intelligent lawnmower as claimed in any one of claims 1 to 4, wherein, The first cutter head is detachably connected with the machine body.

10. The intelligent lawnmower as claimed in any one of claims 2 to 4, wherein, The intelligent mower further comprises a protective member; wherein, The protective member is located above the first cutter head to cover above the first cutter head.

11. The intelligent lawnmower as claimed in claim 10, wherein, When the first cutter head is in the first position, the outer side edge of the part of the first cutter head located outside the machine body is flush with the outer side edge of the protective member in the vertical direction, or the spacing between the outer side edge of the part of the first cutter head located outside the machine body and the outer side edge of the protective member is greater than 0 mm and less than 50 mm.

12. The intelligent lawnmower as claimed in claim 10, wherein, The machine body has a first side edge and a second side edge arranged in opposite directions along the transverse direction of the machine body, which is perpendicular to the advancing direction of the intelligent mower; wherein, In the advancing direction of the intelligent mower, both ends of the first side edge and the second side edge are respectively connected with the second end and the first end; The protective member is located on the first side edge and / or the second side edge, and the first cutter head corresponds to the protective member.

13. The intelligent lawnmower as claimed in claim 10, wherein, The fuselage has a first side edge and a second side edge arranged opposite in the transverse direction of the fuselage, the transverse direction of the fuselage being perpendicular to the advancing direction of the intelligent mower; When the first cutter head is in the second position, the minimum horizontal distance from the outer side edge of the cutting edge to the first side edge and / or the second side edge is less than or equal to 50 mm; When the first cutter head is in the first position, the maximum horizontal distance from the outer side edge of the guard to the outer side edge of the fuselage is greater than 0 mm and less than or equal to 60 mm.

14. The intelligent lawnmower as claimed in any one of claims 1 to 4, wherein, When the first cutter head is in the first position, the minimum horizontal distance between the farthest point of the first cutter head away from the fuselage and the fuselage in the transverse direction of the fuselage is greater than 1 / 10 of the diameter of the first cutter head, and the minimum horizontal distance between the farthest point of the first cutter head away from the fuselage and the fuselage is less than 1 / 3 of the diameter of the first cutter head.

15. The intelligent lawnmower as claimed in claim 14, characterized in that, In the transverse direction of the fuselage, the minimum horizontal distance between the farthest point of the first cutter head away from the fuselage and the fuselage is greater than 1 / 8 of the diameter of the first cutter head, and the minimum horizontal distance between the farthest point of the first cutter head away from the fuselage and the fuselage is less than 1 / 4 of the diameter of the first cutter head.

16. The intelligent lawnmower as claimed in any one of claims 1 to 4, wherein, The first cutter head is configured to have a rotation speed of between 1800-2500 revolutions per minute when the intelligent mower is in the process of mowing and not stuck.

17. The intelligent lawnmower as claimed in claim 16, characterized in that, The first cutter head is configured to have a rotation speed of between 2000-2500 revolutions per minute when the intelligent mower is in the process of mowing and not stuck.

18. The intelligent lawnmower as claimed in any one of claims 1 to 4, wherein, The first cutter head comprises a rotating disc and a plurality of blades, the blades being metal pieces; wherein, A plurality of the blades are arranged in the circumferential direction of the rotating disc, and the outer side of the blades is provided with the cutting edges; The first cutter head comprises a rebound device; The rebound device is arranged between the blade and the rotating disc; When the blade receives a resistance greater than a preset threshold during the cutting operation of the first cutter head, the blade moves a preset horizontal distance towards the center axis of the first cutter head through the rebound device.

19. The intelligent lawnmower as claimed in any one of claims 1 to 4, wherein, Further comprising a balancing structure; wherein the balancing structure is arranged in the fuselage; When the number of first cutter heads is one, the balancing structure is arranged opposite the first cutter head in the transverse direction of the fuselage to balance the mass of the first cutter head, and the transverse direction of the fuselage is perpendicular to the advancing direction of the intelligent mower; When the number of first cutter heads is two, the two first cutter heads are arranged side by side in the transverse direction of the fuselage, and one of the first cutter heads acts as the balancing structure to balance the mass of the other first cutter head, and the transverse direction of the fuselage is perpendicular to the advancing direction of the intelligent mower.

20. The intelligent lawnmower as claimed in claim 19, characterized in that, The balancing structure is an iron block or a battery.

21. The intelligent lawnmower as claimed in any one of claims 1 to 4, wherein, The moving speed of the intelligent mower is between 1 m / s and 3 m / s; And / or, the minimum vertical distance of the first cutter head to the ground is between 2-8 cm; And / or, the mass of the first cutter head is between 150g-250g.

22. The intelligent lawnmower as claimed in any one of claims 1 to 4, wherein, Further comprising a control device; wherein, The control device is connected with the detection device; The control device is used for controlling the intelligent mower to execute the safety protection action according to the biological information.

23. The intelligent lawnmower as claimed in claim 22, characterized in that, The safety protection action includes one or more combinations of the following: the intelligent mower slows down walking, the intelligent mower stops walking, the first cutter head slows down rotating, the first cutter head stops rotating, the intelligent mower executes obstacle avoidance, and the intelligent mower executes obstacle circumvention.

24. The intelligent lawnmower as claimed in claim 22, wherein, The safety protection device comprises a protective cover, the protective cover comprises an open state and a retracted state; wherein, When the protective cover is in the open state, the protective cover covers the outside of the first cutter head; When the protective cover is in the retracted state, the protective cover does not cover the outside of the first cutter head; The control device is connected with the protective cover, and the safety protection action at least includes controlling the protective cover to switch to the open state.

25. The intelligent lawnmower as claimed in any one of claims 1 to 4, wherein, The detection device comprises one or more of an infrared sensor, a line laser sensor, a camera, a distance sensor, a laser ranging sensor, an edge sensor, and a flight sensor.

26. The intelligent lawnmower as claimed in any one of claims 1 to 4, wherein, The machine body has a first side edge and a second side edge oppositely arranged along the transverse direction of the machine body, the transverse direction of the machine body being perpendicular to the forward direction of the intelligent mower; When the first cutter head is in the first position, at least part of the first cutter head is exposed to the outside of the machine body through the first side edge; or, at least part of the first cutter head is exposed to the outside of the machine body through the second side edge.

27. The intelligent lawnmower as claimed in any one of claims 1 to 4, wherein, When the first cutter head is in the first position, the maximum horizontal distance from the outside edge of the at least part of the first cutter head to the outside edge of the machine body is greater than or equal to 0 mm and less than or equal to 60 mm.

28. The intelligent lawnmower as claimed in claim 27, characterized in that, When the first cutter head is in the first position, the maximum horizontal distance from the outside edge of the at least part of the first cutter head to the outside edge of the machine body is greater than or equal to 0 mm and less than or equal to 40 mm.

29. The intelligent lawnmower as claimed in any one of claims 1 to 4, characterized in that, The first cutter head is connected with a motor, the motor is used for driving the first cutter head to rotate, and a heat dissipation device is arranged on the motor and used for dissipating heat of the motor.

30. The intelligent lawnmower as claimed in any one of claims 1 to 4, characterized in that, The first cutter head is connected with a motor, the motor is used for driving the first cutter head to rotate, and a waterproof structure is arranged on the outside of the motor.

31. The intelligent lawnmower as claimed in any one of claims 1 to 4, wherein, Further comprising a driving device; wherein, The driving device is arranged between the machine body and the first cutter head, and is used for driving the first cutter head to switch between the first position and the second position.

32. The intelligent lawnmower as claimed in claim 31, characterized in that, The driving device is one or more combinations of a worm gear driving device, a connecting rod driving device, and a gear driving device.

33. The intelligent lawnmower as claimed in claim 32, characterized in that, Further comprising a control device; wherein, The control device is electrically connected with the detection device and the driving device; The control device is used for controlling the intelligent mower to execute the safety protection action according to the biological information, and the safety protection action at least includes controlling the driving device to move the first cutter head to the second position.

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