Automatic lawn mower and control method therefor

Abstract

The present application relates to an automatic lawn mower and a control method therefor. The automatic lawn mower comprises a machine body, a movement assembly, a trimming assembly and a controller. The trimming assembly comprises: a trimming working head; a rotating base, provided in a front corner area of the machine body; and a support member, one end thereof being pivotally connected to the rotating base, and the other end thereof being connected to the trimming working head. The support member is configured to rotate in a horizontal direction with respect to the machine body, so as to drive the trimming working head to rotate from the side direction of the machine body to the front direction of the machine body, such that the trimming working head can extend towards the front of the machine body and is at least flush with the front end of the machine body. The automatic lawn mower can better handle edges of various shapes, thereby improving the edge trimming effect.

Description

Automatic lawnmowers and their control methods Technical Field

[0001] This application relates to the field of garden equipment technology, specifically to an automatic lawnmower and its control method. Background Technology

[0002] With the development of smart home devices, smart automatic lawnmowers (also known as automatic lawnmowers or automatic lawnmower robots) have gradually become popular due to their ability to autonomously trim lawns. However, the trimming modes of existing smart automatic lawnmowers are simple and cannot handle edges with shapes such as right angles and concave corners, often resulting in incomplete trimming and affecting the aesthetics. Summary of the Invention

[0003] In view of this, this application provides an automatic lawnmower that can better handle edges of various shapes and improve the edge trimming effect.

[0004] The above-mentioned objectives of the present invention can be achieved by the following technical solutions:

[0005] The first aspect of this disclosure provides an automatic lawnmower that autonomously performs vegetation trimming operations within a limited working area, comprising: a body having a front end; a moving component configured to move the automatic lawnmower; a trimming component configured to perform an edge-cutting task; and a controller connected to the moving component and the trimming component, configured to: control the moving component to move the automatic lawnmower; and control the trimming component to perform the edge-cutting task; wherein the trimming component includes: a trimming head configured to perform the edge-cutting task; a rotating base disposed in the front corner region of the body; and a support member, one end of which is pivotally connected to the rotating base and the other end of which is connected to the trimming head; the support member is arranged to rotate horizontally relative to the body to drive the trimming head to rotate from the side of the body towards the front of the body, such that the trimming head can extend towards the front of the body and is at least flush with the front end of the body.

[0006] In some embodiments, the controller is configured to control the rotation of the support member according to the boundary characteristics, so that the trimming head is adjusted to a state corresponding to the boundary characteristics.

[0007] In some embodiments, a boundary distance sensing module is further included, configured to acquire the distance between the automatic lawnmower and the boundary; the controller is further configured to: control the rotation of the support member according to the boundary distance to adjust the extension of the trimming head relative to the body; wherein the extension includes the extension direction and / or the extension distance.

[0008] In some embodiments, the support rotates at an angle greater than or equal to 150 degrees in the horizontal direction; wherein at least a portion of the angle range causes at least 70% of the trimming head to be within the body profile; at least a portion of the angle causes at least 40% of the trimming head to extend beyond the side of the body; and at least a portion of the angle causes a portion of the trimming head to be in front of the body.

[0009] In some embodiments, the movement trajectory of the trimming head at least covers a preset corner cutting state, wherein the corner cutting state refers to the state in which at least part of the trimming head extends out of the front end of the machine body.

[0010] In some embodiments, the controller is configured to: control the swing of the support member in response to identifying a boundary of a first boundary characteristic, such that the trimming head switches to a corner cutting state; wherein the first boundary characteristic includes a corner.

[0011] In some embodiments, the controller is configured to: reduce the walking speed of the automatic lawnmower in response to recognizing the boundary of the first boundary characteristic; or, reduce the walking speed of the automatic lawnmower in response to recognizing the boundary of the first boundary characteristic and the trimming head being in a corner cutting state.

[0012] In some embodiments, a vision device is also included, configured to detect the environment in front of the machine body; when the trimming head is in the corner cutting state, the trimming assembly is at least partially within the acquisition range of the vision device.

[0013] In some embodiments, a vision protection device is also included, configured to protect the vision device from grass clippings generated by the trimming head during corner cutting operations.

[0014] In some embodiments, the movement trajectory of the trimming head also covers a preset edge cutting state, wherein the edge cutting state refers to the trimming head extending laterally relative to the machine body, and at least 40% of the trimming head extending beyond the side of the machine body.

[0015] In some embodiments, the controller is configured to: control the swing of the support member in response to identifying a boundary with a second boundary characteristic, causing the trimming head to switch to an edge cutting state; wherein the second boundary characteristic includes at least one of a straight edge, a boundary with an arc less than an arc threshold, or a protected restricted area.

[0016] In some embodiments, the controller is configured to: when it detects that the grass retention distance is greater than the cutting width of the trimming head, control the trimming head to perform at least two consecutive edge cutting operations to cover the grass retention distance; the grass retention distance is the width of the grass retention area that the main cutting component cannot cover in the main cutting mode.

[0017] In some embodiments, the controller is configured to: when it is detected that the grass retention distance is greater than the cutting width of the trimming head, control the trimming head to perform at least two edge cutting operations in different states, including: controlling the trimming head to perform one cutting operation in the edge cutting state; and controlling the trimming head to perform one cutting operation in the retracted state.

[0018] In some embodiments, the main cutting assembly is configured to move vertically, such that the main cutting assembly has different cutting heights; the controller is configured to: when there is a height difference between the cutting height of the trimming head and the cutting height of the main cutting assembly, control the automatic lawnmower to enter a pre-trimming mode, wherein the pre-trimming mode is a mode that reduces the difference between the cutting height of the trimming head and the cutting height of the main cutting assembly.

[0019] In some embodiments, the controller is configured to control the trimming head to switch to a storage state in the pre-trimming mode.

[0020] In some embodiments, the movement trajectory of the trimming head covers a preset storage state, wherein the storage state refers to a state in which at least 70% of the trimming head is within the body outline.

[0021] In some embodiments, the movement trajectory of the trimming head covers a preset storage state, wherein the storage state refers to the state in which the portion of the trimming head extending beyond the side of the machine body is greater than or equal to 0 and less than 30%.

[0022] In some embodiments, the trimming head is arranged to operate in the retracted state;

[0023] The controller is configured to: control the swing of the support member in response to the identification of a boundary having a third boundary characteristic, causing the trimming head to switch to a retracted state; and control the trimming head to perform cutting work in the retracted state; wherein the third boundary characteristic includes an unprotected restricted area.

[0024] In some embodiments, the trimming head is a grass trimming head; the energy of the grass trimming head is less than or equal to 2J.

[0025] In some embodiments, the side of the fuselage forms a clearance space corresponding to the portion of the trimming head that is within the fuselage outline.

[0026] In some embodiments, when in the storage position, the bottom of the trimming component is greater than or equal to the bottommost point of the body.

[0027] In some embodiments, the movement trajectory of the trimming head covers a preset storage state and a preset edge cutting state, wherein the storage state refers to the state in which the trimming head is basically flush with the machine body; and the edge cutting state refers to the state in which the trimming head is swung to the side relative to the machine body from the storage position.

[0028] In some embodiments, the trimming head has different protection levels in its storage position and edge cutting state to cope with trimming work in restricted areas with different protection levels;

[0029] The controller is configured to: control the trimming head to operate in a retracted state in response to an identification signal of a restricted area with a first protection level; and control the trimming head to operate in an edge-cutting state in response to an identification signal of a restricted area with a second protection level; wherein the first protection level is lower than the second protection level.

[0030] In some embodiments, the movement trajectory of the trimming head covers a preset storage state, a preset edge cutting state, and a preset corner position, wherein at least two of the storage state, edge cutting state, and corner cutting state have different ground clearances.

[0031] In some embodiments, the trimming component is configured to passively float relative to the fuselage when subjected to an external force, the passive floating including vertical floating and horizontal floating.

[0032] In some embodiments, a height floating mechanism is further included, which is at least used to passively adjust the position of the trimming assembly in the height direction under the force exerted by the obstacle when the trimming assembly collides with the obstacle.

[0033] In some embodiments, a horizontal floating mechanism is further included, which is at least used to passively adjust the position of the trimming assembly on the horizontal plane under the force exerted by the obstacle on the trimming assembly when the trimming assembly collides with the obstacle.

[0034] In some embodiments, a position detection component is also included, configured to detect the position of the trimming component;

[0035] The controller is configured to control the support to stop swinging when the detection data from the position detection component indicates that the trimming component has moved into position.

[0036] In some embodiments, the controller is further configured to perform at least one of the following actions when the detection data from the position detection component indicates that the trimming component is stuck: controlling the support to stop swinging, controlling the support to reduce its swing speed, controlling the automatic lawnmower to execute an obstacle avoidance strategy corresponding to the machine body, or controlling the automatic lawnmower to issue an alarm signal.

[0037] In some embodiments, the controller is configured to execute the obstacle avoidance strategy corresponding to the fuselage when the trimming component collides with an obstacle and triggers a collision detection signal.

[0038] In some embodiments, the moving component includes a moving wheel located at the front of the fuselage, and when viewed in the height direction, the support is offset from the front wheel; the height of the support above the ground is greater than the height of the front wheel.

[0039] In some embodiments, the length of the support member is greater than or equal to 115 mm and less than or equal to 200 mm; wherein the length of the support member refers to the length from the center of the trimming head to the center of the rotating base; or...

[0040] The moving component includes a moving wheel located at the front of the fuselage and a moving wheel located at the rear of the fuselage, wherein the ratio of the length of the support member to the wheel spacing of the front and rear moving wheels ranges from 1:3 to 1:1.5.

[0041] A second aspect of this disclosure also provides an automatic lawnmower that autonomously performs vegetation trimming operations within a limited working area, comprising: a body having a front end; a moving component configured to move the automatic lawnmower; a trimming component configured to perform an edge-cutting task; and a controller connected to the moving component and the trimming component, configured to: control the moving component to move the automatic lawnmower; and control the trimming component to perform the edge-cutting task; wherein the trimming component includes: a trimming head configured to perform the edge-cutting task; a rotating base disposed in the front corner region of the body; and a support member, one end of which is pivotally connected to the rotating base and the other end of which is connected to the trimming head; the support member can rotate at an angle greater than or equal to 150 degrees in the horizontal direction.

[0042] A third aspect of this disclosure also provides an automatic lawnmower that autonomously performs vegetation trimming operations within a limited working area, comprising: a body having a front end; a moving component configured to move the automatic lawnmower; an edge trimming component configured to perform an edge trimming task; and a controller connected to the moving component and the edge trimming component, configured to: control the moving component to move the automatic lawnmower; and control the edge trimming component to perform the edge trimming task; wherein the edge trimming component includes: an edge trimming head configured to perform the edge trimming task; a rotating base disposed on the body, the rotating base having a rotating shaft; the rotating shaft forming a preset angle with the horizontal plane, defined as 0 degrees when the rotating shaft is perpendicular to the horizontal plane, the preset angle being greater than or equal to -45 degrees and less than or equal to +45 degrees; and a support... A support member, one end of which is pivotally connected to the rotating base, and the other end of which is connected to the trimming head; the support member is arranged to rotate about the rotating axis to drive the trimming head to rotate; the angle range of the support member rotating about the rotating axis is greater than or equal to 150 degrees; the controller is further configured to control the rotation angle of the support member so that the trimming head can switch between preset states, wherein the preset states include at least two of a retracted state, a trimming state, and a corner cutting state; in the retracted state, at least 70% of the trimming head is retracted into the side of the body; in the trimming state, at least a portion of the portion of the trimming head retracted into the side of the body extends out of the side of the body; in the corner cutting state, the trimming head extends further, such that at least a portion of the trimming head is in front of the body.

[0043] A fourth aspect of this disclosure also provides an automatic lawnmower that autonomously performs vegetation trimming operations within a limited working area, comprising: a body covered by a housing having a front end; a moving component, carried by the body and configured to move the automatic lawnmower; an edge trimming component, carried by the body or housing and configured to perform an edge cutting task; and a controller connected to the moving component and the edge trimming component, configured to: control the moving component to move the automatic lawnmower; and control the edge trimming component to perform an edge cutting task; wherein the edge trimming component is arranged to be movable relative to the body, such that the edge trimming component has at least two preset states, including: a retracted state, an edge trimming state, and a corner cutting state; the controller is further configured to: control the edge trimming component to switch between the different states; in the different states, the degree of extension of the edge trimming component relative to the body is different; and in the retracted state, the edge trimming state, and the corner cutting state, the degree of extension of the edge trimming component relative to the body tends to increase.

[0044] The fifth aspect of this disclosure also provides a control method for an automatic lawnmower, the automatic lawnmower comprising: a body having a front end; a moving component configured to move the automatic lawnmower; and a trimming component configured to perform an edge trimming task.

[0045] A controller; wherein the trimming assembly includes: a trimming head configured to perform an edge cutting task; a rotating base disposed in the front corner region of the body; a support member, one end of which is pivotally connected to the rotating base and the other end of which is connected to the trimming head; the support member can rotate at an angle greater than or equal to 150 degrees in the horizontal direction, such that the trimming assembly has at least two preset states, the preset states including: a retracted state, a trimming state, and a corner cutting state; in the retracted state, at least 70% of the trimming head is retracted into the side of the body; in the trimming state, at least a portion of the portion of the trimming head retracted into the side of the body extends out of the side of the body; in the corner cutting state, the trimming head extends further, such that at least a portion of the trimming head is in front of the body; the method includes: controlling the swing angle of the support member to allow the trimming assembly to switch between different states.

[0046] In some embodiments, the method further includes: controlling the rotation of the support member according to the boundary characteristics, so that the trimming head is adjusted to a state corresponding to the boundary characteristics.

[0047] In some embodiments, the method further includes: controlling the rotation of the support member according to the boundary distance to adjust the extension range of the trimming head relative to the machine body; wherein the extension range includes the extension direction and / or the extension distance.

[0048] In some embodiments, controlling the rotation of the support member according to the boundary characteristics to adjust the trimming head to a state corresponding to the boundary characteristics includes:

[0049] In response to identifying the boundary of the first boundary characteristic, the swing of the support is controlled, causing the trimming head to switch to the corner cutting state; wherein the first boundary characteristic includes a corner.

[0050] In some embodiments, controlling the rotation of the support member according to the boundary characteristics to adjust the trimming head to a state corresponding to the boundary characteristics includes: reducing the walking speed of the automatic lawnmower in response to identifying the boundary of the first boundary characteristic; or, reducing the walking speed of the automatic lawnmower in response to identifying the boundary of the first boundary characteristic and the trimming head being in a corner cutting state.

[0051] In some embodiments, controlling the rotation of the support member according to the boundary characteristics to adjust the trimming head to a state corresponding to the boundary characteristics includes: in response to identifying the boundary of the second boundary characteristics, controlling the swing of the support member to switch the trimming head to the edge cutting state; wherein the second boundary characteristics include at least one of a straight edge, a boundary with an arc less than an arc threshold, or a protected restricted area.

[0052] In some embodiments, the method includes: when it is detected that the grass retention distance is greater than the cutting width of the trimming head, controlling the trimming head to continuously perform at least two edge cutting operations to cover the grass retention distance; the grass retention distance is the width of the grass retention area that cannot be covered by the main cutting component in the main cutting mode.

[0053] In some embodiments, the method includes: when the grass retention distance is detected to be greater than the cutting width of the trimming head, controlling the trimming head to perform at least two edge cutting operations in different states, including: controlling the trimming head to perform one cutting operation in the edge cutting state; and controlling the trimming head to perform one cutting operation in the storage state.

[0054] In some embodiments, the method includes: when there is a height difference between the cutting height of the trimming head and the cutting height of the main cutting component, controlling the automatic lawnmower to enter a pre-trimming mode, wherein the pre-trimming mode is a mode that reduces the difference between the cutting height of the trimming head and the cutting height of the main cutting component.

[0055] In some embodiments, the method includes: in the pre-trimming mode, controlling the trimming head to switch to a storage state.

[0056] In some embodiments, the method includes: controlling the swing of a support member in response to identifying a boundary having a third boundary characteristic, causing the trimming head to switch to a retracted state; and controlling the trimming head to perform cutting work in the retracted state; wherein the third boundary characteristic includes an unprotected restricted area.

[0057] In some embodiments, the method includes: controlling the trimming head to operate in a retracted state in response to an identification signal of a restricted area having a first protection level; and controlling the trimming head to operate in an edge-cutting state in response to an identification signal of a restricted area having a second protection level; wherein the first protection level is lower than the second protection level.

[0058] In some embodiments, the automatic lawnmower further includes a position detection component configured to detect the position of the trimming component; the method includes controlling the support to stop swinging when detection data from the position detection component indicates that the trimming component has moved into position.

[0059] In some embodiments, the method includes performing at least one of the following actions when the detection data of the position detection component indicates that the trimming component is stuck: controlling the support to stop swinging, controlling the support to reduce the swing speed, controlling the automatic lawnmower to execute an obstacle avoidance strategy corresponding to the machine body, or controlling the automatic lawnmower to issue an alarm signal.

[0060] In some embodiments, the method includes: when the trimming component collides with an obstacle and triggers a collision detection signal, executing an obstacle avoidance strategy corresponding to the fuselage.

[0061] This application provides an automatic lawnmower with an improved trimming system that can adapt to various scenarios, such as trimming uncut edges, corners, etc. around boundaries and / or other objects, to improve edge trimming results and minimize grass residue. Attached Figure Description

[0062] Figure 1 is a schematic diagram of the structure of a lawnmower provided in some examples of this application when the trimming mechanism is in the first working position.

[0063] Figure 2 is a structural schematic diagram of a lawnmower provided in some other examples of this application when the trimming mechanism is in the first working position.

[0064] Figure 3 is a schematic diagram of the structure of a lawnmower provided in some examples of this application when the trimming mechanism is in the second working position.

[0065] Figure 4 is a schematic diagram of the structure of a lawnmower provided in some other examples of this application when the trimming mechanism is in the second working position.

[0066] Figure 5 is a structural diagram of a lawnmower provided in some examples of this application when the trimming mechanism is in the storage position.

[0067] Figure 6 is a structural diagram of a lawnmower provided in some other examples of this application when the trimming mechanism is in the storage position.

[0068] Figure 7 is a schematic diagram of the working scene of a lawnmower provided in some examples of this application when the trimming mechanism is in the first working position.

[0069] Figure 8 is a schematic diagram of another working scenario of a lawnmower provided in some examples of this application when the trimming mechanism is in the first working position.

[0070] Figure 9 is a schematic diagram of the working scenario of a lawnmower provided in some examples of this application when the trimming mechanism is in the second working position.

[0071] Figure 10 is a schematic diagram of the working scene of a lawnmower provided in some other examples of this application when the trimming mechanism is in the first working position.

[0072] Figure 11 is a schematic diagram of a working scenario of a lawnmower provided in some other examples of this application when the trimming mechanism is in the second working position.

[0073] Figure 12 is a schematic diagram of another working scenario of a lawnmower provided in some other examples of this application when the trimming mechanism is in the second working position.

[0074] Figure 13 is a schematic diagram of an obstacle avoidance scenario provided by some examples of this application when the trimming mechanism encounters an obstacle at the bottom of the lawnmower.

[0075] Figure 14 is a schematic diagram of an obstacle avoidance scenario provided by some examples of this application when a lawnmower encounters an obstacle on the side of its trimming mechanism.

[0076] Figure 15 is a schematic diagram of an obstacle avoidance scenario provided by some examples of this application when the trimming mechanism encounters an obstacle at the front of the lawnmower.

[0077] Figure 16 is another structural schematic diagram of a lawnmower provided in some examples of this application.

[0078] Figure 17 is a side view of the trimming mechanism, protective cover, and grass gathering assembly provided in some examples of this application.

[0079] Figure 18 is a bottom view of the trimming mechanism, protective cover, and grass gathering assembly provided in some examples of this application.

[0080] Figure 19 is a side view of the trimming mechanism and protective cover provided in some examples of this application.

[0081] Figure 20 is a bottom view of the trimming mechanism and protective cover provided in some examples of this application.

[0082] Figure 21 is a side view of another trimming mechanism and protective cover provided in some examples of this application.

[0083] Figure 22 is a bottom view of another trimming mechanism and protective cover provided in some examples of this application.

[0084] Figure 23 is a side view of another protective cover and hay-gathering assembly provided in some examples of this application.

[0085] Figure 24 is a top view of another protective cover and hay-gathering assembly provided in some examples of this application.

[0086] Figure 25 is a perspective view of the automatic lawnmower in its stowed state, according to an example of the present invention.

[0087] Figure 26 is a top view of the automatic lawnmower shown in Figure 25 in its stowed state.

[0088] Figure 27 is a front view of the automatic lawnmower shown in Figure 25 in its stowed state.

[0089] Figure 28 is a three-dimensional schematic diagram of the trimming state of the automatic lawnmower shown in Figure 25.

[0090] Figure 29 is a rear view of the automatic lawnmower shown in Figure 25 in its stowed state.

[0091] Figure 30 is a side view of the automatic lawnmower shown in Figure 25 in its stowed state.

[0092] Figure 31 is a rear view of the automatic lawnmower in the trimming state shown in Figure 25.

[0093] Figure 32 is a side view of the automatic lawnmower in the trimming state shown in Figure 25.

[0094] Figure 33 is a bottom view of the automatic lawnmower shown in Figure 25 in its stowed state.

[0095] Figures 34 to 36 are bottom views of automatic lawnmowers according to other embodiments of the present invention.

[0096] Figures 37 to 39 are schematic diagrams of the cutting area of ​​the automatic lawnmower shown in Figure 25 under different states.

[0097] Figure 40 is a schematic diagram of the cutting area of ​​another example of an automatic lawnmower.

[0098] Figure 41 is a three-dimensional schematic diagram of the trimming drive assembly of the automatic lawnmower shown in Figure 25.

[0099] Figure 42 is a side view of the modified driver component shown in Figure 41.

[0100] Figure 43 is a schematic diagram of a ball head structure provided in this application.

[0101] Figure 44 is a schematic diagram of the trimming component provided in this application when it encounters an obstacle.

[0102] Figure 45 is a schematic diagram of a scenario where the trimming component provided in this application is passively lifted when it encounters an obstacle.

[0103] Figure 46 is a schematic diagram of the secondary trimming scenario provided in this application. Detailed Implementation

[0104] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0105] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "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 mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0106] The terms "first" and "second" 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. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0107] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0108] Today, power tools such as automatic lawnmowers, leaf blowers, snow blowers, blow-vacuum cleaners, and chainsaws are widely used in industry, construction, landscaping, housework, and around houses, bringing great convenience to people's work and life.

[0109] With modern life placing increasing emphasis on greening, lawns are becoming more and more abundant, and automatic lawnmowers have become an indispensable tool for trimming and maintaining lawns.

[0110] To mow lawns, automatic lawnmowers are equipped with a cutting disc with metal blades. The cutting disc rotates to create a cutting area, thereby cutting grass or vegetation.

[0111] To prevent damage to the blades on the cutter head or harm to fixed or moving objects in the lawn, especially to animals or people near the automatic lawnmower, the blades are typically housed within the automatic lawnmower's casing, with a protective clearance between the blades and the casing edge. This structure prevents the blades from contacting the grass around the edges, making it impossible to cut grass around garden sheds, fences, walls, trees, large rocks, elevated fountains, trampolines, etc. These uncut edges around boundaries and / or other objects need to be cut using conventional methods, such as walking automatic lawnmowers or trimmers (like handheld lawn mowers), which increases the user's workload, affects efficiency, and increases the variety and cost of equipment.

[0112] To address the problems caused by introducing additional equipment, a new type of automatic lawnmower has been proposed, which carries a trimming component capable of trimming edges. However, this type of automatic lawnmower also has the following drawbacks: Firstly, automatic lawnmowers typically provide fixed modular interfaces to replace the trimming component with different working modules, thus the trimming component cannot handle cutting in special scenarios such as corners; secondly, in order to improve the trimming accuracy, the extension distance of the trimming component needs to be precisely controlled, which places high demands on the controller.

[0113] Furthermore, when automatic lawnmowers operate within a work area, there are special scenarios such as corners, for example, the corner formed by the intersection of two walls. Corners have various angles, including acute, right, obtuse, convex, and concave angles. Existing automatic lawnmowers cannot handle grass growing in corners, especially concave corners, leaving more grass behind and resulting in incomplete cutting.

[0114] Therefore, how to achieve the effect of edge trimming and reduce residual grass is a problem that automatic lawnmowers urgently need to solve.

[0115] The inventive concept of this application will be briefly described below:

[0116] Existing automatic lawn mowers have shortcomings in their lawn edge trimming solutions, such as the inability to completely trim edges or corners like inner right-angle recesses, resulting in incomplete edge cutting and affecting aesthetics.

[0117] This application provides an automatic lawnmower with an improved trimming system, capable of adapting to various scenarios, such as trimming uncut edges and corners around boundaries and / or other objects, to improve edge trimming results and minimize grass residue. In particular, this application's automatic lawnmower can cover edge grass residue areas that the main blade cannot reach, including cutting special areas such as corners.

[0118] To achieve this purpose, the automatic lawnmower is equipped with a trimming component for performing trimming operations. By arranging the trimming component as movable, it can be moved to different positions or have different states, thus adapting to various scenarios, such as edge trimming and corner trimming. Furthermore, the details regarding the movable trimming component will be explained in more detail later. The movable trimming component includes switching between different positions / states, the switching implementation structure (such as a swing-arm drive mechanism) and layout (e.g., the selection of the rotation point: the rotation point is located in the front corner area of ​​the outer profile of the machine body), and the timing of the switching (i.e., when to switch to which position / state), etc.

[0119] In addition to the above-mentioned content regarding setting the trimming component to be active, this disclosure also covers the following aspects:

[0120] 1. Corner cutting strategy:

[0121] For example, when a corner is detected and the trimming head is in the corner cutting position, the machine's walking speed decreases.

[0122] 2. A trimming head with visual monitoring capabilities to detect corner cutting status:

[0123] 3. Visual splash-proof grass requirements when cut at corners:

[0124] For example, side guards can be installed on the trimming head.

[0125] 4. Passive floating and its implementation structure

[0126] For example, in the trimming state, after a collision, the trimming head can passively retract to the side away from the machine body to improve the edge-fitting effect.

[0127] 5. On-site inspection

[0128] 5.1 Storage space placement inspection:

[0129] For example, when the machine is turned on, it first checks whether the working component is in the storage position. If it is not in the storage position, it controls the working component to return to the storage position. When in the storage position, there is a positioning detection at the end of the swing arm. The motor is at 0 degrees when in the initial position. Before each swing arm starts working, it is ensured that the swing arm is in the initial position.

[0130] 5.2 Workstation positioning detection:

[0131] If the working component is in the storage position (motor at 0, and swing arm in the initial position), determine whether to move to the working position based on whether the motor has rotated to the correct position and whether the swing arm has encountered any obstacles.

[0132] 6. Active obstacle avoidance strategies:

[0133] For example, if the trimming component collides (contact-type) and triggers a signal, the aircraft will execute an obstacle avoidance strategy.

[0134] 7. Cutting strategy for grass-retaining areas:

[0135] For example, at least two cutting operations can be performed using trimming components.

[0136] For example, pre-trimming can improve the flatness of the cutting height in the working area.

[0137] 8. The trimming unit has different ground clearances depending on its state.

[0138] For example, the ground clearance is different in the trimming state and the corner cutting state.

[0139] For example, the height from the ground is different when the item is stored and when it is trimmed.

[0140] 9. Protective measures for trimming work heads:

[0141] For example, to protect the lifespan of flowers, trees, and straw ropes, the diameter of the upper protective cover of the trimming head should not be smaller than the straw cutting diameter.

[0142] For example, to prevent visual pollution in corners, side shields can be installed.

[0143] 10. Grass-gathering component: to improve grass-gathering efficiency.

[0144] For example, soft materials such as edge brushes or roller brushes can be used to purify the grass.

[0145] It should be noted that the above elements can be combined with each other.

[0146] The above content will be discussed below:

[0147] This application provides an automatic lawnmower that autonomously performs vegetation trimming operations within a limited working area.

[0148] The limited work area can be defined by the boundaries of the work area. The boundary type can be a physical boundary cable or a virtual boundary. Virtual boundaries can usually be represented by digital coordinates, such as virtual boundaries drawn by the user on the work area map.

[0149] The work area could be a lawn, in which case the vegetation to be cut mainly refers to grass.

[0150] The automatic lawnmower includes: a body having a front end; a moving component configured to move the automatic lawnmower; and a controller connected to the moving component and configured to control the moving component to move the automatic lawnmower.

[0151] The fuselage is covered by a housing. In some examples, the housing may include an upper housing (also known as a top cover) and a lower housing (also known as a chassis), with a space between the top cover and the chassis for accommodating other components, including but not limited to controllers, drive motors for moving components, etc.

[0152] For ease of directional description, the direction perpendicular to the ground is defined as the vertical direction (also known as the height direction) of the machine body, the direction of travel of the automatic lawnmower is defined as the longitudinal direction (also known as the length direction) of the machine body, and the direction perpendicular to the direction of travel of the automatic lawnmower in the horizontal plane is defined as the transverse direction (also known as the width direction) of the machine body.

[0153] The moving component can be carried on or mounted on the body. The moving component may include a wheel assembly, which can be driven by a drive motor to move the automatic lawnmower. In some examples, the wheel assembly includes a front wheel (referred to as the front wheel) located at the front of the body and a rear wheel (referred to as the rear wheel) located at the rear of the body. The wheel assembly may include only one type of drive wheel, i.e., both the front and rear wheels are drive wheels. The wheel assembly may also include both drive and driven wheels; for example, the front wheel is a driven wheel and the rear wheel is a drive wheel; or the front wheel is a drive wheel and the rear wheel is a driven wheel. It is understood that the drive motor is connected to the drive wheels. The number of wheel assemblies can be three, for example, one front wheel and two rear wheels; or two front wheels and one rear wheel; the number of wheel assemblies can also be four, two front wheels and two rear wheels. Of course, in some examples, the moving component may also adopt a tracked structure, which is not limited in this disclosure.

[0154] In order to cut vegetation such as grass near the boundary, in some examples, the automatic lawnmower includes an edge trimming assembly configured to perform edge trimming tasks; and a controller connected to the edge trimming assembly configured to control the edge trimming assembly to perform edge trimming tasks.

[0155] It is understandable that the edge cutting task performed by the trimming component is different from the cutting task performed by the main cutting component described below.

[0156] The trimming component can be carried by the body or housing.

[0157] The trimming assembly includes a trimming head, which is configured to perform edge cutting operations.

[0158] Understandably, to perform edge cutting operations, a trimming head includes a cutting element and a motor. The motor drives the cutting element to perform the cutting operation. The cutting element can be made of a flexible material, such as straw rope, or it can be made of a metal material without a cutting edge, such as an unsharpened blade.

[0159] In some examples, the trimming assembly, especially the trimming head, is arranged to be movable. For example, the trimming head can rotate or oscillate relative to the machine body. In other words, the trimming assembly, especially the trimming head, can move to different positions relative to the machine body.

[0160] Because the trimming assembly is movable relative to the machine body, the trimming assembly, especially the trimming head, is in different positions, resulting in different states for the trimming assembly (or trimming head) or different modes for the automatic lawnmower. The position, state, and mode are corresponding.

[0161] Therefore, in some cases, the trimming head has preset positions, which include at least two of the following: a storage position, a first working position (also known as a trimming position or edge cutting position), and a second working position (also known as a corner cutting position).

[0162] In some cases, the trimming head can be switched between different positions. For example, a controller can control the trimming head to switch between different positions.

[0163] In some examples, the trimming component (or trimming head) has preset states, which include at least two of the following: a storage state, a first working state (also known as the trimming state or edge cutting state), and a second working state (also known as the corner cutting state).

[0164] In some cases, the trimming component (or trimming head) can switch between different states. For example, a controller can control the trimming component (or trimming head) to switch between different states.

[0165] In some examples, the automatic lawnmower has preset modes, including at least two of the following modes: a storage mode (also known as a safety mode), a first working mode (also known as a trimming mode or contouring mode), and a second working mode (also known as a corner cutting mode).

[0166] In some examples, the automatic lawnmower switches between different modes. For instance, the controller controls the automatic lawnmower to switch between different modes. It can be understood that the aforementioned storage position, storage state, and storage mode correspond; the first working position, first working state, and first working mode correspond; and the second working position, second working state, and second working mode correspond. In some examples, taking preset positions and preset states as examples, the preset positions and preset states have a corresponding relationship: when in the storage position, the trimming component is in the storage state; when in the trimming position, the trimming component is in the trimming state; and when in the corner cutting position, the trimming component is in the corner cutting state.

[0167] It should be noted that the degree of extension (also known as the extension range) of the trimming component relative to the fuselage varies in different positions, states, or modes. This extension degree can be characterized by parameters such as angle, direction, and / or distance, for example, through its positional or angular relationship with the fuselage. Each state corresponds to a different angle and / or extension position of the trimming component relative to the fuselage. Therefore, in different states, the distance between the trimming head and the center point of the fuselage is different, and / or, the angle formed between the line connecting the trimming head and the center point of the fuselage and the transverse / longitudinal central axis of the fuselage is different.

[0168] In some examples, in the storage state, trimming state, and corner cutting state, the degree to which the trimming component extends relative to the body tends to increase.

[0169] The term "retracted state" refers to the trimming head being positioned within the fuselage outline or substantially flush with the side of the fuselage. This can be characterized by the percentage of the trimming head retracted into the fuselage or the percentage extending beyond the side of the fuselage. Taking the percentage retracted into the fuselage as an example, the retracted state means that the percentage of the trimming head retracted into the fuselage is greater than or equal to a threshold, such as 70%. Of course, the threshold can also be set to other values, such as 60%, 80%, or 90%. For example, with a threshold of 70%, the retracted state means that at least 70% of the trimming head is retracted into the fuselage. In other words, the retracted state means that the percentage of the trimming head extending beyond the side of the fuselage is less than 30%, or the percentage of the trimming head outside the fuselage outline is less than 30%. This percentage can be expressed as an area percentage or a percentage of the width of the cutting area formed by the trimming head.

[0170] Considering that the cutting area may be obstructed by protective components, rendering the obstructed portion ineffective for cutting, in some cases, the width of the cutting area refers to the effective cutting width within the cutting area that performs the cutting function.

[0171] The cutting area is characterized by the proportion of its width. The threshold is set at 70%. The cutting area formed by the trimming head is circular with a radius of r. The total width of the cutting area is 2r. The retracted state means that at least 1.4r of the trimming head is within the body outline.

[0172] In some cases, the trimming head can be completely retracted into the body.

[0173] The first working state refers to the state in which the trimming head extends laterally relative to the fuselage. This lateral extension can be characterized by the amplitude of the trimming head's lateral swing. In other words, the first working state refers to the state in which the trimming head swings laterally relative to the fuselage with a first amplitude. Due to this swing, at least a portion of the trimming head is outside the fuselage outline or at least a portion of the trimming head extends beyond the side of the fuselage.

[0174] The aforementioned swing amplitude can be directly characterized by the rotation angle of the support member swinging to the side. For example, the first working state refers to the state where the trimming head rotates 10 degrees to the side relative to the fuselage. Of course, the angle threshold can also be set to other values, such as 20 degrees or 30 degrees. The aforementioned swing amplitude can also be indirectly characterized by the percentage of the trimming head extending beyond the side of the fuselage or outside the fuselage outline. For example, the first working state refers to the state where the percentage of the trimming head extending beyond the side of the fuselage or outside the fuselage outline is greater than or equal to a threshold, such as 40%. Of course, the threshold can also be other values, such as 30%, 50%, or 60%. Taking a threshold of 40% as an example, the first working state refers to the state where at least 40% of the trimming head extends beyond the side of the fuselage or at least 40% of the trimming head is outside the fuselage outline. Of course, the aforementioned swing amplitude can also be characterized by the percentage of the trimming head retracted into the fuselage. For example, the percentage of the trimming head retracted into the fuselage outline is less than 60%. Similarly, the proportion here can be the area proportion or the proportion of the width of the cutting area formed by the trimming head.

[0175] It should be noted that when the device is in a retracted state, the portion retracted into the body is reduced or the portion extending beyond the side of the body is increased compared to the first working state. In other words, the portion of the trimming head retracted into the body may extend beyond the side of the body, resulting in either an increase in the portion extending beyond the side of the body or a decrease in the portion retracted into the body.

[0176] The second working state refers to a state where the trimming head is flush with the front of the fuselage or at least a portion of the trimming head extends beyond the front of the fuselage. Therefore, in some examples, the second working state means that at least a portion of the trimming head is in front of the fuselage. In some examples, the second working state means that the proportion of the trimming head in front of the fuselage is greater than or equal to a threshold, such as 10%. Of course, the threshold can also be set to other values ​​within the range of 20% to 70%, such as 30%, 50%, or 60%. Taking a threshold of 10% as an example, the second working state means that at least 10% of the trimming head is in front of the fuselage.

[0177] To enable the trimming assembly, especially the trimming head, to be movable, in some examples, the trimming assembly also includes a rotating base.

[0178] The rotating base is used to provide a rotation point for the trimming head.

[0179] The rotating base can be supported by the fuselage or housing. For example, the rotating base can be mounted on the fuselage.

[0180] In some cases, the trimming component also includes a support.

[0181] The support component is used to provide support for the trimming head.

[0182] One end of the support is pivotally connected to the rotating base, and the other end is connected to the trimming head.

[0183] In some examples, the support is arranged to rotate horizontally relative to the fuselage. In other words, the support has a range of rotational angles in the horizontal direction.

[0184] By making the support movable, the trimming head can be rotated in the horizontal direction, for example, rotating the trimming head from the side of the machine body to the direction of the machine body, so that the trimming head is in different positions or states.

[0185] Unlike the above method of describing the movement of the support component from the perspective of the support component, the following provides another method of describing it from the perspective of the rotating base.

[0186] In some examples, the trimming assembly also includes a rotating base and a support, with the rotating base having a pivot.

[0187] The axis of rotation is basically perpendicular to the horizontal plane. Basically perpendicular can be understood as the axis of rotation being at a preset angle to the horizontal plane. The preset angle is defined as 0 degrees when the axis of rotation is perpendicular to the horizontal plane. The value range of the preset angle is greater than or equal to -45 degrees and less than or equal to +45 degrees.

[0188] One end of the support is pivotally connected to the rotating base, and the other end is connected to the trimming head.

[0189] The support is arranged to rotate about a pivot to drive the trimming head to rotate. For example, the support drives the trimming head to rotate from the side of the machine body to the front of the machine body, so that the trimming head can extend towards the front of the machine body and is at least flush with the front end of the machine body. At least flush with the front end of the machine body includes being flush with the front end of the machine body, or being at least partially in front of the machine body (i.e., at least partially extending beyond the front end of the machine body).

[0190] In some examples, the controller is also configured to control the rotation of the support member so that the trimming head can switch between preset states, wherein the preset states include at least two of the following: a storage state, a trimming state, and a corner cutting state.

[0191] In the retracted state, most of the trimming head is retracted to the side of the machine body; for example, the portion of the trimming head retracted to the side of the machine body accounts for more than or equal to 70% of the entire trimming head.

[0192] In the trimming state, at least a portion of the trimming head that is housed on the side of the machine body extends out of the side of the machine body;

[0193] In the corner cutting state, the trimming head extends further to the front end of the machine body, and at least a portion of the trimming head is in front of the machine body.

[0194] To describe how the trimming assembly can be made movable, in some examples, the trimming assembly includes a drive mechanism for moving the trimming head. In some examples, the drive mechanism includes a rotating base and a support. In other words, the rotating base and support are part of the drive mechanism.

[0195] In some examples, the drive mechanism may also include a drive motor that drives the support member to move. The support member rotates around the rotating base under the drive of the drive motor, thereby driving the trimming head to move.

[0196] Therefore, the controller is configured to control the operation of the drive motor, so that the support member, driven by the drive motor, moves the trimming head to switch between different positions or states.

[0197] Regarding how the trimming head performs cutting operations, in some examples, the trimming head includes a cutting element and a drive motor, with the cutting element operating under the drive motor's influence. The controller is configured to control the operation of a first motor, causing the cutting element to operate under the drive of the first motor to trim vegetation within the work area.

[0198] In some examples, the drive mechanism, especially the rotating base, is mounted on the fuselage at the front inflection point of the fuselage's outer contour.

[0199] Regarding when to switch states, in some examples, the controller is configured to control the rotation of the support based on the boundary characteristics, so that the trimming head is adjusted to a state corresponding to the boundary characteristics.

[0200] Boundary characteristics include shape, type, and attributes (such as whether it is an entity, the protection level of the restricted area, etc.).

[0201] It should be noted that boundary characteristics can be determined by machine perception or by presets, such as user-annotated presets, and this disclosure does not limit this. Therefore, in some examples, boundary characteristics can be determined by sensors, vision systems, or map data, and the controller is configured to control the trimming head to switch to the state corresponding to the perceived boundary characteristics.

[0202] In some examples, the automatic lawnmower also includes a boundary distance sensing module configured to acquire the distance between the automatic lawnmower and a boundary; the controller is further configured to control the rotation of a support member based on the boundary distance to adjust the extension degree of the trimming head relative to the body or its position relative to the boundary. In some examples, the support member is configured to be telescopic, for example, a multi-jointed robotic arm, and the controller is further configured to control the extension and retraction of the support member based on the boundary distance to adjust the extension degree of the trimming head relative to the body or its position relative to the boundary. In some examples, the controller is further configured to control the movement of the automatic lawnmower based on the boundary distance to adjust the extension degree of the trimming head relative to the body or its position relative to the boundary.

[0203] The degree of extension includes the direction of extension and / or the distance of extension.

[0204] By sensing and controlling boundary distances, it is beneficial to improve the accuracy of corner or edge trimming, reduce grass residue, and facilitate complete cutting to the edge.

[0205] For example, the controller determines the distance the trimming head extends relative to the machine body based on the distance obtained by the boundary distance sensing module.

[0206] The rotation of the support is controlled based on the distance of the extension, so that the trimming head is positioned at the determined target position.

[0207] In some cases, the controller determines the state of the trimming head based on boundary characteristics. In this state, the distance to the boundary is measured, and the extension range of the trimming head is adjusted accordingly. For example, if a corner is identified as a boundary characteristic, the trimming head is adjusted to a corner state. Within the angle range corresponding to the corner state, the swing of the support component is controlled, or the extension and retraction of the support component is controlled at the current angle corresponding to the corner state, to adjust the extension distance of the trimming head. This allows the trimming head to work closer to the corner, improving corner coverage.

[0208] In some cases, the boundary distance sensing module can be a distance-detecting sensor such as a visual sensor, ultrasonic sensor, or infrared sensor. The principle of distance measurement is not the end point of this article and will not be elaborated here.

[0209] In some examples, the support member rotates at an angle greater than or equal to 120 degrees in the horizontal direction. For example, the support member rotates at an angle greater than or equal to 150 degrees in the horizontal direction. Further, the support member rotates at an angle greater than or equal to 180 degrees in the horizontal direction. Even further, the support member rotates at an angle greater than or equal to 200 degrees in the horizontal direction.

[0210] The angle range covers at least two of the aforementioned preset states. The preset states include a storage state, a first working state, and a second working state.

[0211] It is understood that the aforementioned states typically do not refer to a single location, but rather a range or set of locations, with each state usually corresponding to a start position and an end position. Therefore, during arrival detection, the judgment on whether to switch to the corresponding state can be a judgment on whether to switch to the target position of that state. This target position can be the start position of the corresponding state, the end position of the state, or an intermediate position of the state. The intermediate position should be broadly interpreted as a position between the start and end positions, and this disclosure does not impose any limitation on this.

[0212] Therefore, in some examples, at least a portion of the angle range causes a large portion (e.g., at least 70%) of the trimming head to be within the fuselage profile; at least a portion of the angle causes the trimming head to extend laterally relative to the fuselage, such that a portion (e.g., at least 40%) of the trimming head is outside the side profile of the fuselage; and at least a portion of the angle causes a portion of the trimming head to be in front of the fuselage. In other words, the angle range covers three states.

[0213] For example, the angle range includes a first angle range, a second angle range, and a third angle range.

[0214] The first angle range corresponds to the trimming state, the second angle range corresponds to the corner cutting state, and the third angle range corresponds to the retracted state. In other words, the first angle range causes the trimming head to be tilted to the side relative to the body and at least partially (e.g., at least 40%) protruding from the outer contour of the body; the second angle range causes the trimming head to extend forward relative to the front end of the body and at least partially (e.g., at least 10%) to be in front of the body; the third angle range causes most of the trimming head (e.g., at least 70%) to be retracted into the body, or the portion of the trimming head protruding from the outer contour of the body (less than 30%) to be smaller than the portion of the trimming head protruding in the first angle range (e.g., 40%).

[0215] For ease of angle description, the direction of rotation from the side to the front is defined as the positive direction. When rotating in the positive direction, the angle gradually increases. The maximum value of the first angle range is less than or equal to the minimum value of the second angle range, and the maximum value of the third angle range is less than or equal to the minimum value of the first angle range.

[0216] In some examples, the third angle ranges from 0 degrees to 20 degrees. Further, the third angle ranges from 0 degrees to 10 degrees. Even further, the third angle ranges from 0 degrees to 5 degrees.

[0217] Understandably, 0 degrees is the minimum position where the trimming head is positioned near the machine body. In other words, 0 degrees corresponds to the position where, when the automatic lawnmower places the trimming assembly near the boundary, it cannot move further from the side of the machine body closest to the boundary to the other side furthest from the boundary.

[0218] In some examples, the first angle range is greater than 20 degrees and less than or equal to 90 degrees. Further, the first angle range is greater than or equal to 30 degrees and less than or equal to 80 degrees. Further, the first angle range is greater than or equal to 40 degrees and less than or equal to 70 degrees. Further, the first angle range is greater than or equal to 30 degrees and less than or equal to 60 degrees.

[0219] In some examples, the second angle ranges from greater than 90 degrees to less than or equal to 150 degrees. Further, the second angle ranges from greater than or equal to 120 degrees to less than or equal to 150 degrees. Further, the second angle ranges from greater than 90 degrees to less than or equal to 180 degrees. Further, the second angle ranges from greater than or equal to 120 degrees to less than or equal to 200 degrees. Further, the second angle ranges from greater than or equal to 150 degrees to less than or equal to 180 degrees. Further, the second angle ranges from greater than or equal to 150 degrees to less than or equal to 200 degrees.

[0220] In some examples, the end position of the third angle range corresponds to the position where the first proportion (e.g., 70% portion) of the trimming head is retracted into the body, and the starting position corresponds to the position when the trimming head is fully retracted into the body.

[0221] For example, a position where the trimming head is flush with the side of the fuselage (i.e., exactly tucked into the fuselage or tangent to the side profile of the fuselage) corresponds to 0 degrees, and a position where 70% of the trimming head is tucked into the fuselage corresponds to 20 degrees. In this case, the third angle range is greater than or equal to 0 degrees and less than or equal to 20 degrees.

[0222] In some examples, the starting position of the first angle range corresponds to the position where the second proportion (e.g., 40% portion) of the trimming head is outside the fuselage side profile, and the ending position corresponds to the position where the trimming head is 100% extended out of the fuselage.

[0223] For example, a position where 40% of the trimming head is outside the fuselage side profile corresponds to 30 degrees, and a position where the trimming head is just fully extended (e.g., tangent to the fuselage side profile) corresponds to 60 degrees. Therefore, the third angle range is greater than or equal to 30 degrees and less than or equal to 60 degrees.

[0224] In some examples, the end position of the second angle range corresponds to the position where a portion (e.g., 50%) of the trimming head extends out of front of the fuselage, and the start position corresponds to the position where the trimming head is flush with the front of the fuselage.

[0225] For example, a position where the trimming head is flush with the front of the machine body corresponds to 150 degrees, and a position where 50% of the trimming head extends beyond the front of the machine body corresponds to 180 degrees. In this case, the second angle range is 150 to 180 degrees.

[0226] In some examples, the trimming component has a preset first working position and a second working position, wherein the first working position is located within a first angular range and the second working position is located within a second angular range. In some examples, the trimming component has a storage position, which is located within a third angular range. The storage position, the first working position, and the second working position can be target positions within the corresponding angular ranges.

[0227] In some examples, the angle range includes a first angle range and a second angle range.

[0228] The first angular range corresponds to the trimming state, and the second angular range corresponds to the corner cutting state. That is, the corner range covers both the trimming state and the corner cutting state.

[0229] In other words, the first angle range causes the trimming head to swing to the side relative to the fuselage and at least partially extend beyond the outer contour of the fuselage; the second angle range causes the trimming head to extend forward relative to the front end of the fuselage and at least partially extend beyond the outer contour of the fuselage.

[0230] For ease of describing angles, the direction of rotation from the side to the front is defined as the positive direction. As the rotation proceeds in the positive direction, the angle gradually increases. In some cases, the maximum value of the first angle range is less than or equal to the minimum value of the second angle range.

[0231] In some examples, the trimming component has a first working position and a second working position, wherein the first working position is located within the first angular range and the second working position is located within the second angular range.

[0232] In some examples, the angle range includes a second angle range and a third angle range. That is, the corner range covers both the folded-out state and the corner-cutting state.

[0233] The second angle range corresponds to the corner cutting state, and the third angle range corresponds to the retracted state. In other words, the second angle range causes the trimming head to extend forward relative to the front end of the body and at least partially protrude from the outer contour of the body; the third angle range causes most of the trimming head (e.g., at least 70%) to be retracted into the body.

[0234] In some examples, the angle range includes a first angle range and a third angle range.

[0235] The first angular range corresponds to the trimming state, and the third angular range corresponds to the storage state. In other words, the corner range covers both the trimming and storage states.

[0236] In other words, the first angle range causes the trimming head to swing to the side relative to the fuselage and extend at least partially (e.g., 40%) beyond the outer contour of the fuselage; the third angle range causes the trimming head to be flush with the side of the fuselage or the trimming head to have only A (greater than 0 and less than 30%, less than the portion of the trimming head that extends beyond the trimming position) exposed to the side of the fuselage.

[0237] For ease of angle description, the direction of rotation from the side to the front is defined as the positive direction, and the maximum value of the third angle range is less than or equal to the minimum value of the first angle range.

[0238] The above describes different states from the perspective of the fuselage, such as by its position relative to the fuselage. The following describes different states from the perspective of moving components, such as by their relationship with the front wheels.

[0239] Therefore, in some examples, the moving component includes a front wheel, and at least a portion of the angle range of the support causes the trimming head to be located behind the front wheel; and at least a portion of the angle range of the support causes at least a portion of the trimming head to be located in front of the front wheel.

[0240] The angle range located in front of the front wheel (including the second angle range) corresponds to the corner-cutting state, and the angle range located behind the front wheel (including the first angle range and the third angle range) corresponds to at least one of the tuck-in state and the trimming state. This description method covers other combinations besides the tuck-in state and the trimming state.

[0241] In some cases, within the second angle range, the portion of the trimming head located in front of the front wheel accounts for more than 50%.

[0242] In some examples, the moving component includes a front wheel, and at least a portion of the angular range of the support (including a first angular range and a third angular range) causes the trimming head to be located behind the front wheel.

[0243] The angle range of the trimming head located behind the front wheel includes a first angle range and a third angle range, which correspond to the trimming state and the storage state, respectively.

[0244] In some examples, when the device is stowed, the trimming head is flush with the body or a portion A of the trimming head protrudes from the body; when the device is trimming, a portion B of the trimming head protrudes from the body, where B is greater than A. In some examples, the proportion of portion A is greater than 0 but less than 30%, and the proportion of portion B is greater than or equal to 40%.

[0245] In some examples, the trimming head is configured to perform work in the retracted state.

[0246] In order for the trimming head to operate in the retracted state, the trimming head in this state must either be flush with the side of the fuselage or have a portion extending beyond the side of the fuselage. Therefore, the aforementioned third angle range ensures that the trimming head is flush with the side of the fuselage or that a portion of the trimming head is exposed on the side of the fuselage. To distinguish it from the trimming state, the percentage of the trimming head extending beyond the side of the fuselage in the retracted state is greater than 0 and less than 30%, and less than the percentage of the trimming head extending beyond the side of the fuselage in the trimming state (e.g., more than 40%).

[0247] It should be noted that, considering the housing may or may not cover the moving components, the outer contour of the fuselage can be defined by the housing covering the fuselage, or by the projection area formed by the housing and the moving components together on the horizontal plane.

[0248] The above provides an overall description of the support component's angle range, the correspondence between various states and angle ranges, and the control logic for state switching. The following sections will detail the working characteristics and corresponding scenarios for each state and its combinations.

[0249] A Corner Cutting Status

[0250] To accommodate cutting in special scenarios such as corners of the work area, in some examples, the movement trajectory of the trimming head at least covers a preset corner cutting state. The corner cutting state refers to the state where at least a portion (e.g., more than 30%, such as 50%, further 60%, and even further 70%) of the trimming head extends beyond the front end of the machine body.

[0251] Regarding when the corner cutting state switches, in some examples, the controller is configured to control the swing of the support in response to the recognition of the boundary characteristics of the first boundary, so that the trimming head switches to the corner cutting state.

[0252] The first type of boundary characteristics includes corners of various shapes, and the second type of boundary. Shapes include obtuse angles, acute angles, right angles, concave angles, convex angles, etc.; the second type of boundary includes boundaries with large curvature (such as greater than or equal to a preset curvature threshold).

[0253] It should be noted that a corner refers to a transitional area formed by a sudden change in the direction of the lawn boundary or obstacle outline. This can be a concave or convex corner, or a sharp, obtuse, or right-angled bend. Here, a sudden change in direction is used to indicate that the transitional area is a clear transitional area, so as to distinguish it from the smooth transition of the second boundary characteristics in the trimmed state.

[0254] Considering the special circumstances of corners, automatic lawnmowers need adaptive movement strategies, such as slowing down and approaching to avoid unexpected situations (such as getting stuck or colliding). Slowing down can be performed upon corner detection, after the state transition is complete, or even during the transition process. Therefore, in some examples, the controller is configured to reduce the automatic lawnmower's travel speed in response to recognizing the boundary of the first boundary characteristic. In some examples, the controller is configured to reduce the automatic lawnmower's travel speed in response to recognizing the boundary of the first boundary characteristic and the trimming head being in corner cutting mode.

[0255] Given that corner cutting environments are more complex and more prone to damaging trimming components or injuring objects, in some examples, automatic lawnmowers may also include a vision device configured to detect the environment in front of the machine; when the trimming head is in the corner cutting state, the trimming components, particularly at least a portion of the trimming head, are within the detection range of the vision device.

[0256] In some cases, the vision device is positioned at the front of the machine body to facilitate the acquisition of the trimming head located at the front of the machine body.

[0257] To facilitate monitoring of corner conditions in the trimming head, in some examples, the corner cutting position of the trimming head uses the maximum value within the angle range corresponding to the corner cutting condition. In some examples, the vision device is positioned at the front of the machine body, near the side of the machine body.

[0258] Considering that the trimming head will produce grass clippings during corner cutting, which may splash onto the vision device and contaminate it, in some cases, the automatic lawnmower may also include a vision protection device configured to protect the vision device from grass clippings generated by the trimming head during corner cutting.

[0259] In some cases, the visual protection device is located on the side of the trimming assembly facing the fuselage.

[0260] Of course, the vision device can also be set in other locations, such as the periphery of the part where the vision device is installed. The vision protection device can also be the casing of the main unit, etc.

[0261] In some examples, the visual protection device includes side shields arranged circumferentially along the trimming head.

[0262] In some cases, when the trimming head is in a corner position, the side shield is located between the boundary and the longitudinal centerline of the fuselage.

[0263] B Trimming status

[0264] To accommodate the cutting of vegetation near the boundary of the work area, in some cases, the movement trajectory of the trimming head also covers a preset trimming state, where the trimming head extends laterally relative to the machine body, and at least 40% of the trimming head (e.g., 50%, then 60%, then 70%) extends beyond the side of the machine body.

[0265] Regarding the timing of switching the trimming state, in some examples, the controller is configured to: in response to recognizing the boundary of the second boundary characteristics, control the swing of the support to switch the trimming head to the edge cutting state.

[0266] The second boundary characteristics include the boundaries of work areas of various shapes, the first type of boundary, and protected restricted areas (such as flower beds, nurseries, vegetable gardens, etc. with guardrails).

[0267] The various shapes mentioned here include, but are not limited to, straight edges (including line segments of polylines exceeding a threshold length), curved edges, or their transitions. Type I boundaries include boundaries with small curvature (e.g., less than a threshold).

[0268] C Storage Status

[0269] To improve the passability of the trimming head or to meet the safety trimming needs of some special isolated areas (such as nurseries, vegetable gardens, flower gardens, etc. without guardrails), in some cases, the movement trajectory of the trimming head covers a preset storage state, where the storage state means that at least 70% of the trimming head is within the body outline.

[0270] In some cases, the trimming head may or may not be in operation when the device is folded up.

[0271] In some cases, the trimming head is configured not to work when folded up.

[0272] The scenarios in which the device does not work when stored include, but are not limited to:

[0273] 1. The automatic lawnmower enters standby mode, such as standby mode after the work is completed or standby mode before starting work.

[0274] 2. Turn on or start the automatic lawnmower.

[0275] 3. The automatic lawnmower returns to the base station or is charged at the base station for maintenance.

[0276] 4. The automatic lawnmower is performing obstacle avoidance operations, such as reverse obstacle avoidance.

[0277] 5. The main cutting component of the automatic lawnmower is working.

[0278] Therefore, in some examples, the controller is configured to control the trimming head to switch to the storage position when the automatic lawnmower is in a preset state. The preset state includes, but is not limited to, at least one of the following: standby state, power-on state, maintenance state, obstacle avoidance state, and main cutting component operating state.

[0279] For work in unfenced restricted areas (such as flower beds, nurseries, vegetable gardens, etc.), extending the trimming head into the trimming position may cut the protruding flowers, vegetables, seedlings, etc. Furthermore, due to issues with AI recognition accuracy or machine movement control precision, cutting protruding flowers is unavoidable in the trimming position. To reduce this, in some examples, the trimming head is arranged to operate in the retracted position.

[0280] The following explains the requirements for the storage state to function properly; generally, at least one of the following requirements must be met.

[0281] 1. Space requirements: The trimming head should be flush with the side of the machine body or have a protruding part, and the protruding part should not be too much (e.g., less than 30%).

[0282] Therefore, in some examples, the movement trajectory of the trimming head covers a preset retracted state, where the retracted state refers to a state where the portion of the trimming head extending beyond the side of the fuselage is greater than or equal to 0% and less than 30%. Here, 0% means flush with the fuselage.

[0283] 2. Scenario Requirements:

[0284] The storage compartments can be used in scenarios including but not limited to:

[0285] 1) No-entry zones without physical structures (referred to as restricted areas or isolated areas); among them, no-physical-structure restricted areas can be understood as restricted areas without protection or restricted areas in an exposed state. In other words, the protection level of these restricted areas is low.

[0286] Therefore, in some examples, the controller is configured to: control the swing of the support member in response to the identification of a boundary having a third boundary characteristic, causing the trimming head to switch to a storage position; and control the trimming head to perform cutting work in the storage position; wherein the third boundary characteristic includes an unprotected (exposed) restricted area.

[0287] 2) The secondary trimming performed to cover the grass-retaining area between the main cutting component and the boundary can be done by covering it once in the retracted state and once in the extended trimming state. The secondary trimming will be discussed in detail below.

[0288] 3. Safety requirements:

[0289] 1) The trimming work head uses a grass-cutting head;

[0290] 2) The energy of the grass-beating head is within a safe range, for example, the energy of the grass-beating head is less than or equal to 2J.

[0291] To facilitate the storage of the trimming head, in some examples, the side of the machine body has a clearance space corresponding to the part of the machine body where the trimming head is stored. Therefore, the clearance space is used to store the part of the machine body where the trimming head is stored.

[0292] To create obstacle avoidance space, one approach is to design a perforation on the side, such as creating an opening on the side of the fuselage (e.g., chassis); alternatively, the side can be deformed, such as designing the corresponding portion of the fuselage (e.g., chassis) to be recessed inwards. Therefore, in some examples, the side of the fuselage is recessed inwards corresponding to the portion housed within the fuselage to create the obstacle avoidance space, or the side of the fuselage has a notch to create the obstacle avoidance space.

[0293] It should be noted that this side section makes full use of the chassis space, for example, by mainly utilizing the hollow part of the original chassis or the part with fewer components, and by arranging other components compactly. The structural layout makes full use of the original layout space, and achieves the design of the storage state while basically maintaining the body design size.

[0294] In some examples, when viewed from above, the housing, especially the top cover, is configured to at least partially cover the clearance space, making at least a portion of the clearance space invisible.

[0295] In some instances, when the trimming assembly is housed in the side of the fuselage, the clearance space is at least partially visible when viewed from a side view, such as along a direction from the side of the fuselage toward the other side of the fuselage.

[0296] In some examples, the main cutting assembly is positioned within the coverage area of ​​the housing that excludes other parts of the clearance space.

[0297] To further improve maneuverability, in some examples, in the folded state, the bottom of the trimming component is greater than or equal to the bottom of the body.

[0298] D has two states: storage state and trimming state.

[0299] In some examples, the movement trajectory of the trimming head covers a preset retracted state and a preset edge-cutting state. The retracted state refers to the state in which the trimming head is positioned close to the side of the body and is basically flush with the body. Being basically flush with the body can be represented by the proportion of the part extending out of the body or the proportion of the part retracted into the body. The edge-cutting state refers to the state in which the trimming head swings slightly to the side (e.g., angularly) relative to the body from the retracted state. The slight swing reduces the proportion of the part retracted into the body in the retracted state, for example, the proportion of the part retracted into the body in the retracted state is greater than or equal to 70%; the proportion of the part retracted into the body in the trimming state is reduced, such as to less than or equal to 60%.

[0300] In some cases, the trimming head has different levels of protection in its retracted and edge-cutting states to address trimming work in restricted areas with varying protection levels. For clarity, consider the housing as the protective component for the trimming head. In different states, the housing provides varying levels of protection / coverage. In the retracted state, the housing offers more protection (coverage) to ensure safe trimming and better handle restricted areas of the first protection level. In other words, for cutting in restricted areas without clearly defined barriers like railings, safe cutting can be performed in the retracted state. In the edge-cutting state, the housing provides less protection (coverage) to enable contour cutting, such as in restricted areas of the second protection level. In other words, for cutting in restricted areas with clearly defined barriers like railings, cutting can be performed by extending the head in the trimming state.

[0301] It should be noted that the protection level of the restricted area can also be used as an attribute of the boundary characteristics, which can be marked or set by the user.

[0302] In some cases, the trimming head may also have a separate protective element (such as the upper guard mentioned below).

[0303] In some examples, the controller is configured to: control the trimming head to operate in a retracted state in response to an identification signal of a restricted area with a first protection level; and control the trimming head to operate in an edge-cutting state in response to an identification signal of a restricted area with a second protection level; wherein the first protection level is lower than the second protection level. In some examples, the restricted area with the first protection level can be a restricted area without railings; the restricted area with the second protection level can be a restricted area with railings.

[0304] Considering the issue of how to position the rotating base, in order to enable the support to swing from the side to the front, in some cases, the rotating base is located in the front corner area of ​​the fuselage.

[0305] The front corner area refers to the transition area formed by the connection between the front end and the side of the fuselage.

[0306] The above describes the layout of the rotating base from the front corner area of ​​the fuselage. The layout of the rotating base is described from other angles below.

[0307] In some examples, the fuselage has a portion located in the first quadrant of the XY coordinate system; the rotating base is located in the portion of the fuselage located in the first quadrant.

[0308] Using the geometric center point A of the automatic lawnmower as the origin, an XY coordinate system is constructed in the horizontal plane, where the X-axis is parallel to the width direction of the body and the Y-axis is parallel to the length direction of the body. The positive direction of the Y-axis points to the front end of the body, and the positive direction of the X-axis points to the side of the body near the boundary.

[0309] In some examples, the rotating base is located at the front inflection point of the body. In some examples, the automatic lawnmower includes a bumper located at the front of the body. The bumper is generally curved. Multiple collision sensors are installed on the bumper for detecting collisions. The front inflection point may be, for example, the point where the bumper intersects with the generally straight side of the body.

[0310] To avoid interference between the support and the front wheel, especially when there are two front wheels, which could affect the rotation of the trimming head on the corresponding side of the wheel, in some cases, the moving assembly includes a moving wheel (referred to as the front wheel) located at the front of the fuselage. When viewed in the height direction, the support and the front wheel are staggered; the height of the support above the ground is greater than the height of the front wheel.

[0311] Let's take the front wheels, including those in the first quadrant, as an example:

[0312] The moving component includes a wheel located in the first quadrant of the XY coordinate system. When viewed in the direction pointing towards the front of the fuselage, the rotating base of the drive mechanism is located in front of the wheel, and the trimming head is located behind the wheel in the retracted state.

[0313] In some examples, the support member is offset from the wheel in the height direction. That is, when viewed in the height direction, the support member is offset from the front wheel; in other words, the projections of the support member and the front wheel in the height direction do not overlap.

[0314] In some cases, the support is higher than the wheel. That is, the support is higher off the ground than the front wheel.

[0315] In some examples, the wheel in the first quadrant is a swivel wheel. The circular motion area formed by the rotation of the wheel around its axis is located inside the arc formed by the trimming head rotating around the rotating base with the length of the support as the radius of rotation. In other words, the length of the line connecting the projection point of the geometric center of the wheel in the first quadrant onto the horizontal plane and the projection point of the geometric center of the trimming head onto the horizontal plane is greater than the sum of the rotation radius of the wheel and the cutting radius of the trimming head.

[0316] In some examples, the trimming head includes a trimming head, which includes a winder, trimming rope wound on the winder, and a drive motor for rotating the winder. In some examples, the trimming head can also be other types, such as pruning shears.

[0317] To enable the automatic lawnmower to cut vegetation over a large portion of the work area, in some examples, the automatic lawnmower includes a main cutting assembly. In this case, a controller, connected to the main cutting assembly, is configured to control its operation.

[0318] The main cutting assembly includes a cutter head. The cutter head is housed within a housing, for example, mounted on a chassis. One or more cutting elements are mounted on the cutter head. These cutting elements are metal blades. In other words, the blades serve as the cutting elements of the main cutting assembly to perform the cutting task.

[0319] It is understood that the main cutting assembly includes a drive motor for rotating the cutter head, which in turn drives the blade to rotate. The cutting area formed by the rotation of the blade is called the main cutting area.

[0320] The main cutting component is configured to perform the main cutting task; the main cutting task is named here to distinguish it from the edge cutting task, so as to indicate that the two are different task types. For example, the main cutting component is mainly for the internal area of ​​the work area. The vegetation located at a distance near the boundary of the work area (referred to as the edge area) cannot be cut by the main cutting component, while the edge cutting task is for the edge area that the main cutting task cannot cover.

[0321] In some examples, the automatic lawnmower has a main cutting mode, in which the main cutting component operates to perform the main cutting task.

[0322] In some examples, the automatic lawnmower includes a main height adjustment mechanism configured to adjust the height of the main cutting component to meet the cutting requirements of different grass heights. The main cutting task can be understood as follows: in main cutting mode, the controller directs the automatic lawnmower to move along multiple planned cutting paths and controls the main cutting component to operate at a set cutting height, thereby cutting the work area. The main height adjustment mechanism can be, for example, a lifting mechanism, such as a lifting frame.

[0323] The cutting path described above can be planned by the controller, or it can be planned and sent to the controller by a terminal device connected to the automatic lawnmower (such as a server, remote control device, smartphone, smart wearable device, base station, etc.). The cutting path can be, for example, a bow-shaped path or a loop-shaped path. The cutting path can be planned in advance and stored in memory so that the controller can retrieve it from memory, or it can be planned in real time.

[0324] The cutting height of the main cutting component can be set by the user. This can be done via parameter selection buttons on a handheld device (such as a smartphone) or buttons on the automatic lawnmower control panel. These buttons can be physical mechanical buttons or virtual graphical buttons; this disclosure does not limit the specific type of button used.

[0325] The main height adjustment mechanism, path planning, and cutting height setting are not the focus of this application and will not be discussed in detail here.

[0326] In some cases, the trimming component typically does not work in the main cut mode.

[0327] The following description, with reference to Figure 46, explains the secondary trimming process and its characteristics.

[0328] Because a safety clearance exists between the main cutting component and the side of the fuselage, an uncut area is formed between the cutting area of ​​the main cutting component and the side of the fuselage. Furthermore, since the main cutting mode is typically based on a parallel path (bow-shaped path) covering the entire field, the algorithm ensures full coverage of the main body of the fuselage but avoids allowing the side of the fuselage to get too close to the boundary, thus also resulting in uncut areas. Additionally, environmental sensing components at the front of the fuselage, such as vision sensors, often have blind spots, causing them to switch to another bow-shaped path a certain distance from the edge. Since there is also a distance between the front of the fuselage and the main cutting component, this also results in uncut areas.

[0329] In other words, due to mechanical safety and geometric layout limitations, the machine will leave a grassy area near the boundary in the main cutting mode. When this grassy area is greater than the cutting width of the trimming head, a single trimming operation cannot cover the entire grassy area. Therefore, the residual area after the main cut needs to be covered by the trimming component through two edge cuts with different postures or paths.

[0330] Therefore, in some examples, the controller is configured to: when it detects that the grass retention distance is greater than the cutting width of the trimming head, control the trimming head to perform at least two consecutive edge cutting operations to cover the grass retention distance. In other words, the controller needs to control the trimming head to perform at least two edge cutting operations (referred to as secondary trimming) to achieve full-width trimming of the grass retention area.

[0331] The grass retention distance is the width of the grass retention area that the main cutting component cannot cover in the main cutting mode.

[0332] In some examples, the grass retention distance includes a first gap between the cutting edge of the main cutting component and the target boundary in the main cutting mode, which is the sum of the safety protection gap between the main cutting component and the side of the fuselage and the distance from the side of the fuselage to the target boundary.

[0333] To accommodate the needs of secondary trimming, the trimming head can operate once in the extended trimming state and once in the retracted state; therefore, in some cases, the trimming head needs to have both retracted and trimming states.

[0334] Therefore, in some examples, the controller is configured to: when the grass retention distance is detected to be greater than the cutting width of the trimming head, control the trimming head to perform two edge cutting operations in different states, including: controlling the trimming head to perform one cutting operation in the edge cutting state; and controlling the trimming head to perform one cutting operation in the storage state.

[0335] Considering that one cutting operation is performed in the edge-cutting state of the trimming head, which is beneficial for covering the distance between the side of the fuselage and the target boundary in the first gap; and another cutting operation is performed in the retracted state of the trimming head, which is beneficial for covering the safety protection gap in the first gap, in some cases, the trimming head can be extended to perform a contour cut in the trimming state first, and then the trimming head can be retracted to perform a safe cut in the retracted state. In other words, the first cutting operation is performed by controlling the trimming head to perform the cutting operation in the edge-cutting state; the second cutting operation is performed by switching from the trimming state to the retracted state, changing the distance from the boundary, and then cutting again. By changing the state of the trimming head and thus the distance from the boundary, the grass-covered area is covered.

[0336] It should be noted that the cutting width of the trimming head in the stowed state is tangent to or at least partially overlaps with the cutting width of the trimming head in the trimming state to avoid missing grass.

[0337] To accommodate the need for secondary trimming, the trimming head can be configured to operate only in trimming mode. By shifting the path, the cutting area in trimming mode can be altered to cover the grass-retaining area. Therefore, in some examples, the trimming head has a trimming mode. Consequently, the controller is also configured to: when it detects that the grass-retaining distance is greater than the cutting width of the trimming head, control the trimming head to perform two edge-cutting operations in edge-cutting mode.

[0338] In some examples, the controller is also configured to: when the grass retention distance is detected to be greater than the cutting width of the trimming head, control the trimming head to perform one cutting operation along the first path in the trimming state, and control the trimming head to switch to the second path and perform one cutting operation.

[0339] The first path is closer to the boundary than the second path.

[0340] The first path is parallel to the second path. In other words, the second path is translated by a predetermined distance relative to the first path.

[0341] To improve the continuity of switching and the efficiency of cutting, the first path and the second path are adjacent and in opposite directions.

[0342] To avoid missing grass, in some cases, the spacing (or the preset translation distance) between the first path and the second path is less than or equal to the cutting width of the trimming head.

[0343] To meet users' different grass height requirements for the work area, in some examples, the main cutting component is configured to be height-adjustable, so that the main cutting component has different cutting heights.

[0344] Given that the cutting height of the main cutting component in the main cutting mode is usually different from that of the trimming head, for example, due to the different design requirements of the main cutting component and the trimming head, the main cutting component focuses on ensuring the flatness of a large area of ​​the working area globally, while the trimming head focuses on local areas, ensuring that there are no residues at the edges of the working area; in addition, the main cutting component and the trimming head have different structural characteristics. In some cases, the main cutting component usually uses a rigid blade, and the cutting surface is controllable; while the trimming head usually uses a flexible straw rope, and the cutting surface floats and shifts. In addition, in order to prevent possible mutual interference between the two, in some cases, the two are staggered in the height direction, with the trimming head being higher than the main cutting component in terms of ground clearance. For example, the main cutting component is usually set on the chassis, while the trimming head is set on the top cover.

[0345] In order to make the height of the entire working area visually level, in some cases, when there is a height difference between the cutting height of the trimming head and the cutting height of the main cutting component, the automatic lawnmower is controlled to enter a pre-trimming mode.

[0346] For example, in main cutting mode, the main cutting component has a cutting height of 35mm, while in edge cutting tasks (such as trimming mode or trimming state), the trimming head has a cutting height of 50mm. As another example, in main cutting mode, the main cutting component has a cutting height of 30mm, while in edge cutting tasks (such as trimming mode or trimming state), the trimming head has a cutting height of 65mm. Because of this height difference, a pre-trimming mode can be used to compensate for this difference to avoid an uneven appearance.

[0347] In some examples, the main cutting component has a height adjustment mechanism to change its cutting height. In this case, the pre-trimming mode can be performed using the main cutting component. For example, the main cutting component can be adjusted to a preset height, which is between the cutting height of the main cutting component in main cutting mode and the cutting height of the trimming component in edge cutting mode.

[0348] In other words, the pre-trimming mode is the mode in which the main cutting component performs cutting at a preset height. This preset height is greater than the cutting height of the main cutting component in the main cutting mode, but less than the cutting height of the trimming component in the edge cutting state.

[0349] By setting a preset height, the difference between the edge cutting height of the trimming head and the cutting height of the main cutting component in the main cutting mode (under normal working conditions, such as trimming the work area along a planned bow-shaped path) is reduced.

[0350] In some examples, the trimming component has a height adjustment mechanism, in which case the pre-trimming mode can be performed by the trimming component. For instance, the trimming component can be adjusted to a preset height, which is between the cutting height of the main cutting component in the main cutting mode and the cutting height of the trimming component in the edge cutting mode. In other words, the pre-trimming mode can also be a mode where the trimming component performs cutting work at a preset height. Similarly, the preset height is greater than the cutting height of the main cutting component in the main cutting mode but less than the cutting height of the trimming component in the edge cutting mode.

[0351] It should be noted that the height adjustment device can be, for example, a lifting mechanism, such as a lifting frame. Since the structure of the height adjustment device is not the focus of this application, as long as it enables height adjustment, it will not be elaborated upon here.

[0352] Understandably, the pre-trimming mode is usually for the uncut area (i.e. the grass-retaining area) left in the main cutting mode. In other words, the pre-trimming mode refers to the mode of cutting the grass-retaining area.

[0353] In some examples, the pre-trimming mode is executed only under the premise of secondary trimming; in other words, the conditions for secondary trimming are also met. Therefore, in some examples, the controller is configured to control the automatic lawnmower to enter the pre-trimming mode when it detects that the grass retention distance meets the preset conditions and there is a height difference between the cutting height of the trimming head and the cutting height of the main cutting component.

[0354] The preset conditions can be, for example, that the grass retention distance is greater than the cutting width of the trimming component, that the grass retention distance is greater than the cutting width of the main cutting component, or that the grass retention distance is greater than the sum of the cutting widths of the main cutting component and the cutting width of the trimming component.

[0355] The preset height refers to the difference between the cutting height of the main cutting component and the cutting height of the trimming component in the main cutting mode becoming smaller, for example, becoming smaller to meet the threshold condition.

[0356] In some examples, the main cutting component is height-adjustable. In this case, the pre-trimming mode refers to the mode where the main cutting component cuts the grass-retaining area at a preset height. To achieve pre-trimming, in some examples, the controller is configured to: control the movement of the main cutting component so that it is at the preset height, and control the main cutting component to perform a pre-trimming operation at the preset height. For example, the controller controls the main cutting component to rise to the preset height and controls it to perform cutting work (i.e., pre-trimming operation) at that raised height to avoid the problem of an excessively large difference between the cutting height of the main cutter head along the bow-shaped path and the cutting height during trimming by the trimming head, resulting in an uneven appearance.

[0357] To make it easier to understand, the camera at the front of the machine turns around and switches paths 20cm from the boundary, and there is a certain distance between the main cutting component and the camera, so that a grass-retaining area is formed after the main cutting mode. The width of this grass-retaining area is about 45cm, which is greater than the sum of the cutting width of the main blade (20cm) and the cutting head (13cm). Therefore, the grass-retaining area can be pre-trimmed by the main cutting component to make the entire height of the working area roughly the same.

[0358] For example, the main blade is used at a height of 30cm to perform bow cutting, and the grass head is cut at a height of 65mm. To avoid a large height difference between the two, the main blade can be raised to 45mm for a pre-cut once along the edge as a transition between the two.

[0359] In summary, the purpose of the pre-trimming mode is to create a transition zone between the cutting height of the main cutting mode and the cutting height of the main cutting component in the main cutting mode, so as to make up for the height difference between the two and reduce the difference between the edge cutting height of the trimming head and the cutting height of the main cutting component in the main cutting mode (under normal working conditions, such as trimming the work area along the planned bow path).

[0360] Considering that the height difference is within a certain range and visually indistinguishable or negligible to the user (e.g., within 25mm), the pre-cutting mode is only executed when the height difference exceeds a threshold in some cases. In this case, the controller is configured to control the automatic lawnmower to enter pre-trimming mode when there is a height difference between the cutting height of the trimming head and the cutting height of the main cutting component, and this height difference exceeds a threshold. The threshold is, for example, set to 20mm. For instance, in main cutting mode, the cutting height of the main cutting component is 30mm, while in edge cutting tasks (such as trimming mode or trimming state), the cutting height of the trimming head is 65mm. Since there is a height difference exceeding the threshold (e.g., 20mm), the pre-trimming mode can compensate for this height difference to avoid an uneven appearance.

[0361] At this point, the preset height ensures that the difference between the cutting height of the trimming head and the cutting height of the main cutting component in the main cutting mode is less than the threshold, thus achieving a visually negligible difference.

[0362] In some examples, the preset height is taken as the midpoint or average of the cutting height of the main cutting component in the main cutting mode and the cutting height of the main cutting component in the main cutting mode. For example, if the cutting height of the trimming head is 65mm and the cutting height of the main cutting component in the main cutting mode is 30mm, the preset height could be 47mm or 48mm. Of course, the preset height can also be other values, such as 45mm or 49mm.

[0363] In some cases, the pre-trimming mode targets the portion of the grass-retaining area that is close to the cutting area in the main cutting mode, or the portion of the grass-retaining area that is far from the boundary.

[0364] In some examples, the cutting path in the pre-trimming mode can be planned by the controller, for instance, the planned cutting path being close to the last path of the bow-shaped path. The distance between this cutting path and the last bow-shaped path satisfies the condition that it is less than the distance between two adjacent bow-shaped paths.

[0365] The order of the pre-trimming operation and the secondary trimming operation varies. In some cases, the pre-trimming operation is performed after the first trimming in the secondary trimming, especially after the trimming head of the secondary trimming is in trimming mode and performs the first trimming. In other cases, the pre-trimming operation is performed before the secondary trimming.

[0366] In some cases, the pre-trimming operation is performed after the edge cutting operation at the point furthest from the edge. In other cases, the pre-trimming operation can be performed simultaneously with the trimming head in the folded-back position during the furthest-from-the-edge operation.

[0367] To improve the throughput of the main cutting assembly, in some examples, the trimming head is in a retracted state when the main cutting assembly is working; considering the pre-trimming state, the controller is configured to switch the trimming head to the retracted state in the pre-trimming mode.

[0368] To achieve flexible obstacle avoidance of the trimming head or improve edge application and reduce grass leakage, in some examples, the trimming assembly is configured to passively float relative to the machine body under the action of external forces.

[0369] Passive floating includes vertical (height) floating and horizontal floating. Horizontal floating includes floating in the horizontal (width) direction and vertical (length) direction.

[0370] Regarding how to achieve passive floating in the height direction, in some examples, automatic lawnmowers also include a height floating mechanism, which is at least used to passively adjust the position of the trimming assembly in the height direction under the force exerted by the obstacle when the trimming assembly collides with the obstacle; wherein the force has a component in the height direction.

[0371] In some cases, once the force exerted by the obstacle disappears, the trimming component returns to its state / position before colliding with the obstacle under the influence of gravity.

[0372] In some examples, the height-floating mechanism uses a ball joint structure. A description of the ball joint structure is provided below and will not be repeated here.

[0373] Regarding how to achieve floating on a horizontal plane, in some examples, the automatic lawnmower also includes a horizontal floating mechanism, which is at least used to passively adjust the position of the trimming assembly on a horizontal plane (lateral and longitudinal) under the force exerted by the obstacle on the trimming assembly when the trimming assembly collides with an obstacle; wherein the force has a component on the horizontal plane (lateral and longitudinal).

[0374] In some examples, the horizontal floating mechanism applies a reaction force to the trimming assembly, and when the force applied by the obstacle disappears, the trimming assembly returns to its state / position before colliding with the obstacle under the action of the reaction force.

[0375] In some examples, the horizontal floating mechanism employs an elastic element. This elastic element can be, for example, a torsion spring, a spring, etc.

[0376] In some cases, torsion springs are used as the elastic element. The function of the torsion spring is twofold: to achieve flexible edge application or obstacle avoidance, and to enable the switching of different positions / states of the trimming head. For example, the drive motor of the trimming assembly causes the torsion spring to deform, which in turn drives the support component (such as a swing arm) to move.

[0377] In some cases, the ball joint structure and torsion spring are integrated within the rotating base. See the discussion below for details; further elaboration will not be repeated here.

[0378] In this disclosure, there is flexible mounting between the trimming assembly (support) and the fuselage. The flexible mounting is achieved through a flexible connection mechanism configured to allow the trimming assembly (support) to passively float in at least one direction. The flexible connection mechanism includes: a horizontal floating mechanism, such as an elastic element; or a vertical floating mechanism, such as a ball joint. In some examples, the flexible connection mechanism is integrated within a rotating base.

[0379] The structure and principle of passive floating are briefly explained below:

[0380] The trimming assembly is mounted on a support member, which is rotatably mounted on the spherical shell via a hinge point. The horizontal position of the support member is at its lower limit, ensuring that it remains horizontal under gravity when the trimming head is not in contact with an obstacle. The drive motor of the drive mechanism is connected to a lever, which rotates with the motor shaft. The lever is connected to the spherical shell via a torsion spring. The rotation of the drive motor causes one leg of the torsion spring to rotate, thereby causing the spherical shell to rotate. When the machine is cutting along the edge, if the side encounters an obstacle, the swing arm rotates inward while compressing the torsion spring. After passing the obstacle, the support member returns to its original position under the action of the torsion spring. When the bottom encounters an obstacle, small mound, or slope, the support member overcomes gravity and rotates upward around the rotating hinge point on the spherical head to avoid it.

[0381] Considering that the trimming component may encounter obstacles, in order to avoid damage, in some examples, the controller is configured to execute the obstacle avoidance strategy corresponding to the fuselage when the trimming component collides with an obstacle and triggers a collision detection signal.

[0382] In order to determine whether the trimming component has reached the specified position or state, in some cases, the automatic lawnmower has a position detection function. For example, the automatic lawnmower also includes a position detection component configured to detect the position of the trimming component.

[0383] The controller is configured to control the support to stop swinging when the detection data from the position detection component indicates that the trimming component has moved into position.

[0384] In some examples, the controller is also configured to perform at least one of the following actions when the detection data from the position detection component indicates that the trimming component is stuck: control the support to stop swinging, control the support to reduce the swing speed, control the automatic lawnmower to execute an obstacle avoidance strategy corresponding to the machine body, or control the automatic lawnmower to issue an alarm signal.

[0385] In some examples, the conditions for a judgment to be in place include:

[0386] Location condition: The error between the current location and the target location is less than a threshold (e.g., 0.1 degrees).

[0387] Speed ​​condition: The current speed is close to zero (e.g., less than 0.5 degrees / second).

[0388] Stability condition: The above two conditions must be met continuously for a certain period of time (e.g., 50ms, i.e., 50 consecutive control cycles).

[0389] In some examples, the conditions for being stuck include:

[0390] Location condition: The location remains almost unchanged (less than 0.1 degrees) over a period of time (e.g., 100ms).

[0391] Error condition: The current position is still far from the target (the error is more than twice the target threshold).

[0392] Torque condition: The motor current is significantly higher than the normal value (e.g., more than 1.3 times the normal value).

[0393] Duration condition: This state lasts for a certain period of time (e.g., 50-100ms).

[0394] In some examples, position detection components include, but are not limited to, encoders (detection code disks), microswitches, and vision sensors. The principle of code disk detection is to determine whether the switch has reached the correct position by comparing the number of motor rotations. If the data detected by the code disk does not match the actual data, it indicates a possible obstacle has been encountered. The principle of vision sensors is to use a camera to capture images of the robotic arm's end effector or joints, and then use image processing to identify the position of marked points.

[0395] In some examples, the movement trajectory of the trimming head covers preset storage states, preset edge cutting states, and preset corner cutting states.

[0396] The retracted state refers to the trimming head being positioned close to the side of the body and basically flush with it; the edge cutting state refers to the trimming head being positioned to the side relative to the body, such as a slight sideward movement that causes a portion (e.g., at least 40%) of the trimming head to protrude from the side, where the slight movement reduces the proportion of the retracted portion; the corner cutting state refers to the trimming head being positioned to the front relative to the body, such as a large sideward movement, where the large movement causes at least a portion (e.g., more than 10%) of the trimming head to protrude from the front of the body.

[0397] In some cases, the heights of at least two positions are different in the folded-out state, the edge-cut state, and the corner-cut state.

[0398] In some examples, the trimming assembly is detachably connected to the body.

[0399] In some cases, the trimming assembly can be connected to the fuselage via a quick-release mount located on the side of the fuselage.

[0400] In one embodiment, a quick-mount bracket is provided on the side or front corner of the fuselage; the trimming assembly is detachably connected to the fuselage via this quick-mount bracket.

[0401] This detachable structure allows users to easily separate the trimming assembly from the machine body when maintenance, replacement, cleaning, or transportation is required. Furthermore, after the trimming assembly is removed, protective covers can be installed on the corresponding parts of the machine body to prevent dust, water damage, or accidental contact.

[0402] In one embodiment, the quick-mount bracket includes a plug, a limiting groove, and a locking element.

[0403] The locking mechanism secures the trimming assembly when it is in place and releases it via an unlocking operation when disassembly is required. The plug-in part mates with the corresponding connecting part of the trimming assembly for initial positioning. The limiting groove restricts the installation posture and depth of the trimming assembly relative to the machine body, thereby ensuring the stability of the trimming assembly's working posture after installation.

[0404] The locking element is pivotally mounted on the mounting base or trimming assembly and automatically locks under the action of an elastic element when the trimming assembly is inserted into place. The user can release the lock by pressing or moving the locking element, thus enabling quick disassembly of the trimming assembly. In some examples, the locking element may be one of a spring clip, a rotating hook, or a slider locking structure. The mating surfaces of the insertion part and the limiting groove may be provided with guide bevels to facilitate smooth insertion and installation of the trimming assembly.

[0405] The following is a brief description of some other parameters involved in this application:

[0406] In some examples, the length of the support member is greater than or equal to 115 mm and less than or equal to 200 mm. For example, the length of the support member can be 145 mm, 160 mm, or 180 mm.

[0407] The length of the support member refers to the distance from the center of the trimming head (the cutting axis) to the center of the rotating base (the axis); or,

[0408] In some examples, the moving assembly includes a moving wheel located at the front of the fuselage and a moving wheel located at the rear of the fuselage. The ratio of the length of the support member to the wheelbase of the front and rear moving wheels ranges from 1:3 to 1:1.5. For example, the ratio might be 1:1.7 or 1:2.3. If the length of the support member is 200mm and the wheelbase is 345mm, the ratio is 200 / 345 = 1:1.7; or if the length of the support member is 146mm and the wheelbase is 345mm, the ratio is 146:345 = 1:2.3.

[0409] In some cases, the width of the cutting area created by the trimming head is approximately equal to the distance from the main cutting component to the side of the fuselage. In other words, the distance from the main cutting component to the side of the fuselage is fully utilized, facilitating the trimming head's integration into the side space. "Approximately equal" can be represented by the difference between the two distances; for example, if the difference between the width of the cutting area created by the trimming head and the distance from the main cutting component to the side of the fuselage is less than a threshold value (e.g., 20mm), they are considered approximately equal. In some cases, "approximately equal" can also be represented by the ratio of the two distances; for example, if the ratio of the width of the cutting area created by the trimming head to the distance from the main cutting component to the side of the fuselage is within a threshold range, they are considered approximately equal. For example, the threshold range is greater than or equal to 0.8 and less than or equal to 1.2.

[0410] In some cases, the cutting radius of the cutting area formed by the rotating cutting part (such as straw rope) of the trimming head satisfies 45 mm ≤ r ≤ 75 mm. In other words, the cutting width of the cutting area formed by the trimming head is 2r, i.e., 90 mm ≤ r ≤ 150 mm.

[0411] In addition to the components mentioned above, automatic lawnmowers may also include other components. These other components are described below:

[0412] For example, in some cases, automatic lawnmowers also include an energy module mounted on the machine body. The energy module provides power for the various functions of the automatic lawnmower. In some cases, the energy module includes a rechargeable battery and a charging connection structure, typically charging electrodes.

[0413] In some cases, automatic lawnmowers also include a positioning module mounted on the machine body. The positioning module is used to acquire the position data of the automatic lawnmower. The positioning module can be detachably mounted on the automatic lawnmower or fixedly mounted on it.

[0414] In some examples, the positioning module may include a satellite navigation module and / or at least one position sensor, wherein the satellite navigation module is used to receive positioning signals, and the position sensor is used to detect features related to the position of the positioning module. The positioning signals may include Global Positioning System (GPS) signals, Galileo satellite navigation system signals, and BeiDou satellite navigation system signals, etc.

[0415] In some cases, the positioning module is typically configured as a Real-Time Kinematic (RTK) module, meaning it achieves positioning through real-time dynamic measurement based on RTK technology. Understandably, regardless of the specific positioning principle used, the accuracy of the positioning result depends on the quality of the positioning signal. Higher signal quality leads to more accurate positioning, while lower signal quality results in less accurate results, potentially failing to meet basic positioning requirements. In practical applications, especially for positioning modules relying on satellite navigation systems, the quality of the positioning signal is easily affected by environmental factors. For example, when the automatic lawnmower is in an open, unobstructed area, the positioning signal quality of the positioning module 107 is naturally higher. Conversely, if the lawnmower is obstructed by trees or buildings, the signal strength is weak, potentially making it difficult for the positioning module to receive the signal. In such cases, the provided positioning signal quality is naturally low and may fail to meet usage requirements.

[0416] In some cases, the positioning module is an RTK module. Since the navigation method of the RTK module is a calculation navigation method, the positioning signal is still reliable for a certain period of time when the positioning signal quality does not meet the preset quality requirements. Of course, its positioning accuracy will decrease as time goes on. In other words, even when the positioning signal quality does not meet the preset quality requirements, it is believed that the positioning module can still provide accurate position for a certain period of time.

[0417] In some examples, the position sensor includes motion or state sensors that detect motion or state parameters. In other examples, the motion or state sensor includes an inertial navigation sensor, which may include an inertial measurement unit (IMU), accelerometer, odometer, gyroscope, attitude detection sensor, etc., to detect the positioning module's speed, acceleration, direction of travel, etc. The positioning module also includes a fusion processing unit, which has at least two inputs, one of which is the positioning signal, and the other is the output of the position sensor. The fusion processing unit performs calculations on the positioning signal and the position sensor output, and outputs data representing the positioning module's position information.

[0418] In addition to the modules mentioned above, automatic lawnmowers may also include a control panel (not shown) for user operation, and various environmental sensors (not shown), such as humidity sensors, temperature sensors, acceleration sensors, light sensors, ultrasonic sensors, cameras, lidar, etc. These sensors can help the automatic lawnmower determine the working environment in order to execute the corresponding program.

[0419] In some examples, the automatic lawnmower can pre-store a work area map. For mowing work, the work area typically refers to the lawn. The automatic lawnmower can also obtain the work area map from other devices when needed, such as from a terminal device (e.g., a mobile terminal) communicating with the automatic lawnmower or a server (e.g., a cloud server). This application does not limit this. In other words, the controller can obtain a map of the work area, such as a map of the lawn.

[0420] The work area map defines the working area of ​​the automatic lawnmower. The work area map can include both the movable working area and the immovable non-working area. The dividing line between the working and non-working areas can be understood as a boundary.

[0421] In some examples, the boundary may include an inner boundary and an outer boundary. The outer boundary is used to define the edge of the working area (the main form of the boundary in this application), and the inner boundary is used to define the edge of non-working areas within the working area, such as the edge of a no-entry zone (also known as an "island," such as a flower bed, trees, etc.). In this embodiment, the automatic lawnmower can move within the working area, but cannot move within the non-working area.

[0422] To facilitate understanding, the following examples, in conjunction with Figures 1 to 15, illustrate key aspects of the trimming component of this disclosure, such as its movable nature:

[0423] This disclosure provides an automatic lawn mower, as shown in Figure 1. The automatic lawn mower includes a body 10, a drive mechanism 20, a trimming mechanism (also known as a trimming assembly) 30, and a controller 110.

[0424] A moving mechanism 40 is provided on the machine body 10. The moving mechanism 40 is used to move the machine body 10 on the working surface according to the received drive command. It typically includes rollers and a motor that drives the rollers to rotate. The rollers may include driving rollers and driven rollers. The rollers may be distributed on both sides of the machine body 10, and the number of rollers on each side may be one or two, etc.

[0425] An energy module can also be installed on the body 10. The energy module is used to provide energy for various operations of the automatic lawnmower. It can include a rechargeable battery and a charging connection structure. The charging connection structure is usually a charging electrode plate, which can be used in conjunction with a charging electrode plate set at the docking station to charge the automatic lawnmower.

[0426] A memory can also be installed on the body 10 to store data generated by sensors or control circuits, or to pre-store data for use by the control circuits.

[0427] A position sensor can also be installed on the fuselage 10. The position sensor may include an inertial measurement unit (IMU) or an odometer (ODO), RTK, satellite positioning, etc., installed on the drive unit, to obtain the relative position based on the movement of the fuselage 10.

[0428] In addition to the modules mentioned above, the body 10 can also be equipped with the housings of each module, a control panel for user operation, and various environmental sensors, such as humidity sensors, temperature sensors, acceleration sensors, and light sensors. These sensors can help the automatic lawnmower determine the working environment and execute the corresponding program.

[0429] A cutting mechanism is installed on the body 20, which is used to perform the mowing task. The controller 110 is used to control the automatic movement and operation of the automatic lawnmower. Its functions include controlling the start or stop of the cutting mechanism, controlling the operation of the moving mechanism 40, judging the power of the energy module and controlling the automatic lawnmower to return to the charging station in time, and executing corresponding programs based on the data from the environmental sensors.

[0430] The cutting mechanism includes a trimming mechanism 30, which is located on the side of the machine body 10 and is used to cut grass on the boundary. The trimming mechanism 30 can be a cutting blade or a flexible material such as grass rope. It should be noted that the above-mentioned boundary includes various types of boundaries, such as the boundary of the working area and the boundary of the non-working area. The boundary of the non-working area may include, for example, the boundary of objects within the working area (such as trees, flower beds, swimming pools, trampolines, stone paths, etc.), which is not limited in this application.

[0431] The cutting mechanism includes a main cutting mechanism 60, which is generally located below the machine body 10, for example, directly below, and is used to cut most of the grass located below the machine body 10. The main cutting mechanism 60 generally uses a cutting blade. To reduce costs, the control circuits of the main cutting mechanism 60 and the trimming mechanism 30 can be integrated into the same controller.

[0432] The automatic lawnmower may also include a vision device 50 connected to the body 10 for acquiring images in the forward direction of the body 10, at least partially showing the working surface in that direction. The acquired images are within the field of view of the vision device 50. The vision device 50 can be a camera or lidar, commonly used in the industry.

[0433] Generally, the vision device 50 is installed at the upper front of the fuselage 10, preferably centered, with its viewing angle pointing downwards and forwards to capture images of the working surface. The size of its field of view can be adjusted according to actual needs; a larger field of view results in more images being captured in the forward direction of the fuselage 10, and vice versa. The forward direction of the fuselage 10 can be varied, such as normal forward movement, backward movement, or turning. In this embodiment, the forward direction of the fuselage 10 refers to the normal forward movement direction, i.e., the direction of the longitudinal central axis L2 of the fuselage 10.

[0434] To better handle edges of various shapes and improve edge trimming effects, the trimming mechanism 30 of this application is connected to the drive mechanism 20, and the controller 110 is configured to:

[0435] The control drive mechanism 20 operates to drive the trimming mechanism 30 to switch between at least two working positions / states / modes.

[0436] When the trimming mechanism 30 is in at least two working positions, the distance between the trimming mechanism 30 and the center point M of the fuselage 10 is different, and / or, the angle formed between the line s connecting the trimming mechanism 30 and the center point M of the fuselage 10 and the transverse central axis L1 / longitudinal central axis L2 of the fuselage 10 is different. The transverse central axis L1 is the center line of the length of the fuselage 10 on the horizontal plane, and the longitudinal central axis L2 is the center line of the width of the fuselage 10 on the horizontal plane. The transverse central axis L1 and the longitudinal central axis L2 are perpendicular to each other on the horizontal plane.

[0437] The distance between the trimming mechanism 30 and the center point M of the fuselage 10 can refer to the horizontal distance between the center of the trimming mechanism 30 and the center point M of the fuselage 10, or it can refer to the shortest horizontal distance between the edge of the trimming mechanism 30 and the center point M of the fuselage 10. The line connecting the trimming mechanism 30 and the center point M of the fuselage 10 can refer to the horizontal line connecting the center of the trimming mechanism 30 and the center point M of the fuselage 10, or it can refer to the shortest horizontal line connecting the edge of the trimming mechanism 30 and the center point M of the fuselage 10. The longitudinal central axis L2 of the fuselage 10 is parallel to the forward direction of the fuselage 10, the transverse central axis L1 of the fuselage 10 is perpendicular to the longitudinal central axis L2, and the center point M of the fuselage 10 is the intersection of the transverse central axis L1 and the longitudinal central axis L2.

[0438] The drive mechanism 20 includes a drive element and a connecting element (also known as a support). The connecting element is used to connect the trimming mechanism 30 to the machine body 10, and the drive element is used to drive the connecting element to move so as to drive the trimming mechanism 30 to change its working position.

[0439] In some implementations, the connecting element is a non-extendable and non-deformable swing arm. One end of the swing arm is connected to the trimming mechanism 30, and the other end is connected to the body 10. The driving element is located at the end of the swing arm connected to the body 10 and is used to drive the swing arm to rotate at different angles, thereby making the distance between the trimming mechanism 30 and the center point M of the body 10 different, and / or making the angle formed between the line connecting the trimming mechanism 30 and the center point M of the body 10 and the transverse central axis L1 / longitudinal central axis L2 of the body 10 different.

[0440] In some implementations, as shown in Figure 2, the connecting element is a non-extendable and non-deformable swing arm. One end of the swing arm is connected to the trimming mechanism 30, and the other end is slidably mounted in the telescopic track 33 on the body 10. The driving element is set at the telescopic track 33 to drive the swing arm to move along the telescopic track 33 to different positions, thereby making the distance between the trimming mechanism 30 and the center point M of the body 10 different, and / or making the angle formed between the line connecting the trimming mechanism 30 and the center point M of the body 10 and the transverse central axis L1 / longitudinal central axis L2 of the body 10 different.

[0441] It should be noted that the above-mentioned "deformation" is only for the purpose of distinguishing it from the "multi-joint" mentioned below, and should not be construed as any other limitation. For example, the material of the connecting element can still be a flexible or soft deformable material, and this embodiment does not impose any limitation.

[0442] In some implementations, the connecting element can be a multi-joint robotic arm. One end of the robotic arm is connected to the trimming mechanism 30, and the other end is connected to the body 10. Driving elements are located at the end of the robotic arm connected to the body 10 and at each joint, driving the movement of each joint of the robotic arm to extend it at different amplitudes and / or orientations. This results in different distances between the trimming mechanism 30 and the center point M of the body 10, and / or different angles formed between the line connecting the trimming mechanism 30 and the center point M of the body 10 and the transverse central axis L1 / vertical central axis L2 of the body 10, allowing for more flexible adjustment of the working position. It is understood that the structure of the driving mechanism 20 is not limited to this; it only needs to be able to drive the trimming mechanism 30 to achieve different distances between the trimming mechanism 30 and the center point M of the body 10, and / or different angles formed between the line connecting the trimming mechanism 30 and the center point M of the body 10 and the transverse central axis L1 / vertical central axis L2 of the body 10. The trimming mechanism 30 has at least two working positions, including at least a first working position and a second working position. For example, at least two work positions can correspond to different working conditions.

[0443] In some embodiments, Figure 1 is a schematic diagram of the trimming mechanism 30 in the first working position, and Figure 3 is a schematic diagram of the trimming mechanism 30 in the second working position. When the trimming mechanism 30 is in the first working position, it extends to the side of the fuselage 10. When the trimming mechanism 30 is in the second working position, it extends to the front of the fuselage 10. This achieves different distances between the trimming mechanism 30 and the center point M of the fuselage 10 when it is in different working positions, and / or, the angle formed between the line connecting the trimming mechanism 30 and the center point M of the fuselage 10 and the transverse central axis L1 / longitudinal central axis L2 of the fuselage 10 is different.

[0444] Referring to Figures 1 and 3, taking the drive mechanism 20 as an example of a swing arm that extends in a rotating manner, by controlling the rotation angle of the swing arm, the trimming mechanism 30 can extend to a certain extent relative to the side of the body 10 (refer to Figure 1). As the rotation angle increases, the distance between the trimming mechanism 30 and the center point M of the body 10 increases, and / or the angle formed between the line connecting the trimming mechanism 30 and the center point M of the body 10 and the transverse central axis L1 / longitudinal central axis L2 of the body 10 changes. For example, the trimming mechanism 30 rotates to extend to a certain extent relative to the front side of the body 10 (refer to Figure 3). Thus, the working position of the trimming mechanism 30 can be adjusted to adapt to the trimming needs of different shaped edges.

[0445] In some embodiments, Figure 2 is a schematic diagram of the trimming mechanism 30 in the first working position, and Figure 4 is a schematic diagram of the trimming mechanism 30 in the second working position. When the trimming mechanism 30 is in the first working position and the second working position, it extends to the side of the fuselage 10 with different amplitudes, so that the distance between it and the center point M of the fuselage 10 is different when it is in different working positions, and / or the angle formed between the line connecting it and the center point M of the fuselage 10 and the transverse central axis L1 / longitudinal central axis L2 of the fuselage 10 is different.

[0446] Referring to Figures 2 and 4, taking the telescopic arm of the drive mechanism 20 as an example, by controlling the position of the arm on the telescopic track 33, the trimming mechanism 30 can extend a certain distance relative to the side of the machine body 10 (refer to Figure 2). As the position of the arm on the telescopic track 33 moves further, the extension distance of the trimming mechanism 30 relative to the side of the machine body 10 further increases (refer to Figure 4). At this time, the distance between the trimming mechanism 30 and the center point M of the machine body 10 increases (for example, when the arm is a telescopic arm, the distance can be changed), and / or, the angle formed between the line connecting the trimming mechanism 30 and the center point M of the machine body 10 and the transverse central axis L1 / longitudinal central axis L2 of the machine body 10 changes (for example, when the arm has multiple joints, the extension of the multi-joint arm / multi-joint robotic arm can achieve both angle and distance changes), thereby adjusting the working position of the trimming mechanism 30 to adapt to the trimming requirements of different shaped edges.

[0447] Please refer to Figures 5 and 6. The machine body 10 can also be provided with a storage position (stored state). When the trimming mechanism 30 is in the stored position, it is at least partially stored in the side of the machine body 10 to improve the overall machine's maneuverability. When the trimming mechanism 30 is in the stored position, it can be in either a working state or a non-working state. The controller 110 is configured to control the drive mechanism 10 to switch the trimming mechanism 30 between the stored position and at least two working positions.

[0448] In some examples, controller 110 is configured to:

[0449] When a boundary of the first type is identified, the control drive mechanism 20 is activated to drive the trimming mechanism 30 to move to the first working position.

[0450] When the boundary is identified as a second type of boundary, the control drive mechanism 20 is activated to move the trimming mechanism 30 to the second working position.

[0451] Specifically, for different types of boundaries, the controller 110 controls the drive mechanism 20 to work, thereby moving the trimming mechanism 30 to the corresponding working position, so as to better achieve cutting to the edge and improve the trimming effect.

[0452] In practice, the type of boundary can be identified and determined based on the data collected by the vision device 50, or the boundary type can be identified and labeled when building the map, or the user can label the boundary type when building the map.

[0453] In some examples, the first type of boundary includes at least one of the following: a boundary with an arc less than a preset arc threshold, and a straight edge. Please refer to Figure 7, which is a schematic diagram of trimming a straight edge when boundary B is a straight edge. A straight edge can be, for example, a long wall or fence. In this case, the trimming mechanism 30 is in its first working position, for example, extending slightly relative to the fuselage 10. Please refer to Figure 8, which is a schematic diagram of trimming a boundary with a small arc when boundary B is a small arc. A small arc boundary can be the boundary of an isolated island such as a flower bed, toy, or trampoline, or it can be a continuous curved wall or fence. In this case, the trimming mechanism 30 is in its first working position, for example, extending slightly relative to the fuselage 10.

[0454] In some examples, the second type of boundary includes at least one of the following: a boundary with an arc greater than or equal to a preset arc threshold, and a corner. The second type of boundary refers to areas that the automatic lawnmower cannot completely cover when moving along the edge, such as L-shaped corners, U-shaped corners, and depressions. Please refer to Figure 9, which is a schematic diagram of trimming the corner when boundary B is a corner. At this time, the trimming mechanism 30 moves to a second working position, for example, extending significantly relative to the front of the body 10. Thus, when the body 10 cannot approach the inside of the corner, the trimming mechanism 30 extends into the corner to cut.

[0455] In some examples, the first type of boundary includes non-dangerous boundaries. Referring to Figure 10, which is a schematic diagram of trimming a non-dangerous boundary (Boundary B), a non-dangerous boundary is any boundary other than those defined or marked as dangerous. Dangerous boundaries are, for example, boundaries that could damage machinery, such as the boundary of a cliff like a pond; or boundaries that could be damaged by machinery, such as easily damaged boundaries like flowerbeds. In this case, the trimming mechanism 30 is in its first working position, for example, extending slightly relative to the side of the fuselage 10.

[0456] In some examples, the second type of boundary includes a dangerous boundary. Please refer to Figure 11, which is a schematic diagram of trimming the dangerous boundary when boundary B is a dangerous boundary. At this time, the trimming mechanism 30 is in a second working position, for example, extending significantly relative to the side of the fuselage 10, so that the fuselage 10 is relatively far away from the dangerous boundary.

[0457] Please refer to Figure 12, which is another schematic diagram of corner trimming when boundary B is a corner. In this case, the trimming mechanism 30 extends significantly relative to the side of the fuselage 10 to better reach the corner. When cutting the corner, the extension of the trimming mechanism 30 relative to the side of the fuselage 10 can be the same as or different from that shown in Figure 11. When the extension of the trimming mechanism 30 relative to the side of the fuselage 10 is greater than that shown in Figure 11, the trimming mechanism 30 shown in Figure 12 is in a third working position. Thus, the trimming mechanism 30 can have two or more working positions to adapt to different working conditions.

[0458] It is understood that each working position of the trimming mechanism 30 can be a different designated position or a different range of designated positions, and the number of its working positions can be set according to the required working conditions, and is not limited to the above embodiment.

[0459] It can be seen that by adjusting the position of the trimming mechanism 30, the distance between the trimming mechanism 30 and the center point M of the body 10 is different, and / or the angle formed between the line connecting the trimming mechanism 30 and the center point M of the body 10 and the horizontal central axis L1 / vertical central axis L2 of the body 10 is different, which can adapt to the trimming of edges of different shapes.

[0460] In some examples, to more accurately guide the trimming mechanism 30 to the designated position, the automatic lawnmower also includes a position detection component. The controller 110 is configured to control the drive mechanism 20 to stop operating when the detection data from the position detection component indicates that the trimming mechanism 30 has moved into position.

[0461] The position detection component can be used to detect whether the trimming mechanism 30 has moved to the storage position, or to detect whether the trimming mechanism 30 has moved to the corresponding working position.

[0462] In some examples, a position detection component can be set only in the storage position. When the trimming mechanism 30 is in the storage position, the position parameters of the drive mechanism 20 are initialized. After the trimming mechanism 30 extends, the position parameters of the drive mechanism 20 are used to determine whether the trimming mechanism 30 has moved into position. For example, taking the drive mechanism 20 as including a swing arm and a drive motor, the position parameters of the drive mechanism 20 include the number of rotations of the drive motor and the rotation angle of the swing arm. For example, when the drive mechanism is a swing arm, there is a position detection component at the end of the swing arm. The drive motor of the swing arm is 0 degrees in the initial position. Before each swing arm starts working, it is ensured that the swing arm is in the initial position (at this time, the angle of the motor is zero, and the initial position detection of the swing arm is triggered).

[0463] Taking the trimming mechanism 30 being adjusted to the first working position as an example, assuming that the trimming mechanism 30 needs the drive motor to rotate n revolutions from the storage position to the first working position, then if the drive motor completes n revolutions and it is determined, based on the rotation angle of the swing arm and the number of revolutions of the drive motor, that no obstacle has been encountered, then the rotation is confirmed to be in place. Conversely, if the motor does not complete n revolutions, or if it is determined, based on the angle of the swing arm, that the trimming mechanism 30 has encountered an obstacle, then it is determined that the rotation is not in place.

[0464] In some examples, the automatic lawnmower also includes a limiting structure to restrict the trimming mechanism 30 from continuing to move when it has moved to a corresponding position. In one implementation, the limiting structure restricts the trimming mechanism 30 from continuing to move after it has reached the retracted position, and / or restricts the trimming mechanism 30 from continuing to move after it has reached its maximum extension.

[0465] In some cases, the automatic lawnmower may also include both a position detection component and a limiting structure to more accurately control the movement position of the trimming mechanism 30.

[0466] In some examples, controller 110 is also configured to:

[0467] When the automatic lawnmower is turned on, determine whether the trimming mechanism 30 is in the storage position;

[0468] If not in the storage position, control the drive mechanism 20 to drive the trimming mechanism 30 back to the storage position.

[0469] When the automatic lawnmower is turned on, it first checks whether the trimming mechanism 30 is in the storage position. If it is not in the storage position, it controls the trimming mechanism 30 to return to the storage position. In this way, the position parameters of the drive mechanism 20 can be accurately initialized, improving the accuracy of subsequent control of the movement of the trimming mechanism 30.

[0470] In some examples, the second type of boundary can be processed during edge trimming or separately after edge trimming is complete. When processing during edge trimming, the automatic lawnmower can be controlled to rotate at a certain angle or move to a specific location (such as a base station or other open space) when encountering a corner, to provide space for adjusting the position of the trimming mechanism 30 to the second working position. When processing separately after edge trimming is complete, the position of the trimming mechanism 30 can be moved to the second working position before the automatic lawnmower departs, or it can be adjusted near the second type of boundary (such as within a preset range).

[0471] In some examples, when the boundary is identified as a second type of boundary and the trimming mechanism 30 is in the second working position, the controller 110 is also configured to: reduce the walking speed of the automatic lawnmower. This prevents the trimming mechanism 30 from colliding with the boundary in front when it is in the second working position.

[0472] In some examples, the automatic lawnmower also includes a height floating mechanism 70, which is used at least to passively adjust the position of the trimming mechanism 30 in the height direction when the trimming mechanism 30 collides with an obstacle.

[0473] Referring to Figure 13, the height floating mechanism 70 can be located at the connection between the drive mechanism 20 and the body 10, or at the connection between the drive mechanism 20 and the trimming mechanism 30. When the bottom of the trimming mechanism 30 collides with the obstacle O, the height floating mechanism 70 passively raises the position of the trimming mechanism 30 in the height direction of the body 10, thereby improving passability. After passing the obstacle O, the height floating mechanism 70 returns to its original state, and the position of the trimming mechanism 30 returns to its original height, allowing cutting to continue. In some embodiments, the height floating mechanism 70 can use an elastic damping device to achieve automatic recovery. Collision refers to the process of objects contacting and generating force. When the trimming mechanism 30 collides with an obstacle at a location other than its bottom, a force in the height direction may also be generated. Therefore, when a force in the height direction is generated during a collision, the height floating mechanism 70 can also passively raise the position of the trimming mechanism 30 in the height direction of the body 10, thereby improving passability.

[0474] In some examples, the automatic lawnmower also includes a horizontal floating mechanism 80, which is used at least to passively adjust the position of the trimming mechanism 30 on the horizontal plane when the trimming mechanism 30 collides with an obstacle.

[0475] Please refer to Figures 14 and 15. The horizontal floating mechanism 80 can be located at the connection between the drive mechanism 20 and the body 10, or at the connection between the drive mechanism 20 and the trimming mechanism 30. Preferably, it is located at the connection between the drive mechanism 20 and the body 10 to improve the overall vehicle passability. As shown in Figure 14, when the trimming mechanism 30 is in the first working position and its side collides with the obstacle O, the horizontal floating mechanism 80 allows the trimming mechanism 30 to be passively retracted to one side of the body 10 on the horizontal plane, thereby improving the overall vehicle passability. After passing the obstacle O, the horizontal floating mechanism 80 returns to its original state, and the trimming mechanism 30 returns to its original extension range, allowing cutting to continue. As shown in Figure 15, when the trimming mechanism 30 is in the second working position and its front part collides with the obstacle O, the horizontal floating mechanism 80 allows the trimming mechanism 30 to passively retract towards the side of the machine body 10 on the horizontal plane, reducing the overall machine profile and thus improving the vehicle's passability. After passing the obstacle O, the horizontal floating mechanism 80 returns to its original state, and the trimming mechanism 30 returns to its original extension range, allowing cutting to continue. In some embodiments, the horizontal floating mechanism 80 can use an elastic damping device to achieve automatic recovery. Collision refers to the process of objects coming into contact and generating force. When the trimming mechanism 30 collides with an obstacle at a location other than its side and front, a force on the horizontal plane may also be generated. Therefore, when a force on the horizontal plane is generated during a collision, the horizontal floating mechanism 80 can also passively retract the trimming mechanism 30 towards the side of the machine body 10 on the horizontal plane, thereby improving the vehicle's passability.

[0476] In some examples, the automatic lawnmower includes both a height-floating mechanism 70 and a horizontal-floating mechanism 80. This improves the vehicle's maneuverability.

[0477] In some examples, controller 110 is configured to:

[0478] When the trimming mechanism 30 collides with an obstacle and triggers a collision detection signal, it executes the obstacle avoidance strategy corresponding to the fuselage 10.

[0479] When the trimming mechanism 30 collides with an obstacle and triggers a collision detection signal, it indicates that a relatively frontal or large-amplitude collision has occurred. At this time, the collision force is large and obstacle avoidance cannot be achieved within the adjustment range of the height floating mechanism 70 and / or the horizontal floating mechanism 80. In this case, the obstacle avoidance strategy corresponding to the fuselage 10 is executed, such as controlling the fuselage 10 to retreat or turn to avoid obstacle avoidance, so as to avoid damage to the height floating mechanism 70, the horizontal floating mechanism 80 or other parts of the fuselage 10.

[0480] Please continue to refer to Figures 1 and 3. In some examples, when the trimming mechanism 30 is in the second working position, the trimming mechanism 30 is at least partially within the acquisition range of the vision device 50. Thus, the working status of the trimming mechanism 30 can be monitored in real time by the vision device 50, reducing the probability of the trimming mechanism 30 colliding with obstacles and improving the working efficiency and reliability of edge cutting.

[0481] Please continue referring to Figure 1. In some examples, the mounting position 21 of the drive mechanism 20 on the fuselage 10 is located at the front inflection point 11 of the outer contour of the fuselage 10. It should be noted that the mounting position 21 (i.e., the rotation center of the drive mechanism 20) is selected within a range, for example, within a preset range of the location of the inflection point 11, not exceeding the entire shell of the fuselage 10 (including the crash plate), and not interfering with the front wheel. Alternatively, the mounting position 21 can be on the front crash plate of the fuselage 10, which may pose a risk. Optionally, the mounting position 21 can be set on the shell of the fuselage 10 (excluding the front crash plate), which can be set on the chassis of the shell or on the top cover of the shell; there is no limitation on this.

[0482] In some embodiments, the drive mechanism 20 includes a swing arm, and two front wheels are arranged on the front side of the machine. From a top view, the rotation center of the swing arm at least partially overlaps with the coverage area of ​​the corresponding front wheel. This structure ensures sufficient space for accommodating and side-mounting the trimming mechanism 30. Furthermore, it maximizes the position of the trimming mechanism 30 within the acquisition range of the vision device 50 when it moves to the second working position, resulting in high reliability and, for example, strong ability to navigate potholes.

[0483] The automatic lawnmower of this application includes a body, a drive mechanism, a trimming mechanism, and a controller. The controller is configured to: control the drive mechanism to switch the trimming mechanism between at least two working positions; wherein, when the trimming mechanism is in at least two working positions, the distance between the trimming mechanism and the center point of the body is different, and / or, the angle formed between the line connecting the trimming mechanism and the center point of the body and the transverse / longitudinal central axis of the body is different. The technical solution of this application provides that the trimming mechanism has at least two working positions, allowing it to extend at different amplitudes relative to the center point of the body and / or at different angles relative to the transverse / longitudinal central axis of the body, better handling edges of various shapes and improving edge trimming results.

[0484] The following examples, with reference to Figures 16 to 24, illustrate the protective features of the hay-gathering and trimming components mentioned in this disclosure:

[0485] To achieve better edge cutting, please refer to Figure 16. In some examples, the automatic lawnmower includes a grass gathering assembly 90. The edge of the working area of ​​the grass gathering assembly 90 extends beyond the edge of the cutting area of ​​the trimming mechanism 30 to gather grass outside the cutting area of ​​the trimming mechanism 30 into the cutting area of ​​the trimming mechanism 30.

[0486] It is understandable that the main function of the grass-gathering component 90 is to gather grass outside the cutting area of ​​the trimming mechanism 30 into the cutting area of ​​the trimming mechanism 30, thereby achieving a better edge-cutting effect. Therefore, the setting of the grass-gathering component 90 does not depend on the relevant structural design of the trimming mechanism 30 at different working positions in the aforementioned embodiments. Of course, in some embodiments, the grass-gathering component 90 can also be used based on the relevant structural design of the trimming mechanism 30 at different working positions in the aforementioned embodiments to obtain a better edge-cutting effect when trimming boundaries of different shapes.

[0487] The working area of ​​the grass-gathering component 90 refers to the area projected onto the horizontal plane when the grass-gathering component 90 is working, and the cutting area of ​​the trimming mechanism 30 refers to the area projected onto the horizontal plane when the trimming mechanism 30 is working. After setting up the grass-gathering component 90, grass outside the cutting area of ​​the trimming mechanism 30 can be gathered into the cutting area of ​​the trimming mechanism 30, expanding the actual cutting range of the trimming mechanism 30 and achieving a better cutting effect. At the same time, after setting up the grass-gathering component 90, the trimming mechanism 30 does not need to be very close to the boundary to cut the grass on the boundary. For situations where there are hard objects such as walls at the boundary, this can reduce the collision between the trimming mechanism 30 and the boundary object, thereby reducing damage to the trimming mechanism 30.

[0488] In some examples, the grass-gathering portion of the grass-gathering assembly 90 is made of a soft material. When using a soft material, the grass-gathering portion of the grass-gathering assembly 90 can achieve an interference fit with the boundary wall or fence, allowing the automatic lawnmower to achieve a completely flush cut along the edge. In some examples, the grass-gathering assembly 90 is a roller brush or a side brush rotating on a horizontal plane.

[0489] In some examples, the automatic lawnmower also includes a protective cover, housing the cutting elements of the trimming mechanism 30. By providing the cover, for example, the upper part can protect the plants and extend the lifespan of the trimming mechanism 30; or the sides can prevent grass clippings from splashing onto the vision device 50. The diameter of the cover is approximately the same as the diameter of the cutting elements of the trimming mechanism 30. The cover can somewhat affect the amount of grass fed into the trimming mechanism 30, which is detrimental to improving the trimming effect. In such cases, by incorporating the cover and improving the structure of the grass-gathering assembly 90 and the cover itself, the trimming effect can be guaranteed.

[0490] In some examples, referring to Figure 17, the trimming mechanism 30 includes a trimming motor 32 and a cutting element 31. The cutting element 31 is connected to the output shaft of the trimming motor 32. The protective cover 100 includes an upper cover 101 and a lower cover 102. The upper cover 101 is located above the cutting element 31 of the trimming mechanism 30, and the lower cover 102 is located below the cutting element 31 of the trimming mechanism 30. The cutting element 31 is housed within the protective cover 100. This structure of the protective cover 100 is suitable for automatic lawnmowers where the cutting element 31 is a disc, providing better protection.

[0491] The protective cover 100 is provided with a grass inlet channel 103, and a grass gathering assembly 90 is disposed outside the protective cover 100. The edge of the working area of ​​the grass gathering assembly 90 extends beyond the edge of the protective cover 100 to gather grass outside the edge of the protective cover 100 into the grass inlet channel 103. In some examples, the upper protective cover 101 and the lower protective cover 102 are disposed opposite each other with a gap, and the grass inlet channel 103 is formed by grass inlet channels 103 at the same position on the upper protective cover 101 and the lower protective cover 102. In this way, grass outside the protective cover 100 can be collected into the grass inlet channel 103 by the grass gathering assembly 90 and cut by the cutting element 31 located inside the protective cover 100.

[0492] Referring to Figures 17 to 20, in some examples, the grass inlet channel 103 consists of multiple strips. When the trimming mechanism 30 is in operation, at least a portion of the grass inlet channel 103 is oriented in a direction substantially the same as the central axis L of the machine body 10. When designing the strips and the gaps between the upper and lower protective covers 101 and 102, their dimensions should prevent a finger F from reaching the cutting element 31 to ensure safety.

[0493] Referring to Figures 21 and 22, in some examples, the grass inlet channel 103 consists of multiple strip-shaped grooves radiating outward from the center of the cutting element 31. When designing the strip-shaped grooves and the gaps between the upper and lower guards 101 and 102, their dimensions should prevent a finger F from reaching the cutting element 31 to ensure safety.

[0494] When the grass inlet channel 103 is a strip groove, the grass gathering component 90 is preferably a side brush, which can be installed above the cover 100. The side brush gathers the grass from a higher position, allowing the grass to enter the grass inlet channel 103 better and be cut by the cutting element 31, resulting in a better grass gathering effect.

[0495] In some examples, referring to Figures 23 and 24, the guard 100 includes an upper guard 103 and a side guard 104. The cutting element 31 of the trimming mechanism 30 is housed within the guard 100. The lowest point of the side guard 104 is lower than the plane of rotation of the cutting element 31 during operation. This prevents grass clippings from flying while not affecting grass feeding. This type of guard 100 is suitable for automatic lawnmowers where the cutting element 31 is a grass-trimming rope, providing better protection while reducing the impact on grass feeding.

[0496] The side cover 104 is provided with a grass inlet, and the grass gathering component 90 is provided at the grass inlet. The edge of the working area of ​​the grass gathering component 90 extends beyond the edge of the cover 100 to gather grass outside the edge of the cover 100 into the cover 100.

[0497] When the cutting element 31 has no protective cover 100 at the bottom and the grass inlet channel 103 is a grass inlet with a large area, the grass gathering assembly 90 is preferably a roller brush, which can be installed on the horizontal plane of the protective cover 100 to gather the grass from a lower position. The grass can enter the bottom of the protective cover 100 better and be cut by the cutting element 31, resulting in a better grass gathering effect.

[0498] The automatic lawnmower of this application includes a grass-gathering assembly and a trimming mechanism disposed on the side of the machine body. The edge of the working area of ​​the grass-gathering assembly extends beyond the edge of the cutting area of ​​the trimming mechanism, for gathering grass outside the cutting area of ​​the trimming mechanism into the cutting area of ​​the trimming mechanism. The technical solution of this application achieves a better edge-cutting effect by gathering grass outside the cutting area of ​​the trimming mechanism into the cutting area of ​​the trimming mechanism through the grass-gathering assembly.

[0499] To facilitate understanding, the following examples, with reference to Figures 25 to 45, illustrate the different ground clearances mentioned in this disclosure under different states:

[0500] Referring to Figures 25 to 27, an example of an automatic lawnmower according to the present invention includes a body 11, a moving component 13, and a trimming component 15. The body 11 has its vertical direction (also known as the height direction) perpendicular to the ground, and its horizontal direction (also known as the width direction) perpendicular to both the forward direction and the vertical direction. The moving component 13 is mounted on the body 11 and is used to move the body 11. The trimming component 15 is used to perform trimming tasks and is movably mounted on the body 11, such that the trimming component has at least a first state and a second state, wherein the first state and the second state are two of the aforementioned preset states. When the trimming component is in the first state, it is at a first distance from the ground; in the second state, it is at a second distance from the ground, the first distance being different from the second distance. In one example, the first state is the storage state, and the second state is the trimming state. In this state, the trimming component 15 is movably mounted on the body 11, so that the trimming component 15 has both the storage state shown in Figure 25 and the trimming state shown in Figure 28. In the storage state, referring to Figures 29 and 30, the trimming component 15 is at a first distance h1 from the ground; in the trimming state, referring to Figures 31 and 32, the trimming component 15 is at a second distance h2 from the ground. The first distance h1 is different from the second distance h2.

[0501] Understandably, since the trimming assembly 15 is movable, in one example, the distance of the free end of the trimming assembly relative to the central axis of the body is different in the first state and the second state; or the overlapping area of ​​the vertical projection of the trimming assembly 15 (especially the working head of the trimming assembly) and the vertical projection of the outer contour of the automatic lawnmower (defined by the body 11 and the moving assembly 13) is different.

[0502] Taking the first state as the storage state and the second state as the trimming state as an example, in the storage state, the distance between the free end of the trimming component and the central axis of the body is the third distance, and in the trimming state, the distance between the free end of the trimming component and the central axis of the body is the fourth distance. The third distance is less than the fourth distance.

[0503] In the stowed state, the vertical projection of the trimming component 15 and the vertical projection of the outer contour of the automatic lawnmower have a first overlapping area. In the trimming state, the vertical projection of the trimming component 15 and the vertical projection of the outer contour of the automatic lawnmower have a second overlapping area. The first overlapping area is greater than the second overlapping area.

[0504] In one example, the trimming assembly includes a support (such as a swing arm) and a working head (short for trimming working head, such as a lawn mower head) connected to the support. The support is connected to the machine body. In the folded state, the vertical projection of the working head of the trimming assembly and the vertical projection of the outer contour of the automatic lawnmower have a first overlapping area. In the trimming state, the vertical projection of the working head of the trimming assembly and the vertical projection of the outer contour of the automatic lawnmower have a second overlapping area. The first overlapping area is greater than the second overlapping area.

[0505] The automatic lawnmower disclosed herein, by incorporating a trimming component, can trim the edges of the lawn, improving maneuverability and safety in the retracted state. Furthermore, when the automatic lawnmower has a main mowing component, the main mowing component can perform normal mowing while the trimming component is in the retracted state; and trimming work is performed when the trimming component is in the trimming state. Moreover, different ground clearances are achieved in different states, improving maneuverability when the ground clearance is greater. In some embodiments, a first distance h1 is greater than a second distance h2. Thus, in the retracted state, the trimming component is farther from the ground, not affecting the normal operation of the automatic lawnmower and giving it good maneuverability; in the trimming state, the trimming component is closer to the ground, allowing for mowing operations to achieve trimming.

[0506] To further improve the machine's maneuverability, in some embodiments, when in the stowed state (referring to Figures 29 and 30), the trimming component is in the stowed position, and the vertical projection of the trimming component 15 has a first overlapping area with the vertical projections of the body 11 and the moving component 13; when in the trimming state (referring to Figures 31 and 32), the trimming component is in the stowed position, and the vertical projection of the trimming component 15 has a second overlapping area with the vertical projections of the body 11 and the moving component 13, wherein the first overlapping area is larger than the second overlapping area. In some embodiments, when in the stowed state, the vertical projection of the trimming component 15 is completely within the vertical projection range of the body 11 and the moving component 13; when in the trimming state, the vertical projection of the trimming component 15 is at least partially outside the vertical projection range of the body 11 and the moving component 13. It is understood that in other embodiments, when in the stowed state, a small portion of the vertical projection of the trimming component 15 may be located outside the vertical projection range of the body 11 and the moving component 13.

[0507] In one example, the trimming assembly 15 includes a support (such as a swing arm) and a working head (such as a grass trimmer) connected to the support. The support is connected to the body. In the retracted state, the vertical projection of the working head of the trimming assembly has a first overlapping area with the vertical projection of the body 11 and the moving assembly 13. In the trimming state, the vertical projection of the working head of the trimming assembly has a second overlapping area with the vertical projection of the body 11 and the moving assembly 13. The first overlapping area is larger than the second overlapping area.

[0508] In some embodiments, referring to Figure 33, the automatic lawnmower also includes a main mowing assembly (also known as a main cutting assembly) 17, which is mounted on the machine body 11 and is used to perform the main mowing task. Normally, when the main mowing assembly 17 is performing the main mowing task, the trimming assembly 15 is not working; conversely, when the trimming assembly 15 is performing the trimming task, the main mowing assembly 17 is not working. Of course, in some cases, the main mowing assembly 17 and the trimming assembly 15 can work simultaneously, as long as both the main mowing assembly 17 and the trimming assembly 15 can function normally, meaning that the mowing areas of the main mowing assembly 17 and the trimming assembly 15 do not overlap.

[0509] In some embodiments, the main mowing assembly 17 is located inside the outer contour of the body 11, so that the body 11 can protect the main mowing assembly 17 from contact with people or animals and cause injury. More specifically, the main mowing assembly 17 may include a main cutting mechanism, the end of which is kept at a certain distance from the side of the body 11 to ensure safety.

[0510] In some embodiments, the main cutting mechanism of the main mowing assembly 17 can be a rigid cutting element such as a metal blade or a stone blade, which has a good mowing effect. Of course, the main mowing assembly 17 can also be a flexible cutting element such as a grass trimming rope, and there is no limitation on this.

[0511] It should be noted that, in order to further improve the protective effect, the main lawn mowing component may also include a protective cover, which will not be described in detail in this embodiment.

[0512] In some embodiments, the main mowing assembly 17 has one main cutting mechanism, and the rotation axis of the main cutting mechanism passes through the transverse central axis of the body 11. It is understood that in other embodiments, the rotation axis of the main cutting mechanism may also be offset from the transverse central axis of the body 11 by a certain distance, that is, the main cutting mechanism may be positioned slightly to the left or right on the automatic lawnmower. In other embodiments, the main mowing assembly 17 may also have two or more main cutting mechanisms. The number of main cutting mechanisms can be determined based on factors such as the volume of the automatic lawnmower and the size of the main cutting mechanisms.

[0513] Specifically, in the automatic lawnmower shown in Figure 33, the main cutting mechanism of the main mowing assembly 17 is one, and the rotation axis of the main cutting mechanism passes through the transverse central axis of the body 11. In the automatic lawnmower shown in Figure 34, the main cutting mechanism of the main mowing assembly 17 is one, and the rotation axis of the main cutting mechanism is offset from the transverse central axis of the body 11 by a certain distance. In the automatic lawnmower shown in Figure 35, the main cutting mechanism of the main mowing assembly 17 is two, and the rotation axis of the main cutting mechanism is offset from the transverse central axis of the body 11 by a certain distance; the two main cutting mechanisms are located on both sides of the transverse central axis of the body 11. In the automatic lawnmower shown in Figure 36, the main cutting mechanism of the main mowing assembly 17 is three, and the rotation axis of one of the main cutting mechanisms passes through the transverse central axis of the body 11, while the rotation axes of the other two main cutting mechanisms are offset from the transverse central axis of the body 11 by a certain distance.

[0514] In some embodiments, the moving component 13 includes two drive wheels 131 and two driven wheels 132. The drive wheels 131 are positioned near the rear end of the automatic lawnmower's body 11 as rear wheels, and the driven wheels 132 are positioned near the front end of the automatic lawnmower's body 11 as front wheels. It is understood that the number of drive wheels 131 may also be one, and the number of driven wheels 132 may be two; or, the number of drive wheels 131 may be two, and the number of driven wheels 132 may be one, or other arrangements may be made. Additionally, the drive wheels 131 may also be positioned near the front end of the automatic lawnmower as front wheels, and the driven wheels 132 may be positioned near the rear end of the automatic lawnmower as rear wheels. In this document, "front end" and "rear end" refer to the very front and very rear sides of the automatic lawnmower, respectively.

[0515] In some embodiments, the drive wheel 131 is located near the rear end of the body 11, the driven wheel 132 is located near the front end of the body 11, the main mowing assembly 17 is located between the drive wheel 131 and the driven wheel 132 of the body 11, and the trimming assembly 15 is located near the rear end of the body 11. Considering that the automatic lawnmower can be retracted to the rear end of the body when not performing trimming operations, without affecting the normal cutting of the main cutting assembly, in some examples, the trimming assembly 15 is configured to be retracted to the rear end of the body in the retracted state, as shown in Figures 25, 26, 33, and 37.

[0516] In another example, the drive wheel 131 can be positioned near the front of the body 11, and the driven wheel 132 near the rear of the body 11. In this case, the main mowing assembly 17 can be located in the middle between the drive wheel 131 and the driven wheel 132 of the body 11, while the trimming assembly 15 is positioned near the front of the body 11. Considering that the automatic lawnmower is not performing trimming operations, the trimming assembly can be stored in the head or front of the body without affecting the normal cutting of the main cutting assembly. In some examples, in the retracted state, the trimming assembly 15 is configured to be stored in the head or front of the body. By staggering the larger drive wheel 131 and the main mowing assembly 17, and installing the trimming assembly 15 at the end where the drive wheel 131 is located, spatial arrangement of components is facilitated, maximizing the use of the automatic lawnmower's space.

[0517] In some embodiments, the width of the body 11 (referring to the body housing) is greater than the width of the moving component 13. It is understood that in another example, the width of the body 11 may also be less than the width of the moving component 13; additionally, the widths of the body 11 and the moving component 13 may be the same. When the width of the body 11 is greater than or equal to the width of the moving component 13, in the lateral direction, the trimming component 15 in the trimmed state is at least partially located outside the outer contour of the body 11, and the portion of the trimming component 15 in the retracted state located inside the outer contour of the body 11 is larger than the portion of the trimming component 15 in the trimmed state located inside the outer contour of the body 11. Preferably, the trimming component 15 in the retracted state may be entirely located inside the outer contour of the body 11. When the width of the body 11 is less than the width of the moving component 13, in the lateral direction, the trimming component 15 in the trimmed state is at least partially located outside the outer contour of the moving component 13, and the portion of the trimming component 15 in the retracted state located inside the outer contour of the moving component 13 is larger than the portion of the trimming component 15 in the trimmed state located inside the outer contour of the moving component 13. Preferably, the trimming component 15 in the retracted state can be entirely located inside the outer contour of the moving component 13.

[0518] In some embodiments, the trimming assembly 15 includes a trimming element (also known as a cutting element or cutting component). The trimming element can be a flexible element such as a mowing line, a flexible plastic blade, or a flexible rubber blade. When the flexible trimming element comes into contact with a person, animal, fence, etc., it can reduce or avoid injury to the person or animal. The mowing line can specifically be a nylon, plastic, or metal mowing rope. Of course, the trimming element of the trimming assembly 15 can also be a rigid trimming element such as a blade; this is not a limitation. In some embodiments, the trimming unit can be equipped with a protective cover, especially when the trimming element is a rigid trimming element such as a blade, to improve safety. In this case, to improve grass feeding capability, especially when the protective cover is a large circumferential protection (i.e., the protection area is greater than a preset angle, such as greater than 180 degrees, such as a 360-degree full protection), the trimming assembly 15 can include a grass inlet 150 to facilitate guiding the grass into the cutting range of the trimming assembly 15 during mowing. In the trimming state, the grass inlet 150 faces the forward direction of the automatic lawnmower.

[0519] In some embodiments, when the trimming assembly 15 is in the trimming state, it is located to the side of the body 11. Referring to Figure 33, there is one trimming assembly 15, and when in the trimming state, it is located to the right rear of the body 11. It can be understood that, in the trimming state, the trimming assembly 15 can also be located to the left rear of the body 11. The trimming unit is located to the left rear or right rear, that is, in the trimming state, the trimming assembly 15 can be located to the side rear of the body 11, so that the trimming assembly can be stored at the rear end of the body, which is beneficial to improving passability and facilitating flexible obstacle avoidance, while also reducing the overall structural layout requirements of the automatic lawnmower. Of course, in other embodiments, in the trimming state, the trimming component 15 can also be located at the left front or right front, so that the trimming component can be stored in the head or front end of the machine body. That is, in the trimming state, the trimming component 15 can be located at the side front of the machine body 11, which can also improve the passability and facilitate flexible obstacle avoidance, while also helping to reduce the overall structural layout requirements of the automatic lawnmower. In summary, in the trimming state, the trimming component 15 can be located at the side front or side rear of the machine body 11; it is understood that in some examples, in the trimming state, the trimming component 15 can also be located at the directly left or directly right side of the machine body 11, that is, at the directly side of the machine body 11. It is understood that in other embodiments, there can also be two or more trimming components 15. Generally speaking, when the trimming component 15 is located near the rear end of the machine body 11, the trimming component 15 is located at the side rear of the machine body 11 in the trimming state; when the trimming component 15 is located near the front end of the machine body 11, the trimming component 15 is located at the side front of the machine body 11 in the trimming state.

[0520] It should be noted that the positional description in this article is represented by a coordinate system consisting of the horizontal central axis and the vertical central axis as the X and Y axes, respectively. The front and side are on the horizontal central axis, with the right front, left front, left rear, and right rear corresponding to the areas in the four quadrants.

[0521] In some embodiments, the body 11 covers the main mowing assembly 17 to provide protection for it. A trimming assembly receiving portion 111 is formed near the rear end of the body 11, within which the trimming assembly 15 is housed in the retracted state. It is understood that, in another example, the trimming assembly receiving portion 111 may also be formed near the front end of the body 11, depending on the positions of the main mowing assembly 17 and the trimming assembly 15. Specifically, one side of the trimming assembly receiving portion 111 is open to allow the trimming assembly 15 to pass through the opening to switch from the retracted state to the trimming state. Specifically, in some embodiments, the main mowing assembly 17 is located between the front and rear wheels.

[0522] To allow the automatic lawnmower to navigate better on grass, the bottom of the lawnmower housing is generally raised a certain distance above the ground to ensure passability. In the main mowing mode (when the main mowing component is in mowing mode), the lowest point of the trimming component should be equal to or higher than the lowest point of the automatic lawnmower housing to meet passability requirements. Therefore, in some embodiments, referring to Figures 29 and 30, in the folded state, the bottom of the trimming component 15 is higher than or equal to the bottom of the body 11 to ensure the automatic lawnmower's passability, and the lowest point of the body 11 is a third distance h3 from the ground, i.e., h1 is greater than h3. Referring to Figures 31 and 32, the height of the bottom of the trimming component 15 in the trimming state is lower than in the folded state, i.e., h2 is less than h3. Specifically, in the folded state, the bottom of the trimming component 15 can be 10–25 mm higher than the bottom of the body 11, preferably 15 mm. Specifically, when stored, the bottom of the trimming component 15 can be less than or equal to 35mm from the ground to protect human safety.

[0523] Specifically, referring to Figure 30, for an automatic lawnmower where the trimming assembly 15 is located at the rear of the body 11 (i.e., the trimming assembly 15 is positioned close to the rear side of the body 11), the minimum angle A between the tangent line drawn from the bottom of the trimming assembly 15 to the grounding side behind the rear wheel (drive wheel 131 or driven wheel 132) and the horizontal plane is greater than or equal to the nominal departure angle B of the automatic lawnmower, so as not to affect the automatic lawnmower's descent. The nominal departure angle refers to the angle between the tangent line drawn from the rear protruding point of the vehicle body to the horizontal plane and the horizontal plane. It can be understood that the tangent line drawn from different parts of the bottom of the trimming assembly 15 to the grounding side behind the rear wheel has multiple different angles with the horizontal plane. Generally, when the bottom of the trimming assembly 15 is flat, the angle between the tangent line drawn from the rear end of the bottom of the trimming assembly 15 to the grounding side behind the rear wheel and the horizontal plane is the minimum angle. In some cases, the bottom of the trimming assembly 15 is not flat, for example, the middle of the bottom of the trimming assembly 15 is lower (i.e., closer to the ground). In this case, the angle between the tangent line drawn from the middle point of the bottom of the trimming assembly 15 to the grounding side behind the rear wheel and the horizontal plane may be the minimum angle. In order to ensure that the setting of the trimming assembly 15 does not affect the nominal departure angle of the automatic lawnmower and thus does not affect its passability, the minimum angle A of the tangent line drawn from the bottom of the trimming assembly 15 to the grounding side behind the rear wheel (drive wheel 131 or driven wheel 132) and the horizontal plane needs to be relatively large (i.e., greater than or equal to the nominal departure angle B).

[0524] Specifically, it can be understood that for an automatic lawnmower with the trimming assembly 15 located at the front of the body 11 (i.e., the trimming assembly 15 is positioned close to the front side of the body 11), the minimum angle between the tangent line drawn from the bottom of the trimming assembly 15 to the grounded side in front of the front wheel (drive wheel 131 or driven wheel 132) and the horizontal plane is greater than or equal to the nominal approach angle of the automatic lawnmower, so as not to affect the automatic lawnmower's uphill performance. The nominal approach angle refers to the angle between the tangent line drawn from the protruding point of the vehicle's front end to the front wheel and the horizontal plane. Similarly, the arrangement of the trimming assembly 15 also needs to not affect the nominal approach angle of the automatic lawnmower, which will not be elaborated further here.

[0525] When the automatic lawnmower moves under the operation of the main mowing component, when the automatic lawnmower (hereinafter referred to as the automatic lawnmower) cuts to the boundary, in order to prevent the automatic lawnmower from colliding with boundary obstacles (such as walls) and thus damaging the automatic lawnmower, it will maintain a certain safe distance from the wall during the movement to form a safe driving area for the main unit.

[0526] To prevent harm to the human body, the main mowing component inside the automatic lawnmower is kept at a certain distance from the outer contour of the automatic lawnmower, forming a protective area for the main unit.

[0527] Considering that the grass in the main unit's safe driving area and the main unit's protected area cannot be cut when the main mowing component is working, in one embodiment, the main unit's safe driving area and the main unit's protected area can be processed by the trimming unit.

[0528] For ease of understanding, please refer to Figures 37 to 39. The area between two tangent lines parallel to the forward direction of the automatic lawnmower and tangent to the cutting range of the main mowing component 17 is the first cutting area C1. The area between the tangent line parallel to the forward direction and tangent to the cutting range of the main mowing component 17, and the outer side of the body 11 or the moving component 13 is the main body protection area C2. When the trimming component 15 is in the retracted state and the main mowing component 17 is working, the area between the outer side of the body 11 or the moving component 13 and the cutting boundary line L2 is the main body travel safety area C3. In the trimming state, the area between two tangent lines parallel to the forward direction and tangent to the trimming range of the trimming component 15 is the second cutting area C4. At least a portion of the main body protection area C2 and the main body travel safety area C3 coincides with the second cutting area C4 (of course, it is also possible that a portion of the second cutting area C4 coincides with a portion of the first cutting area C1). In one example, the second cutting area C4 completely overlaps with the main unit protection area C2 and the main unit travel safety area C3. In this case, the second cutting area C4 is relatively large, requiring the trimming component 15 to be larger. In a preferred embodiment, the second cutting area C4 only overlaps with a portion of the main unit protection area C2 and the main unit travel safety area C3, meaning the second cutting area C4 is smaller. This allows for a smaller trimming component 15, thereby enabling control over the size of the automatic lawnmower. In yet another example, the second cutting area C4 may also partially overlap with a portion of the main unit protection area C2 and the main unit travel safety area C3, while the remaining portion is offset from them. It can be understood that when safe operation is ensured, the main unit protection area C2 may not be necessary, meaning the automatic lawnmower can travel close to the boundary line without maintaining a safe distance. The trimming range of the trimming assembly 15 refers to the cutting range of the trimming assembly 15 during operation. The inner side of its trimming range may be located within the projection range of the body 11 or the moving assembly 13, and the outer side of its trimming range may be located outside the projection range of the body 11 or the moving assembly 13. It can be understood that, referring to Figure 40, in another example, during the trimming state, the trimming assembly 15 may also move to a position far away from the outer edge of the body 11. In this case, the second cutting area C4 does not coincide with the main unit protection area C2 and the main unit driving safety area C3, and trimming can still be performed.

[0529] Specifically, in some embodiments, the edge of the second cutting area C4 is adjacent to the edge of the first cutting area C1, which reduces the area of ​​repeated cutting and improves work efficiency. It can be understood that in other embodiments, the second cutting area C4 and the first cutting area C1 may also partially overlap, which can better avoid the formation of missed cutting areas at the junction of the second cutting area C4 and the first cutting area C1.

[0530] In some embodiments, referring to Figures 41 and 42, the automatic lawnmower also includes a trimming drive assembly (also known as a drive mechanism) 19, which drives the trimming assembly 15 to switch between a stowed state and a trimming state.

[0531] In some examples, the trimming drive assembly 19 includes a drive member 191, a rotating shaft 193, a rotating wheel 195, a connecting rod 197, and a roller 199. The rotating shaft 193 is connected to the output shaft of the drive member 191 to rotate with the drive member 191 relative to the rotating wheel 195. The rotating wheel 195 is provided with an inclined surface 1951 that is axially inclined relative to the rotating shaft 193. The connecting rod 197 is connected to the rotating shaft 193 and the trimming assembly 15 respectively. The roller 199 is rotatably disposed on the connecting rod 197 and the roller 199 is rollably in contact with the inclined surface 1951. In this way, the rotation of the drive component 191 drives the rotation shaft 193 to rotate, while the wheel 195 remains stationary. As the rotation shaft 193 rotates, the roller 199 rolls along the inclined plane 1951, thereby driving the connecting rod 197 to rotate around the rotation shaft 193 and move up and down along the inclined plane 1951. This, in turn, drives the trimming assembly 15 to rotate and move up and down to switch between the storage state and the trimming state. Specifically, the drive component 191 can be a motor or electric motor.

[0532] Specifically, the axes of the rotation axis 193 and the trimming assembly 15 are arranged in parallel.

[0533] Specifically, the outer circumference of the rotating wheel 195 is provided with a first gear tooth 1953, and the outer circumference of the trimming assembly 15 is provided with a second gear tooth 153 (also known as a reversing gear). The first gear tooth 1953 and the second gear tooth 153 mesh, and the first gear tooth 1953 and the second gear tooth 153 remain meshed throughout the rotation of the trimming assembly 15 around the rotating axis 193. This makes the rotation of the trimming assembly 15 around the rotating axis 193 more stable and ensures that the trimming assembly 15 does not wobble during rotation, and that the trimming assembly 15 remains parallel to the side when it is retracted to the storage state.

[0534] In one embodiment, the trimming assembly has a retracted state and a trimming state, and the height of the second gear (i.e., the thickness of the gear along the direction of the gear's axis of rotation) is greater than or equal to the height change of the working head from the ground in both the retracted and trimming states. In other words, the height change of the working head from the retracted state to the trimming state (the difference between the first distance and the second distance) is achieved through a reversing gear.

[0535] Specifically, the rotating wheel 195 can be fixedly connected to the body 11.

[0536] Specifically, there may be two connecting rods 197 spaced apart along the rotation axis 193. It can be understood that there may also be one, three, or more connecting rods 197. By providing two or more connecting rods 197, the rotation of the trimming assembly 15 around the rotation axis 193 can be made more stable.

[0537] Specifically, the connecting rod 197 includes an annular portion with an opening, forming a generally C-shaped structure, with the two ends of the opening of the connecting rod 197 positioned opposite each other. During assembly, the rotating shaft 193 is fitted into the annular portion of the connecting rod 197, and a pin is inserted into the two ends of the opening to lock the connecting rod 197 to the rotating shaft 193 to achieve connection.

[0538] Understandably, in some examples, the trimming drive assembly 19 may also include two drives. One drive is used to drive the trimming assembly 15 to rotate about an axis parallel to the vertical, causing the trimming assembly 15 to swing between the inner and outer sides of the outer contour of the body 11 or the moving assembly 13. The other drive is used to drive the trimming assembly 15 to switch between two positions at a ground height of a first distance h1 and a ground height of a second distance h2. When the trimming assembly 15 needs to switch between a stowed state and a trimming state, both drives operate simultaneously.

[0539] In some embodiments, the automatic lawnmower also includes a control device for controlling the trimming drive assembly 19 to switch the trimming assembly 15 from a retracted state to a trimming state when a boundary is sensed, and for controlling the trimming drive assembly 19 to switch the trimming assembly 15 from a trimming state to a retracted state when no boundary is sensed. It is understood that, in another example, the control device may be signal-connected to an operating terminal, and the control device is used to control the trimming drive assembly 19 to switch the trimming assembly 15 from a retracted state to a trimming state, or from a trimming state to a retracted state, after receiving a state-switching operation command from the operating terminal. It is understood that, in yet another example, the automatic lawnmower may also include a control switch (e.g., a button) connected to the control device, the control switch being located on the machine body 11, and the control device being used to control the trimming drive assembly 19 to switch the trimming assembly 15 from a retracted state to a trimming state, or from a trimming state to a retracted state, after receiving a state-switching operation command from the control switch. In other words, the state switching of the trimming component 15 can be achieved by manually controlling the operating terminal, or automatically depending on whether the boundary is sensed, or by operating the control switch on the machine body 11.

[0540] In one example, the trimming component 15 is configured to passively rise relative to the fuselage 11 under the action of an external force. Furthermore, the trimming component 15 is configured to passively rise relative to the fuselage 11 under the action of an external force in the trimming state to avoid obstacles, especially obstacles in the vertical direction. In other words, the passive floating (upward floating) in the vertical direction is to avoid obstacles (such as slopes, small mounds, etc.) and improve vertical passability. In one example, the trimming assembly 15 is rotatably connected to the body 11 about an axis parallel to the plane formed by the forward direction and the lateral direction, so that it can rotate away from the ground under the action of external force, thereby avoiding or overcoming obstacles; that is, the trimming assembly can rotate away from the ground about a rotation axis parallel to the ground under the action of external force such as obstacles, until its working head is raised to the highest point, so as to avoid or overcome obstacles; here the height of the highest point above the ground is in the range of 20 to 40 mm, and further, the height of the highest point above the ground is in the range of 28 to 32 mm, so as to reduce the volume occupied by the trimming assembly while avoiding or overcoming obstacles.

[0541] In order to achieve floating in the vertical direction, in one example, a floating mechanism is provided between the body 11 and the trimming assembly 15, through which the passive floating of the trimming assembly is achieved.

[0542] The floating mechanism is configured to allow the trimming assembly to float upwards relative to the fuselage 11 under the action of an external force. It should be noted that the floating mechanism is also configured to allow the trimming assembly to move downwards relative to the fuselage under the action of gravity to return to its initial state (reset). With the initial state being the trimming state, when the trimming assembly encounters an obstacle, it is passively lifted under the external force of the obstacle. After obstacle avoidance is completed (e.g., the external force of the obstacle is less than the force of gravity or the external force disappears), the trimming assembly resets under the action of gravity to return to its original trimming state.

[0543] Considering how to achieve passive floating in the vertical direction, in one embodiment, the floating mechanism adopts a ball-head structure. Figure 43 illustrates a ball-head structure provided in this application.

[0544] Referring to Figures 43 and 44, the trimming assembly 15 includes a support member 1501 (such as a swing arm) and a working head 1502 (such as a grass trimming head). The ball head structure 1503 includes a protrusion (or groove) on the ball shell 1507 (outer surface) and a groove (or protrusion) on the outer shell 1506 (such as a swing arm shell) (inner surface) of the support member. The groove and the protrusion form a rotational hinge point 1505. Through the cooperation of the groove and the protrusion, the trimming assembly can float upward in a direction away from the ground.

[0545] The body 11 of the automatic lawnmower (such as an automatic lawn mower) is connected to the fixed base 110. The trimming assembly 15 is detachably connected to the fixed base 110. For example, the trimming assembly 15 is detachably connected to the fixed base 110 via a connecting plate 1101. The detachable connection can be a threaded connection, riveting, etc., and this disclosure does not limit this. The trimming assembly 15 is fixed to the outer shell 1506 (such as a swing arm shell) of the support member 1501. The outer shell 1506 (such as a swing arm shell) of the support member is rotatably mounted on the spherical shell 1507 via a rotating hinge point 1505.

[0546] The horizontal position of the outer shell 1506 of the support component (such as the swing arm shell) serves as the lower limit, ensuring that the working head (such as the mowing head) remains horizontal under gravity when it is not in contact with an obstacle, as shown in Figure 44. When the bottom of the automatic lawnmower 100 encounters an obstacle 300 such as a small mound or a slope, the support component (such as the swing arm) overcomes gravity and rotates upward around the rotating hinge point 1505 on the ball head structure to avoid it, as shown in Figure 45. After obstacle avoidance is completed (after passing the obstacle, the external force generated by the obstacle gradually disappears), the support component (such as the swing arm) can reset under gravity (return to the horizontal position) to continue the original strategy operation.

[0547] Taking the edge cutting (trimming operation) of an automatic lawnmower as an example, when the bottom of the automatic lawnmower encounters an obstacle, a small mound of soil, or a slope, the support component (such as the swing arm) overcomes gravity and rotates upward around the rotating hinge point on the ball head to avoid the obstacle; after the obstacle avoidance is completed (after passing the obstacle, the external force generated by the obstacle disappears), the support component (such as the swing arm) can be reset under the action of gravity so as to continue to perform the edge cutting operation.

[0548] In one example, the trimming assembly 15 is rotatably connected to the body 11 about an axis parallel to the plane formed by the forward direction and the lateral direction. A third elastic element, such as a torsion spring, is provided between the body 11 and the trimming assembly 15 to automatically return the trimming assembly 15 to the trimming state. When encountering an obstacle, the trimming assembly 15 rotates upward to avoid the obstacle. In another example, the trimming assembly 15 and the body 11 are connected by a fourth elastic element that can extend and retract vertically. When encountering an obstacle, the fourth elastic element is compressed to avoid the obstacle. In yet another example, the outer cover of the trimming assembly 15 is made of a material that can produce elastic deformation (e.g., rubber). When encountering an obstacle, the outer cover is compressed and deformed to avoid the obstacle. When the trimming assembly 15 is passively lifted relative to the body 11, the lifting height can be 20–40 mm, preferably 28–32 mm.

[0549] It is understood that the trimming assembly 15 can also be configured to passively lift relative to the fuselage 11 under the action of an external force, so as to avoid obstacles according to their positions. In particular, it can passively lift relative to the fuselage 11 under the action of an external force during the trimming process, so as to avoid obstacles according to their positions while performing the trimming operation.

[0550] It is understood that the trimming assembly 15 can also be configured to actively lift relative to the machine body to avoid obstacles based on their position. For example, in trimming mode, when the automatic lawnmower senses an obstacle, the control device (such as a controller) can actively control the trimming assembly 15 to lift upwards to avoid the obstacle; of course, a command can also be sent when the user observes an obstacle to actively control the trimming assembly 15 to lift upwards to avoid the obstacle. It should be noted that, in order to achieve the active lifting of the trimming assembly 15, the automatic lawnmower includes an auxiliary lifting mechanism capable of driving the main mowing assembly to move in the vertical direction. In some examples, when an obstacle is detected and an obstacle avoidance response is required, the controller of the automatic lawnmower controls the movement of the auxiliary lifting mechanism, thereby driving the trimming assembly to lift to actively avoid the obstacle and improve maneuverability.

[0551] Similarly, the main mowing assembly (17) is configured to move vertically up and down relative to the body (11). In other words, the main mowing assembly 17 can also be configured to actively lift up relative to the body 11. Specifically, the main mowing assembly 17 can move vertically up and down between a first position and a second position. In the first position, the main mowing assembly 17 is at its lowest position, and in the second position, the main mowing assembly 17 is at its highest position. The main mowing assembly 17 is configured to actively lift up to a preset position, such as the highest position, when the trimming assembly 15 is trimming. Thus, similar to the trimming assembly 15, the main mowing assembly 17 can actively avoid obstacles during operation; at the same time, the main mowing assembly 17 can lift up when the trimming assembly 15 is trimming to improve the passability of the automatic lawnmower. Here, active lifting refers to lifting under the control of the controller, while passive floating refers to movement generated under the action of external forces (such as obstacles).

[0552] Understandably, to enable the active lifting of the main mowing assembly, an automatic lawnmower includes a main lifting mechanism that can drive the main mowing assembly to move vertically. In some cases, when obstacle avoidance is detected, the automatic lawnmower's controller controls the lifting mechanism to move, thereby lifting the main mowing assembly to avoid obstacles and improve maneuverability.

[0553] In some implementations, when the automated lawnmower (hereinafter referred to as the automatic lawnmower, also known as the main unit) is in main mowing mode, the main mowing component is active, while the trimming component is in a retracted state, stored within the outline of the automated lawnmower. The trimming component is not active, and the retracted position corresponding to the retracted state is located at the rear of the automated lawnmower in the direction of travel. The controller executes the main mowing driving logic. Under the main mowing driving logic, when the intelligent automated lawnmower cuts to the boundary, in order to prevent the main unit from colliding with boundary obstacles such as walls and thus damaging the main unit, a certain safe distance is maintained from the wall during the driving process, forming a safe driving zone for the main unit.

[0554] To prevent injury to the user, the main mowing component inside the main unit is separated from the outer casing, forming a protected area. In main mowing mode, grass within both the main unit's safe driving area and the protected area cannot be cut. These two areas are combined into a single area to be cut, which will be processed by the trimming component in trimming mode.

[0555] To allow the main unit to move more easily on grass, the bottom of the main unit housing is generally raised a certain distance above the ground to maintain passability. In main mowing mode or when the trimming assembly is retracted, the lowest point of the trimming assembly (also called the trimming unit) is further from the ground, equal to or higher than the lowest point of the main unit housing, without affecting the machine's normal movement. Preferably, its lowest point is 10-25mm higher than the lowest point of the main unit housing, optimally 15mm, to avoid obstructing the intelligent automatic lawnmower's movement. Simultaneously, the angle between the rear end of the lowest point of the trimming assembly's protective cover and the tangent of the drive wheel to the ground is greater than or equal to the nominal departure angle of the intelligent automatic lawnmower, to avoid affecting the intelligent automatic lawnmower's uphill movement.

[0556] In some examples, when the automated lawnmower is in trimming mode, the main mowing unit (main mowing assembly) is not operating, and the trimming unit (trimming assembly) is in trimming mode, at least partially located outside the main body outline, with its working position corresponding to the main body's travel direction located at the rear side. The automated lawnmower's controller executes the trimming driving logic. When the trimming unit is in trimming mode or trimming position, its ground clearance can be lowered via an auxiliary lifting mechanism (also known as a height adjustment mechanism) or trimming drive assembly to perform edge trimming operations.

[0557] At this point, the lowest part of the protective cover of the trimming unit is lower than the lowest part of the main unit casing, preferably with a ground clearance of less than or equal to 35mm, to protect human safety.

[0558] The trimming unit can rotate around a rotation axis parallel to the ground away from the ground under the action of external force from the obstacle until its protective cover is raised to the highest point to avoid the obstacle; the highest lifting height here is 20-40mm, and the optimal height is 28-32mm, so as to reduce the volume of the trimming unit while avoiding the obstacle.

[0559] When the trimming unit moves within the second cutting area (the section outside the main housing and the outermost part of its protective cover located within the extension of the housing profile along the direction of travel), its ground clearance remains constant to keep the mowing height constant.

[0560] The trimming unit has a retracted state (or a retracted position corresponding to the retracted state) and a trimming state (or a trimming position corresponding to the trimming state), and switches between the states (or positions) through a trimming drive component. Therefore, in some embodiments, the trimming unit includes a trimming drive component (such as an active telescopic mechanism) that can adjust the trimming unit from the retracted position to the working position.

[0561] In some implementations, the trimming unit is housed at the rear of the machine to improve maneuverability in the width direction. For example, when trimming is not required, the trimming unit can be housed at the rear of the machine without affecting the normal cutting of the machine's main mowing assembly.

[0562] In summary, the purpose of this application is to provide an intelligent automatic lawn mowing robot with good maneuverability, simple structural layout, and trimming capability.

[0563] This application also provides a control method for an automatic lawnmower, the automatic lawnmower comprising: a body having a front end; a moving component configured to drive the automatic lawnmower to move; and a trimming component configured to perform an edge trimming task.

[0564] A controller; wherein the trimming assembly includes: a trimming head configured to perform an edge cutting task; a rotating base disposed in the front corner region of the body; a support member, one end of which is pivotally connected to the rotating base and the other end of which is connected to the trimming head; the support member can rotate at an angle greater than or equal to 150 degrees in the horizontal direction, such that the trimming assembly has at least two preset states, the preset states including: a retracted state, a trimming state, and a corner cutting state; in the retracted state, at least 70% of the trimming head is retracted into the side of the body; in the trimming state, at least a portion of the portion of the trimming head retracted into the side of the body extends out of the side of the body; in the corner cutting state, the trimming head extends further, such that at least a portion of the trimming head is in front of the body; the method includes: controlling the swing angle of the support member to allow the trimming assembly to switch between different states.

[0565] The controller is the entity that performs this method.

[0566] In some embodiments, the method further includes: controlling the rotation of the support member according to the boundary characteristics, so that the trimming head is adjusted to a state corresponding to the boundary characteristics.

[0567] In some embodiments, the method further includes: controlling the rotation of the support member according to the boundary distance to adjust the extension range of the trimming head relative to the machine body; wherein the extension range includes the extension direction and / or the extension distance.

[0568] In some embodiments, controlling the rotation of the support member according to the boundary characteristics to adjust the trimming head to a state corresponding to the boundary characteristics includes:

[0569] In response to identifying the boundary of the first boundary characteristic, the swing of the support is controlled, causing the trimming head to switch to the corner cutting state; wherein the first boundary characteristic includes a corner.

[0570] In some embodiments, controlling the rotation of the support member according to the boundary characteristics to adjust the trimming head to a state corresponding to the boundary characteristics includes: reducing the walking speed of the automatic lawnmower in response to identifying the boundary of the first boundary characteristic; or, reducing the walking speed of the automatic lawnmower in response to identifying the boundary of the first boundary characteristic and the trimming head being in a corner cutting state.

[0571] In some embodiments, controlling the rotation of the support member according to the boundary characteristics to adjust the trimming head to a state corresponding to the boundary characteristics includes: in response to identifying the boundary of the second boundary characteristics, controlling the swing of the support member to switch the trimming head to the edge cutting state; wherein the second boundary characteristics include at least one of a straight edge, a boundary with an arc less than an arc threshold, or a protected restricted area.

[0572] In some embodiments, the method includes: when it is detected that the grass retention distance is greater than the cutting width of the trimming head, controlling the trimming head to continuously perform at least two edge cutting operations to cover the grass retention distance; the grass retention distance is the width of the grass retention area that cannot be covered by the main cutting component in the main cutting mode.

[0573] In some embodiments, the method includes: when the grass retention distance is detected to be greater than the cutting width of the trimming head, controlling the trimming head to perform at least two edge cutting operations in different states, including: controlling the trimming head to perform one cutting operation in the edge cutting state; and controlling the trimming head to perform one cutting operation in the storage state.

[0574] In some embodiments, the method includes: when there is a height difference between the cutting height of the trimming head and the cutting height of the main cutting component, controlling the automatic lawnmower to enter a pre-trimming mode, wherein the pre-trimming mode is a mode that reduces the difference between the cutting height of the trimming head and the cutting height of the main cutting component.

[0575] In some embodiments, the method includes: in the pre-trimming mode, controlling the trimming head to switch to a storage state.

[0576] In some embodiments, the method includes: controlling the swing of a support member in response to identifying a boundary having a third boundary characteristic, causing the trimming head to switch to a retracted state; and controlling the trimming head to perform cutting work in the retracted state; wherein the third boundary characteristic includes an unprotected restricted area.

[0577] In some embodiments, the method includes: controlling the trimming head to operate in a retracted state in response to an identification signal of a restricted area having a first protection level; and controlling the trimming head to operate in an edge-cutting state in response to an identification signal of a restricted area having a second protection level; wherein the first protection level is lower than the second protection level.

[0578] In some embodiments, the automatic lawnmower further includes a position detection component configured to detect the position of the trimming component; the method includes controlling the support to stop swinging when detection data from the position detection component indicates that the trimming component has moved into position.

[0579] In some embodiments, the method includes performing at least one of the following actions when the detection data of the position detection component indicates that the trimming component is stuck: controlling the support to stop swinging, controlling the support to reduce the swing speed, controlling the automatic lawnmower to execute an obstacle avoidance strategy corresponding to the machine body, or controlling the automatic lawnmower to issue an alarm signal.

[0580] In some embodiments, the method includes: when the trimming component collides with an obstacle and triggers a collision detection signal, executing an obstacle avoidance strategy corresponding to the fuselage.

[0581] In some examples, the method further includes: controlling the trimming component to be in a retracted state when the autonomous mobile device returns to the base station, or controlling the trimming component to be in a retracted state when the autonomous mobile device is in a maintenance state.

[0582] For any parts not described in the above method embodiments, please refer to the foregoing device section; they will not be repeated here.

[0583] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0584] The above embodiments are merely illustrative of several implementation methods of the present invention, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the protection scope of the present invention.

Claims

1. An automatic lawnmower that autonomously performs vegetation trimming operations within a limited working area, comprising: The fuselage, which has a front end; A movable component is configured to move the automatic lawnmower. The trimming component is configured to perform edge trimming tasks; The controller, connected to the moving component and the trimming component, is configured as follows: Control the moving components to move the automatic lawnmower; as well as, Control the trimming component to perform edge cutting tasks; in, The trimming component includes: The trimming head is configured to perform edge cutting tasks; A rotating base is located in the front corner area of ​​the fuselage; The support member is pivotally connected at one end to the rotating base and at the other end to the trimming head; The support member is arranged to rotate horizontally relative to the machine body, so as to drive the trimming head to rotate from the side of the machine body to the front of the machine body, so that the trimming head can extend towards the front of the machine body and be at least flush with the front end of the machine body.

2. The automatic lawnmower according to claim 1, wherein, The controller is configured to control the rotation of the support member according to the boundary characteristics, so that the trimming head is adjusted to a state corresponding to the boundary characteristics.

3. The automatic lawnmower according to any one of the preceding claims, wherein, It also includes a boundary distance sensing module, configured to acquire the distance between the automatic lawnmower and the boundary; the controller is further configured to control the rotation of the support based on the boundary distance to adjust the extension of the trimming head relative to the machine body. The extension amplitude includes the extension direction and / or extension distance.

4. The automatic lawnmower according to any one of the preceding claims, wherein, The support member rotates at an angle greater than or equal to 150 degrees in the horizontal direction; wherein at least a portion of the angle range causes at least 70% of the trimming head to be within the body contour; at least a portion of the angle causes at least 40% of the trimming head to extend beyond the side of the body; and at least a portion of the angle causes the trimming head to be partially in front of the body.

5. The automatic lawnmower according to any one of the preceding claims, wherein, The movement trajectory of the trimming head at least covers a preset corner cutting state, wherein the corner cutting state refers to the state in which at least part of the trimming head extends out of the front end of the machine body.

6. The automatic lawnmower according to any one of the preceding claims, wherein, The controller is configured to: in response to identifying a boundary with a first boundary characteristic, control the swing of the support member to switch the trimming head to a corner cutting state; wherein the first boundary characteristic includes a corner.

7. The automatic lawnmower according to any one of the preceding claims, wherein, The controller is configured to: reduce the walking speed of the automatic lawnmower in response to recognizing the boundary of the first boundary characteristic; or, reduce the walking speed of the automatic lawnmower in response to recognizing the boundary of the first boundary characteristic and the trimming head being in a corner cutting state.

8. The automatic lawnmower according to any one of the preceding claims, wherein, It also includes a vision device configured to detect the environment in front of the machine body; when the trimming head is in the corner cutting state, the trimming assembly is at least partially within the acquisition range of the vision device.

9. The automatic lawnmower according to any one of the preceding claims, wherein, It also includes a vision protection device configured to protect the vision device when the trimming head is performing work in a corner cutting state, so as to prevent grass clippings generated by the trimming head from splashing and contaminating the vision device.

10. The automatic lawnmower according to any one of the preceding claims, wherein, The movement trajectory of the trimming head also covers a preset edge cutting state, wherein the edge cutting state refers to the trimming head extending to the side relative to the machine body, and at least 40% of the trimming head extending beyond the side of the machine body.

11. The automatic lawnmower according to any one of the preceding claims, wherein, The controller is configured to: in response to identifying a boundary with a second boundary characteristic, control the swing of the support member so that the trimming head switches to an edge cutting state; wherein the second boundary characteristic includes at least one of a straight edge, a boundary with an arc less than an arc threshold, or a protected restricted area.

12. The automatic lawnmower according to any one of the preceding claims, wherein, The controller is configured to: when it detects that the grass retention distance is greater than the cutting width of the trimming head, control the trimming head to perform at least two consecutive edge cutting operations to cover the grass retention distance; the grass retention distance is the width of the grass retention area that the main cutting component cannot cover in the main cutting mode.

13. The automatic lawnmower according to any one of the preceding claims, wherein, The controller is configured to: when it detects that the grass retention distance is greater than the cutting width of the trimming head, control the trimming head to perform at least two edge cutting operations in different states, including: controlling the trimming head to perform one cutting operation in the edge cutting state; and controlling the trimming head to perform one cutting operation in the storage state.

14. The automatic lawnmower according to any one of the preceding claims, wherein, The main cutting assembly is configured to move vertically, allowing the main cutting assembly to have different cutting heights; The controller is configured to: when there is a height difference between the cutting height of the trimming head and the cutting height of the main cutting component, control the automatic lawnmower to enter a pre-trimming mode, wherein the pre-trimming mode is a mode that reduces the difference between the cutting height of the trimming head and the cutting height of the main cutting component.

15. The automatic lawnmower according to any one of the preceding claims, wherein, The controller is configured to switch the trimming head to a storage state in the pre-trimming mode.

16. The automatic lawnmower according to any one of the preceding claims, wherein, The movement trajectory of the trimming head covers a preset storage state, wherein the storage state refers to a state in which at least 70% of the trimming head is within the body outline.

17. The automatic lawnmower according to any one of the preceding claims, wherein, The movement trajectory of the trimming head covers a preset storage state, where the storage state refers to the state in which the portion of the trimming head extending beyond the side of the machine body is greater than or equal to 0 and less than 30%.

18. The automatic lawnmower according to any one of the preceding claims, wherein, The trimming head is arranged to operate in the stored state; The controller is configured to: control the swing of the support member in response to the identification of a boundary with a third boundary characteristic, causing the trimming head to switch to a retracted state; and control the trimming head to perform cutting work in the retracted state. The third boundary characteristic includes unprotected restricted areas.

19. The automatic lawnmower according to any one of the preceding claims, wherein, The trimming head uses a grass trimming head; the energy of the grass trimming head is less than or equal to 2J.

20. The automatic lawnmower according to any one of the preceding claims, wherein, The side of the fuselage has a clearance space corresponding to the portion of the trimming head that is within the fuselage outline.

21. The automatic lawnmower according to any one of the preceding claims, wherein, In the storage position, the bottom of the trimming component is greater than or equal to the bottom of the body.

22. The automatic lawnmower according to any one of the preceding claims, wherein, The movement trajectory of the trimming head covers a preset storage state and a preset edge cutting state. The storage state refers to the state in which the trimming head is basically flush with the machine body; the edge cutting state refers to the state in which the trimming head swings to the side relative to the machine body from the storage position.

23. The automatic lawnmower according to any one of the preceding claims, wherein, The trimming head has different levels of protection depending on the storage location and the edge cutting state, in order to deal with trimming work in restricted areas with different levels of protection; The controller is configured to: control the trimming head to operate in a retracted state in response to an identification signal of a restricted area with a first protection level; and control the trimming head to operate in an edge-cutting state in response to an identification signal of a restricted area with a second protection level; wherein the first protection level is lower than the second protection level.

24. The automatic lawnmower according to any one of the preceding claims, wherein, The movement trajectory of the trimming head covers a preset storage state, a preset edge cutting state, and a preset corner position, wherein at least two of the storage state, edge cutting state, and corner cutting state have different ground clearances.

25. The automatic lawnmower according to any one of the preceding claims, wherein, The trimming component is configured to passively float relative to the fuselage when subjected to external forces, the passive floating including vertical floating and horizontal floating.

26. The automatic lawnmower according to any one of the preceding claims, wherein, It also includes a height floating mechanism, which is at least used to passively adjust the position of the trimming assembly in the height direction under the force exerted by the obstacle when the trimming assembly collides with the obstacle.

27. The automatic lawnmower according to any one of the preceding claims, wherein, It also includes a horizontal floating mechanism, which is at least used to passively adjust the position of the trimming component on the horizontal plane under the force exerted by the obstacle on the trimming component when the trimming component collides with the obstacle.

28. The automatic lawnmower according to any one of the preceding claims, wherein, It also includes a position detection component, which is configured to detect the position of the trimming component; The controller is configured to control the support to stop swinging when the detection data from the position detection component indicates that the trimming component has moved into position.

29. The automatic lawnmower according to any one of the preceding claims, wherein, The controller is also configured to perform at least one of the following actions when the detection data from the position detection component indicates that the trimming component is stuck: control the support to stop swinging, control the support to reduce the swing speed, control the automatic lawnmower to execute an obstacle avoidance strategy corresponding to the machine body, or control the automatic lawnmower to issue an alarm signal.

30. The automatic lawnmower according to any one of the preceding claims, wherein, The controller is configured to: When the trimming component collides with an obstacle and triggers a collision detection signal, the obstacle avoidance strategy corresponding to the fuselage is executed.

31. The automatic lawnmower according to any one of the preceding claims, wherein, The moving component includes a moving wheel located at the front of the fuselage. When viewed along the height direction, the support member is staggered from the front wheel; the height of the support member above the ground is greater than the height of the front wheel.

32. The automatic lawnmower according to any one of the preceding claims, wherein, The length of the support component is greater than or equal to 115mm and less than or equal to 200mm; where the length of the support component refers to the distance from the center of the trimming head to the center of the rotating base; or... The moving component includes a moving wheel located at the front of the fuselage and a moving wheel located at the rear of the fuselage, wherein the ratio of the length of the support member to the wheel spacing of the front and rear moving wheels ranges from 1:3 to 1:1.

5.

33. An automatic lawnmower that autonomously performs vegetation trimming operations within a limited working area, comprising: The fuselage, which has a front end; A movable component is configured to move the automatic lawnmower. The trimming component is configured to perform edge trimming tasks; The controller, connected to the moving component and the trimming component, is configured as follows: Control the moving components to move the automatic lawnmower; as well as, Control the trimming component to perform edge cutting tasks; in, The trimming component includes: The trimming head is configured to perform edge cutting tasks; A rotating base is located in the front corner area of ​​the fuselage; The support member is pivotally connected at one end to the rotating base and at the other end to the trimming head; The support member can rotate at an angle greater than or equal to 150 degrees in the horizontal direction.

34. An automatic lawnmower that autonomously performs vegetation trimming operations within a limited working area, comprising: The fuselage, which has a front end; A movable component is configured to move the automatic lawnmower. The trimming component is configured to perform edge trimming tasks; The controller, connected to the moving component and the trimming component, is configured as follows: Control the moving components to move the automatic lawnmower; as well as, Control the trimming component to perform edge cutting tasks; The trimming component includes: The trimming head is configured to perform edge cutting tasks; A rotating base is disposed on the machine body, and the rotating base has a rotating shaft; the rotating shaft is at a preset angle to the horizontal plane, and the angle is defined as 0 degrees when the rotating shaft is perpendicular to the horizontal plane. The value range of the preset angle is: greater than or equal to -45 degrees and less than or equal to +45 degrees. The support member is pivotally connected at one end to the rotating base and at the other end to the trimming head; The support member is arranged to rotate about the pivot axis to drive the trimming head to rotate; The support member can rotate around the pivot at an angle greater than or equal to 150 degrees. The controller is also configured to control the rotation angle of the support member so that the trimming head can switch between preset states, wherein the preset states include at least two of a retracted state, a trimming state, and a corner cutting state; in the retracted state, at least 70% of the trimming head is retracted to the side of the body. In the trimming state, at least a portion of the trimming head that is housed on the side of the machine body extends out of the side of the machine body; In the corner cutting state, the trimming head extends further, such that at least a portion of the trimming head is in front of the machine body.

35. An automatic lawnmower that autonomously performs vegetation trimming operations within a limited working area, comprising: The fuselage is covered by a shell and has a front end; The moving component, carried by the body, is configured to move the automatic lawnmower. The trimming assembly, carried by the body or housing, is configured to perform edge cutting tasks; The controller, connected to the moving component and the trimming component, is configured as follows: Control the moving components to move the automatic lawnmower; and, Control the trimming component to perform edge cutting tasks; in, The trimming component is arranged to be movable relative to the body, such that the trimming component has at least two preset states, including: storage state, trimming state, and corner cutting state. The controller is also configured to control the trimming component to transition between different states; The degree to which the trimming component extends relative to the body varies depending on the state; and the degree to which the trimming component extends relative to the body increases in the retracted state, trimming state, and corner cutting state.

36. A control method for an automatic lawnmower, wherein the automatic lawnmower comprises: The fuselage, which has a front end; A movable component is configured to move the automatic lawnmower. The trimming component is configured to perform edge trimming tasks; Controller; in, The trimming component includes: The trimming head is configured to perform edge cutting tasks; A rotating base is located in the front corner area of ​​the fuselage; The support member is pivotally connected at one end to the rotating base and at the other end to the trimming head; The support member can rotate at an angle greater than or equal to 150 degrees in the horizontal direction, so that the trimming assembly has at least two preset states, including: a retracted state, a trimming state, and a corner cutting state; in the retracted state, at least 70% of the trimming head is retracted into the side of the body. In the trimming state, at least a portion of the trimming head that is housed on the side of the machine body extends out of the side of the machine body; In the corner cutting state, the trimming head extends further, such that at least a portion of the trimming head is in front of the machine body; The method includes: By controlling the swing angle of the support, the trimming component can switch between different states.

37. The method of claim 36, wherein, The method further includes: The rotation of the support component is controlled according to the boundary characteristics, so that the trimming head is adjusted to a state corresponding to the boundary characteristics.

38. The method according to any one of the preceding claims, wherein, Also includes: The rotation of the support is controlled according to the boundary distance to adjust the extension of the trimming head relative to the machine body; The extension amplitude includes the extension direction and / or extension distance.

39. The method according to any one of the preceding claims, wherein, The step of controlling the rotation of the support component based on boundary characteristics to adjust the trimming head to a state corresponding to the boundary characteristics includes: In response to identifying the boundary of the first boundary characteristic, the swing of the support is controlled, causing the trimming head to switch to the corner cutting state; wherein the first boundary characteristic includes a corner.

40. The method according to any one of the preceding claims, wherein, The method of controlling the rotation of the support member according to the boundary characteristics to adjust the trimming head to a state corresponding to the boundary characteristics includes: reducing the walking speed of the automatic lawnmower in response to identifying the boundary of the first boundary characteristic; or, reducing the walking speed of the automatic lawnmower in response to identifying the boundary of the first boundary characteristic and the trimming head being in a corner cutting state.

41. The method according to any one of the preceding claims, wherein, The step of controlling the rotation of the support member based on boundary characteristics to adjust the trimming head to a state corresponding to the boundary characteristics includes: in response to identifying the boundary of the second boundary characteristics, controlling the swing of the support member to switch the trimming head to the edge cutting state; wherein the second boundary characteristics include at least one of a straight edge, a boundary with an arc less than an arc threshold, or a protected restricted area.

42. The method according to any one of the preceding claims, wherein, The method includes: when the grass retention distance is detected to be greater than the cutting width of the trimming head, controlling the trimming head to continuously perform at least two edge cutting operations to cover the grass retention distance; the grass retention distance is the width of the grass retention area that cannot be covered by the main cutting component in the main cutting mode.

43. The method according to any one of the preceding claims, wherein, The method includes: when the grass retention distance is detected to be greater than the cutting width of the trimming head, controlling the trimming head to perform at least two edge cutting operations in different states, including: controlling the trimming head to perform one cutting operation in the edge cutting state; and controlling the trimming head to perform one cutting operation in the storage state.

44. The method according to any one of the preceding claims, wherein, The method includes: when there is a height difference between the cutting height of the trimming head and the cutting height of the main cutting component, controlling the automatic lawnmower to enter a pre-trimming mode, wherein the pre-trimming mode is a mode that reduces the difference between the cutting height of the trimming head and the cutting height of the main cutting component.

45. The method according to any one of the preceding claims, wherein, The method includes: in the pre-trimming mode, controlling the trimming head to switch to the storage state.

46. ​​The method according to any one of the preceding claims, wherein, The method includes: in response to identifying a boundary having a third boundary characteristic, controlling the swing of a support member to switch the trimming head to a retracted state; and controlling the trimming head to perform cutting work in the retracted state; wherein the third boundary characteristic includes an unprotected restricted area.

47. The method according to any one of the preceding claims, wherein, The method includes: controlling the trimming head to operate in a retracted state in response to an identification signal of a restricted area with a first protection level; and controlling the trimming head to operate in an edge cutting state in response to an identification signal of a restricted area with a second protection level; wherein the first protection level is lower than the second protection level.

48. The method according to any one of the preceding claims, wherein, The automatic lawnmower also includes a position detection component, configured to detect the position of the trimming component; The method includes: when the detection data of the position detection component indicates that the trimming component has moved into position, controlling the support to stop swinging.

49. The method according to any one of the preceding claims, wherein, The method includes: when the detection data of the position detection component indicates that the trimming component is stuck, performing at least one of the following actions: controlling the support to stop swinging, controlling the support to reduce the swing speed, controlling the automatic lawnmower to execute the obstacle avoidance strategy corresponding to the machine body, or controlling the automatic lawnmower to issue an alarm signal.

50. The method according to any one of the preceding claims, wherein, The method includes: When the trimming component collides with an obstacle and triggers a collision detection signal, the obstacle avoidance strategy corresponding to the fuselage is executed.

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