Autonomous mower

Abstract

An autonomous mower (10), comprising: a main body frame (200) and a working device (7) connected thereto. The working device (7) comprises a working frame (8), a working mechanism, and a support mechanism (2); the support mechanism (2) comprises a plurality of support members (217, 218, 219); the plurality of support members (217, 218, 219) include a front support member located on the front side of the working mechanism; the component of the distance between the front support member and a first working member in a direction parallel to an advancing direction is less than a first preset threshold, or the component of the distance between the front support member and the first working member in a direction perpendicular to the advancing direction is less than a second preset threshold; and the first working member among at least one working member (41) is closest to the front support member, wherein the front side of the working mechanism is the advancing direction of the autonomous mower (10). By arranging the front support member located on the front side of the working mechanism in front of a cutter deck, the front support member does not obstruct the normal ejection of first-cut grass from the cutter deck, thereby achieving normal grass scattering and reducing grass flattening marks.

Description

An autonomous lawnmower Technical Field

[0001] This application relates to an autonomous lawnmower. Background Technology

[0002] Golf course turf maintenance presents differentiated operational requirements for low-mowing and high-mowing areas. Low-mowing areas, such as the fairways, typically require grass height controlled within the range of 10-25mm, while high-mowing areas, such as the rough and semi-rough, require a height of over 25mm. Current technology generally uses rotary mowers for low-mowing-precision fairways and swivel mowers for high-mowing-precision rough and semi-rough. Summary of the Invention

[0003] In view of this, this application provides an autonomous lawnmower, comprising: a main frame; and a working device connected to the main frame; a moving component mounted on the main frame and abutting against a working surface to support the main frame; the working device comprising: a working frame connected to the main frame, the working frame comprising: three working frame mating parts disposed at different positions on the working frame, and the three working frame mating parts not being on a straight line; wherein the three working frame mating parts comprise: a first working frame mating part, a second working frame mating part, and a third working frame mating part; a working mechanism mounted on the working frame, the working mechanism comprising: at least one working piece, the at least one working piece being used to perform cutting work; and a support mechanism abutting against the working surface, the support mechanism comprising at least three mating parts. The support mechanism abuts against the working surface via three contact points; the three contact points include: a first contact point, a second contact point, and a third contact point; wherein the first contact point is mounted to the working frame via a first working frame mating part, the second contact point is mounted to the working frame via a second working frame mating part, and the third contact point is mounted to the working frame via a third working frame mating part; a connecting mechanism is disposed between the working frame and the main frame; when the three contact points abut against the working surface, the supporting force from the working surface is transmitted to the connecting mechanism via the three contact points and the working frame; in response to the supporting force from the working surface, the connecting mechanism moves to allow the three working frame mating parts corresponding to the three contact points to move relative to the main frame, such that the working frame moves relative to the main frame;

[0004] When the first partial working surface abutting the first contact point, the second partial working surface abutting the second contact point, and the third partial working surface abutting the third contact point are at different heights relative to the same horizontal plane, the connecting mechanism moves in response to the supporting force generated by the height change of the working surfaces, allowing the three working frame mating parts to move relative to the main frame, such that:

[0005] The height of the three working frame mating parts relative to the main frame is negatively correlated with the height of the three local working surfaces. The negative correlation is as follows: when the first local working surface is higher than the second local working surface, and the second local working surface is higher than the third local working surface, the height of the first working frame mating part relative to the main frame is less than the height of the second working frame mating part relative to the main frame, and the height of the second working frame mating part relative to the main frame is less than the height of the third working frame mating part relative to the main frame.

[0006] In some embodiments, the support mechanism includes: a first support member, a second support member, and a third support member; wherein the first support member includes: a first contact point, the second support member includes: a second contact point, and the third support member includes: a third contact point.

[0007] In some embodiments, when the first support moves from the horizontal plane to the first partial working surface, the gravity of the first support is transmitted to the connecting mechanism via the first support and the work frame; at least in response to the gravity of the first support, the connecting mechanism moves downward to allow the first work frame mating portion corresponding to the first support to move in a direction away from the main frame, such that the work frame moves relative to the main frame; wherein the first partial working surface is below the horizontal plane.

[0008] In some embodiments, the connecting mechanism is in a first state when the first, second, and third partial working surfaces are at the same height relative to the same horizontal plane; and in a second state when the first, second, and third partial working surfaces are at different heights relative to the same horizontal plane. The reference position point is in its initial position relative to the main frame in the first state, and in its offset position relative to the main frame in the second state. The offset position has a first offset, a second offset, and a third offset in the X, Y, and Z directions, respectively. The first offset is less than or equal to a first preset value, the second offset is less than or equal to a second preset value, and the third offset is less than or equal to a third preset value. The reference position point is located at the outer edge and bottom edge of the working mechanism. The X direction is parallel to the direction of travel of the autonomous lawnmower, the Y direction is parallel to the working surface and perpendicular to the X direction, and the Z direction is perpendicular to the working surface.

[0009] In some implementations, the first offset is less than or equal to 100 mm.

[0010] In some implementations, the first offset is less than or equal to 30 mm.

[0011] In some implementations, the first offset is less than or equal to 15 mm.

[0012] In some embodiments, the second offset is less than or equal to the path overlap of the autonomous lawnmower; wherein the path overlap is the amount of overlap of the coverage area of ​​the workpiece when the autonomous lawnmower moves along adjacent paths.

[0013] In some embodiments, the height of the reference position point in the first state in the Z direction is not lower than the height of the bottom edge of the autonomous lawnmower in the Z direction in the first state.

[0014] In some embodiments, the autonomous lawnmower includes: a first height adjustment mechanism connected between the main frame and the working frame, for adjusting the height of the working mechanism relative to the main frame; in a first height adjustment state, the first height adjustment mechanism adjusts the working mechanism to a first height; in a second height adjustment state, the first height adjustment mechanism adjusts the working mechanism to a second height; in the first height adjustment state, the distance between the working mechanism and the working surface is less than, in the second height adjustment state, the distance between the working mechanism and the working surface; wherein, in the second state, the height of the reference position point in the Z direction is not higher than, in the second height adjustment state, the height of the top of the working frame in the Z direction.

[0015] In some implementations, the third offset is less than or equal to the height adjustment value of the first height adjustment mechanism when switching from the first height adjustment state to the second height adjustment state; or, in the second state, the height of the reference position point in the Z direction is not higher than the height of the top of the main frame in the Z direction in the second height adjustment state.

[0016] In some implementations, the third offset is less than or equal to 100 mm.

[0017] In some implementations, the third offset is less than or equal to 30 mm.

[0018] In some implementations, the third offset is less than or equal to 15 mm.

[0019] In some implementations, the ratio between the third offset and the second offset is less than or equal to 12.

[0020] In some implementations, the ratio between the third offset and the first offset is less than or equal to 10.

[0021] In some embodiments, the connecting mechanism includes: a spherical connector; when the three contact points abut against the working surface, a supporting force from the working surface is transmitted to the connecting mechanism via the three contact points and the work frame; in response to the supporting force from the working surface, the spherical connector rotates to allow the three work frame mating portions corresponding to the support mechanism to move relative to the main frame, such that the work frame moves relative to the main frame.

[0022] In some embodiments, the connecting mechanism includes: a suspension adjustment mechanism, wherein the working frame is suspended below the main frame via the suspension adjustment mechanism; when the reference position point moves from the initial position to the offset position, the suspension adjustment mechanism has a first movement range X1, a second movement range Y1, and a third movement range Z1 in the X, Y, and Z directions, respectively; a constraint part for restricting the movement of the suspension adjustment mechanism; when the reference position point moves from the initial position to the offset position, the constraint part has a fourth movement range X2, a fifth movement range Y2, and a sixth movement range Z2 in the X, Y, and Z directions, respectively; under the combined action of the suspension adjustment mechanism and the constraint part, the allowable movement range of the working frame in the X direction is no greater than the smaller of X1 and X2, the allowable movement range in the Y direction is no greater than the smaller of Y1 and Y2, and the allowable movement range in the Z direction is no greater than the smaller of Z1 and Z2.

[0023] In some embodiments, the constraint is disposed between the working frame and the housing of the autonomous lawnmower to restrict the movement of the suspension adjustment mechanism, such that the working frame has a range of movement X2 in the X direction, a range of movement Y1 in the Y direction, and a range of movement Z1 in the Z direction relative to the main frame; wherein X1 is greater than X2, Y1 is less than Y2, and Z1 is less than Z2.

[0024] In some embodiments, the constraint includes a tie rod, one end of which is movably connected to the main frame or the housing of the autonomous lawnmower, and the other end is spherically connected to the working frame.

[0025] In some embodiments, the constraint part further includes: a first limiting connection part, installed on the working frame; the first limiting connection part includes: two walls, there is a movable space between the two walls, and the pull rod is rotatably and / or movably connected between the two walls by a pin.

[0026] In some embodiments, there are two pull rods, which are parallel to each other and extend in a direction generally parallel to the direction of travel.

[0027] In some embodiments, the suspension adjustment mechanism includes: a first-stage adjustment mechanism, which includes: a plurality of adjusting movable parts mating with the work frame, the plurality of adjusting movable parts including: a first adjusting movable part, a second adjusting movable part, and a third adjusting movable part; the distance between the first adjusting movable part and the first support member is less than the distance between the first adjusting movable part and any other support member; the distance between the second adjusting movable part and the second support member is less than the distance between the second adjusting movable part and any other support member; the distance between the third adjusting movable part and the third support member is less than the distance between the third adjusting movable part and any other support member; the plurality of adjusting movable parts are independent of each other and are... The plurality of adjustable movable members are spaced apart above the support mechanism, and each of the plurality of adjustable movable members has a movement limit position relative to the main frame; a second-level adjustment mechanism is provided, through which the first, second, and third adjustable movable members are respectively connected to the main frame; in response to the first support member driving the first adjustable movable member to move upward to the movement limit position, the second-level adjustment mechanism moves relative to the main frame, thereby driving the second and third adjustable movable members to move, so as to drive the second and third support members to move upward relative to the main frame, so as to realize the coordinated movement between the various support members.

[0028] In some embodiments, the first adjusting member includes a first suspension member, one end of which is movably connected to the work frame; the second-stage adjusting mechanism includes a first mounting portion, the other end of which is movably passed through the first mounting portion to drive the first support member to move upward or downward relative to the main frame.

[0029] In some embodiments, the first mounting portion has a radial dimension larger than the first suspension member has a corresponding dimension; the other end of the first suspension member is movably disposed through the first mounting portion to drive the first support member to move relative to the main frame in at least one of the following directions: X direction, or Y direction, or Z direction; wherein, the range of movement of the top of the first suspension member in the X direction is less than or equal to the difference in dimensions between the first mounting portion and the first suspension member in the X direction, the range of movement of the top of the first suspension member in the Y direction is less than or equal to the difference in dimensions between the first mounting portion and the first suspension member in the Y direction, and the range of movement of the top of the first suspension member in the Z direction is less than or equal to the length of the first suspension member.

[0030] In some embodiments, when the support mechanism is located on the horizontal plane, the top of the first suspension member is higher than the first mounting portion, so that when the first partial working surface is lower than the horizontal plane, the other end of the first suspension member moves in the first mounting portion toward a direction away from the main frame, thereby moving the working frame toward a direction away from the main frame.

[0031] In some embodiments, the second-stage adjustment mechanism includes: a linkage assembly connected to the main frame via a fixing part, the linkage assembly being rotatable relative to the main frame; a linkage member installed between the linkage assemblies, the linkage member being rotatably connected to the linkage assemblies, the linkage member transmitting power between the linkage assemblies; a first linkage, one end of the first linkage being fixedly connected to the linkage assembly, and the other end being movably connected to the first adjusting member; a second linkage, one end of the second linkage being fixedly connected to the linkage assembly, and the other end being movably connected to the second adjusting member; a third linkage, one end of the third linkage being fixedly connected to the linkage assembly, and the other end being movably connected to the third adjusting member; in response to the first support member driving the first adjusting member to move upward to the movement limit position, the first adjusting member drives the first linkage to rotate, thereby driving the linkage assembly to rotate, thereby driving the second adjusting member and the third adjusting member to move upward.

[0032] In some embodiments, the first mounting portion of the second-stage adjustment mechanism is provided with a second limiting connection portion, which is used to limit the range of movement of the first suspension member in the Y direction; the second limiting connection portion is movably connected to the first mounting portion.

[0033] In some embodiments, the second-stage adjustment mechanism further includes: a swing arm, one end of which is fixedly disposed on the connecting rod assembly, and the other end of which is nested with a third limiting connection portion; wherein, the third limiting connection portion is used to limit the rotational limit position of the swing arm; the connecting rod assembly drives the swing arm to rotate until it reaches the rotational limit position, so as to drive the second adjusting movable member and the third adjusting movable member to move upward to the corresponding height limit position.

[0034] In some embodiments, the third limiting connection includes a protrusion; the other end of the swing rod is provided with a sliding groove, wherein the connecting rod assembly drives the sliding groove to slide relative to the protrusion until the sliding groove reaches the rotation limit position.

[0035] In some embodiments, the autonomous lawnmower includes: a first height adjustment mechanism connected between the main frame and the working frame, used to adjust the distance between the working mechanism and the working surface; wherein the first height adjustment mechanism includes: a height adjustment motor, and the third limiting connection part is provided on the output shaft of the height adjustment motor.

[0036] In some embodiments, the autonomous lawnmower includes: a first height adjustment mechanism connected between the main frame and the working frame, for adjusting the height of the working mechanism relative to the main frame; in a first height adjustment state, the first height adjustment mechanism adjusts the working mechanism to a first height; in a second height adjustment state, the first height adjustment mechanism adjusts the working mechanism to a second height; and, at the first height, the distance between the working mechanism and the working surface is less than, at the second height, the distance between the working mechanism and the working surface; wherein, in the first height adjustment state, the support mechanism abuts against the working surface; and in the second height adjustment state, the bottom edge of the support mechanism is higher than the bottom edge of the moving component.

[0037] In some embodiments, the third support includes a support roller mounted at the rear or front of the workpiece.

[0038] This autonomous lawnmower can reduce the collision between the blades and obstacles while maintaining a low cutting height.

[0039] This invention also proposes an autonomous lawnmower, comprising: a main frame; a moving component that abuts against a working surface to support the main frame; and a working device, comprising: a working frame connected to the main frame; a support mechanism that abuts against the working surface to support the working frame; the support mechanism comprising: a plurality of support members that abut against the working surface to support the working frame; wherein the plurality of support members include: a front support component mounted at the front of the autonomous lawnmower; and a working mechanism mounted on the working frame; the working mechanism comprising: a plurality of... The plurality of working components are configured to perform a lawn mowing task; wherein the plurality of working components includes: a first working component, wherein the first working component is a working component whose distance from the front support assembly is less than or equal to a preset support threshold along the travel direction of the autonomous lawn mower; the front support assembly satisfies at least one of the following conditions: the distance between the front support assembly and the first working component along the travel direction is greater than or equal to the vertical distance from the first working component to the working surface; or, there is no overlap between the projection of the front support assembly on the first plane and the projection of the first working component on the first plane; wherein the first plane is perpendicular to the travel direction.

[0040] In some embodiments, the support mechanism includes: a plurality of support members, each of which abuts against the working surface to support the working frame; wherein the plurality of support members includes: a front support assembly, the front support assembly being mounted on the front of the autonomous lawnmower; the at least one working piece includes: a first working piece, the first working piece being: a working piece whose distance from the front support assembly along the travel direction of the autonomous lawnmower is less than or equal to a preset support threshold; the front support assembly satisfies at least one of the following conditions: along the travel direction, the distance between the front support assembly and the first working piece is greater than or equal to the vertical distance from the first working piece to the working surface; or, there is no overlap between the projection of the front support assembly onto the first plane and the projection of the first working piece onto the first plane; wherein the first plane is perpendicular to the travel direction.

[0041] In some embodiments, the front support assembly includes a front support member and a side support member; the side support member is disposed behind the front support member along the travel direction; wherein the distance between the side support member and the longitudinal centerline of the moving assembly is greater than the distance between the front support member and the longitudinal centerline.

[0042] In some embodiments, the vertical distance from the bottom edge of the front support to the working surface is greater than the vertical distance from the bottom edge of the side support to the working surface.

[0043] In some embodiments, the distance between the front support assembly and the first working part is in the range of 30mm-300mm, or 50mm-200mm, or 100mm-150mm.

[0044] In some embodiments, the vertical distance from the first workpiece to the work surface ranges from 10mm to 25mm.

[0045] This lawnmower can solve the problem of missed grass.

[0046] This invention also proposes an autonomous lawnmower, comprising: a main frame; a moving component that abuts against a working surface to support the main frame; and a working device, comprising: a working frame connected to the main frame; a support mechanism that abuts against the working surface to support the working frame; the support mechanism comprising: a plurality of support members that abut against the working surface to support the working frame; wherein the plurality of support members include: a front support component mounted at the front of the autonomous lawnmower; and the working mechanism mounted on the working frame. The working mechanism includes: at least one working component configured to perform a mowing task; wherein, the at least one working component includes: a first working component, which is a working component whose distance from the front support assembly is less than or equal to a preset support threshold along the travel direction of the autonomous lawnmower; wherein, a circle is formed with the projection of the rotation axis of the first working component onto the horizontal plane as the center and any distance greater than the radius of the first working component as the radius; when the circle intersects with the projection of any of the plurality of support components onto the horizontal plane, the length of the arc segment formed by the intersection is not greater than 300mm.

[0047] In some embodiments, the at least one working component includes: a first working component, wherein the first working component is: a working component whose distance from the front support assembly is less than or equal to a preset support threshold along the travel direction of the autonomous lawnmower; a circumference is formed with the projection of the rotation axis of the first working component on the horizontal plane as the center and any distance greater than the radius of the first working component as the radius; when the circumference intersects with the projection of any of the plurality of support components on the horizontal plane, the length of the arc segment formed by the intersection is not greater than 300mm.

[0048] This autonomous lawnmower effectively disperses grass when moving across the work surface.

[0049] This invention also proposes an autonomous lawnmower, comprising: a main frame; a moving assembly that abuts against a working surface to support the main frame; and a working device, comprising: a working frame connected to the main frame; a support mechanism that abuts against the working surface to support the working frame; the support mechanism comprising: a plurality of support members that abut against the working surface to support the working frame; wherein the plurality of support members include: a front support assembly mounted at the front of the autonomous lawnmower; and the working mechanism, mounted on... Mounted on the work frame; the work mechanism includes: at least one workpiece, the at least one workpiece being configured to perform a mowing task; wherein, the area formed by the projections of the plurality of workpieces onto a horizontal plane is the overall blade disc area, the overall blade disc area having an overall blade disc center; a first preset area is: on the horizontal plane, the radial distance from the overall blade disc center is greater than the radius of the workpiece; a second preset area is: the area obtained by removing the overall blade disc area from the first preset area; wherein, the ratio of the area of ​​the projections of the plurality of workpieces onto the horizontal plane to the area of ​​the second preset area is less than or equal to 50%.

[0050] In some embodiments, the at least one working component includes: a first working component, wherein the distance between the at least one working component and the front support assembly along the travel direction of the autonomous lawnmower is less than or equal to a preset support threshold; a cutter head overall region formed by the projection of the at least one working component onto a horizontal plane, the cutter head overall region having a cutter head overall center; a first preset region, wherein the radial distance from the cutter head overall center on the horizontal plane is greater than the radius of the working component; a second preset region, wherein the region obtained by removing the cutter head overall region from the first preset region; wherein the ratio of the area of ​​the projection of the plurality of working components onto the horizontal plane to the area of ​​the second preset region is less than or equal to 50%.

[0051] This invention also proposes an autonomous lawnmower, comprising: a main frame; a moving component that abuts against a working surface to support the main frame; and a working device, comprising: a working frame connected to the main frame; a support mechanism that abuts against the working surface to support the working frame; the support mechanism comprising: a plurality of support members that abut against the working surface to support the working frame; wherein the plurality of support members include: a front support component mounted at the front of the autonomous lawnmower; and a working mechanism mounted on the working frame; the working mechanism comprising: at least one working component configured to perform a mowing task; wherein the at least one working component includes: a first working component, wherein the first working component is a working component whose distance from the front support component along the travel direction of the autonomous lawnmower is less than or equal to a preset support threshold; wherein the distance between the edge of the first working component and the front support component is greater than or equal to 20 mm.

[0052] In some embodiments, the at least one working component includes: a first working component, wherein the first working component is: a working component whose distance from the front support assembly is less than or equal to a preset support threshold along the travel direction of the autonomous lawnmower; and the distance between the edge of the first working component and the front support assembly is greater than or equal to 20 mm.

[0053] In some embodiments, the distance between the edge of the first working piece and the front support assembly is greater than or equal to 50 mm.

[0054] In some embodiments, the edge of the first working piece does not extend beyond the outer contour of the autonomous lawnmower.

[0055] In some embodiments, the area formed by the projections of the plurality of workpieces onto a horizontal plane is defined as the overall cutter head area, and the overall cutter head area has an overall cutter head center; the first preset area is: on the horizontal plane, the radial distance from the overall cutter head center is greater than the radius of the workpiece; the second preset area is: the area obtained by removing the overall cutter head area from the first preset area; wherein, the ratio of the area of ​​the projections of the plurality of workpieces onto the horizontal plane to the area of ​​the second preset area is less than or equal to 30%.

[0056] In some embodiments, the distance between any two supports along the X direction is not less than the diameter of the first working piece, or twice the diameter of the first working piece; wherein the X direction is parallel to the first plane and perpendicular to the travel direction.

[0057] In some embodiments, a circle is formed with the projection of the rotation axis of the first working piece onto the horizontal plane as the center and any distance greater than the radius of the first working piece as the radius; when the circle intersects with the projection of the support member onto the horizontal plane, the length of the arc segment formed by the intersection is not greater than 150mm.

[0058] This invention also proposes an autonomous lawnmower, comprising: a main frame; a moving component that abuts against a working surface to support the main frame; and a working device, comprising: a working frame connected to the main frame; a support mechanism that abuts against the working surface to support the working frame; the support mechanism comprising: at least one support member that abuts against the working surface to support the working frame; wherein the at least one support member comprises: a front support component mounted at the front of the autonomous lawnmower; and the working mechanism mounted on the working surface. The frame; the working mechanism includes: at least one working component, the at least one working component being configured to perform a mowing task; wherein, the at least one working component includes: a first working component, the first working component being: a working component whose distance from the front support assembly is less than or equal to a preset support threshold along the travel direction of the autonomous lawnmower; wherein, a circle is formed with the projection of the rotation axis of the first working component onto the horizontal plane as the center and any distance greater than the radius of the first working component as the radius; when the circle intersects the projection of the support assembly onto the horizontal plane, the angular interval formed by the line connecting the intersection point of adjacent support assemblies and the center of the circle is not greater than 180°.

[0059] In some embodiments, the at least one working component includes: a first working component, wherein the first working component is: a working component whose distance from the front support assembly is less than or equal to a preset support threshold along the travel direction of the autonomous lawnmower; a circle is formed with the projection of the rotation axis of the first working component onto the horizontal plane as the center and any distance greater than the radius of the first working component as the radius; when the circle intersects the projection of the support component onto the horizontal plane, the angular interval formed by the line connecting the intersection point of adjacent support components and the center of the circle is not greater than 180°.

[0060] This invention also proposes an autonomous lawnmower, comprising: a main frame; a moving component that abuts against a working surface to support the main frame; and a working device, comprising: a working frame connected to the main frame; and a support mechanism that abuts against the working surface to support the working frame; the support mechanism comprising: a plurality of support members that abut against the working surface to support the working frame; wherein the plurality of support members includes: a front support assembly mounted at the front of the autonomous lawnmower. A working mechanism, mounted on the working frame; the working mechanism includes: at least one working component, the at least one working component being configured to perform a mowing task; wherein, the at least one working component includes: a first working component, the first working component being: a working component whose distance from the front support assembly is less than or equal to a preset support threshold along the travel direction of the autonomous lawnmower; wherein, the distance between any two of the plurality of support components along the X direction is less than or equal to 5 times the diameter of the first working component, wherein, the X direction is parallel to the first plane and perpendicular to the travel direction.

[0061] In some embodiments, the at least one working component includes: a first working component, wherein the first working component is: a working component whose distance from the front support assembly is less than or equal to a preset support threshold along the travel direction of the autonomous lawnmower; the spacing between any two supports along the X direction is less than or equal to 5 times the diameter of the first working component, wherein the X direction is parallel to the first plane and perpendicular to the travel direction.

[0062] This invention also proposes an autonomous lawnmower, comprising: a main frame; a moving component that abuts against a working surface to support the main frame; and a working device, comprising: a working frame connected to the main frame; a support mechanism comprising: a plurality of support members that abut against the working surface to support the working frame; wherein the plurality of support members include: a front support component mounted at the front of the autonomous lawnmower; and a working mechanism mounted on the working frame; the working mechanism includes: at least one working component configured to perform a mowing task; wherein the at least one working component includes: a first working component, wherein the first working component is a working component whose distance from the front support component along the travel direction of the autonomous lawnmower is less than or equal to a preset support threshold; wherein the distance between any two support members along the travel direction is greater than or equal to three times the diameter of the first working component.

[0063] In some embodiments, the distance between any two of the plurality of supports along the travel direction is greater than or equal to three times the diameter of the first working piece.

[0064] In some embodiments, the width of each of the plurality of supports is greater than 30 mm.

[0065] In some embodiments, the distance between any two of the plurality of supports along the X direction is less than or equal to three times the diameter of the first working piece.

[0066] In some embodiments, the distance between any two of the plurality of supports along the travel direction is greater than or equal to 5 times the diameter of the first working piece.

[0067] In some embodiments, a circle is formed with the projection of the rotation axis of the first working piece onto the horizontal plane as the center and any distance greater than the radius of the first working piece as the radius; when the circle intersects with the projection of the support member onto the horizontal plane, the angular interval formed by the line connecting the intersection point of adjacent support members and the center of the circle is no greater than 120° or 90°.

[0068] In some embodiments, the diameter of each of the plurality of supports is greater than or equal to 79 mm and less than or equal to 101 mm.

[0069] This invention also proposes an autonomous lawnmower, comprising: a main frame; a moving component that abuts against a working surface to support the main frame; and a working device, comprising: a working frame connected to the main frame; a support mechanism that abuts against the working surface to support the working frame; the support mechanism comprising: a plurality of support members that abut against the working surface to support the working frame; wherein at least one of the plurality of support members comprises: a support roller; a working mechanism mounted on the working frame; the working mechanism comprising: at least one working component configured to perform a mowing task; wherein the projection of the center of gravity of the autonomous lawnmower onto a horizontal plane is located between the overall center of the cutter head and the projection of the support roller onto the horizontal plane; wherein the area formed by the projection of the at least one working component onto the horizontal plane is the overall cutter head area, and the overall cutter head area has an overall cutter head center.

[0070] In some embodiments, the at least one working component includes: a support roller; the projection of the center of gravity of the autonomous lawnmower onto the horizontal plane is located between the overall center of the cutter head and the projection of the support roller onto the horizontal plane; wherein, the area formed by the projection of the at least one working component onto the horizontal plane is the overall cutter head area, and the overall cutter head area has an overall cutter head center.

[0071] In some embodiments, the moving component includes a plurality of moving parts, the plurality of moving parts including a first moving part and a second moving part located on the left or right side of the autonomous lawnmower; wherein, along the direction of travel, the first moving part is mounted on the front of the second moving part; a side support is located between the first moving part and the second moving part, and the side support and the first moving part are arranged along the direction of travel such that the side support is located in the extension direction of the travel trajectory of the first moving part.

[0072] In some embodiments, the support roller is located behind the working mechanism.

[0073] In some embodiments, the ratio of the pressure per unit area in the support roller to the pressure per unit area in the moving assembly is in the range of 0.9-1.5, or 0.9-1.2.

[0074] In some embodiments, the support mechanism includes: a plurality of support members, the plurality of support members respectively abutting against the working surface to support the working frame; wherein, the plurality of support members includes: a front support assembly, the front support assembly being mounted on the front of the autonomous lawnmower;

[0075] The front support assembly includes a front support member; wherein the distance between the front support member and the longitudinal centerline of the moving assembly is less than or equal to half the length of the support roller.

[0076] In some embodiments, the projection of the moving component onto the first plane has an inner end close to the longitudinal central axis of the moving component, and the roller projection of the support roller onto the first plane is tangent to the inner end; wherein the roller projection and the inner end are located on the same side of the autonomous lawnmower, the same side including: the left or the right side.

[0077] This invention also proposes an autonomous lawnmower, comprising: a main frame; a moving component that abuts against a working surface to support the main frame; and a working device, comprising: a working frame connected to the main frame; a support mechanism that abuts against the working surface to support the working frame, the support mechanism comprising: a plurality of support members that abut against the working surface to support the working frame; and a working mechanism mounted on the working frame; the working mechanism comprising: a plurality of working parts configured to perform lawnmowing tasks; wherein the plurality of working parts includes: a first working part; the distance between any two support members along the X direction is not less than the diameter of the first working part, and not greater than 5 times the diameter of the first working part; wherein a first plane is perpendicular to the direction of travel, and the X direction is parallel to the first plane and perpendicular to the direction of travel.

[0078] In some embodiments, the support mechanism includes: a plurality of support members, the plurality of support members respectively abutting against the working surface to support the working frame; the at least one working member includes: a first working member; the distance between any two support members along the X direction is not less than the diameter of the first working member, and not greater than 5 times the diameter of the first working member; wherein, the first plane is perpendicular to the travel direction, and the X direction is parallel to the first plane and perpendicular to the travel direction.

[0079] In some embodiments, the distance between any two of the plurality of supports along the X direction is no greater than three times the diameter of the first working piece.

[0080] In some embodiments, the distance between any two of the plurality of supports along the X direction is not less than twice the diameter of the first working piece.

[0081] This invention also proposes an autonomous lawnmower, comprising: a main frame; a moving assembly including at least three moving parts that abut against a working surface to support the main frame; and a working device connected to the main frame; the working device comprising: a working frame connected to the main frame; a working mechanism mounted on the working frame, the working mechanism including: at least one working part configured to perform a working task; a support mechanism including multiple support members respectively mounted at different positions on the working frame and abutting against the working surface to support the working frame via the working surface; and a protective mechanism covering the working frame and the at least one working part.

[0082] In some embodiments, the autonomous lawnmower includes: a support mechanism comprising a plurality of support members, the plurality of support members being respectively installed at different positions on the working frame; and a protective mechanism covering the working frame and the at least one working member.

[0083] In some embodiments, the work frame is a frame structure.

[0084] In some embodiments, the working device further includes an internal protective mechanism, which is mounted on the working frame and covers the at least one working piece.

[0085] In some embodiments, the projection of the internal protective mechanism onto the working surface overlaps the projection of the working mechanism onto the working surface.

[0086] In some embodiments, in a direction perpendicular to the working surface, the lowest point of the internal protective mechanism is higher than the highest point of the working element in the at least one working piece.

[0087] In some embodiments, the protective mechanism includes: a side guard connected to the main frame and disposed on the side of the at least one working piece and the internal protective mechanism to establish protection on the side of the at least one working piece; the side guard and the internal protective mechanism cooperate with each other to form a continuous protective space in the circumferential and above direction of the at least one working piece, thereby preventing foreign objects from contacting the at least one working piece in the circumferential and above direction.

[0088] In some embodiments, the protective mechanism further includes a frame structure, through which the side guard is mounted on the main frame, and the side guard, the frame structure, and the internal protective mechanism cooperate to form a continuous protective space around and above the at least one working piece, thereby preventing foreign objects from contacting the at least one working piece.

[0089] In some embodiments, the distance between the outer contour of the side guard and the outer contour of the inner guard mechanism along the X direction is greater than or equal to 180 mm; wherein the X direction is parallel to a first plane, and the first plane is perpendicular to the travel direction of the autonomous lawnmower.

[0090] In some embodiments, the vertical distance from any position in the first portion of the side guard to the working surface is less than or equal to 75 mm; wherein the first portion includes: a portion of the side guard that is lower than the internal protective mechanism in a direction perpendicular to the working surface.

[0091] In some embodiments, the side guard includes: a plurality of first openings; the distance between any two locations of each of the plurality of first openings is less than or equal to 75 mm; wherein the distance between the plurality of first openings and the working surface is lower than the distance between the internal protective mechanism and the working surface.

[0092] In some embodiments, the device further includes: a second height adjustment mechanism configured to move the support members relative to the work frame in a direction perpendicular to the work surface; the second height adjustment mechanism includes: an operating member mounted on the work frame, which, when operated, moves the plurality of support members relative to the work frame in a direction perpendicular to the work surface; the side protection member includes: a second opening, the distance between the second opening and the operating member being less than a preset distance threshold; the operating member is exposed to the outside through the second opening so that a user can operate the operating member through the second opening.

[0093] In some embodiments, the operating element is mounted below the second opening.

[0094] In some embodiments, the side guard is detachably connected to the main frame.

[0095] In some embodiments, the weight of the internal protective mechanism is less than a preset weight threshold.

[0096] In some embodiments, the internal protective mechanism is made of plastic.

[0097] In some embodiments, the protective mechanism is positioned over the at least two supports.

[0098] This invention also proposes an autonomous lawnmower, comprising: a main frame; a moving assembly including at least three moving parts that abut against a working surface to support the main frame; and a working device including: a working frame connected to the main frame; a working mechanism mounted on the working frame, the working mechanism including: at least one working part configured to perform a working task; and a support mechanism including multiple support members respectively mounted at different positions on the working frame, the multiple support members abutting against the working surface to support the working frame via the working surface; the autonomous lawnmower further includes: a second height adjustment mechanism providing an adjustable mechanical connection between the support members and the working frame, the second height adjustment mechanism being configured to: drive the support members to move relative to the working frame in a direction perpendicular to the working surface to increase or decrease the ground clearance of the working part.

[0099] In some embodiments, the support mechanism includes a plurality of support members, which are respectively installed at different positions on the work frame; and a second height adjustment mechanism, which provides an adjustable mechanical connection between the support members and the work frame, and is configured to drive the support members to move relative to the work frame in a direction perpendicular to the work surface to increase or decrease the height of the workpiece above the ground.

[0100] In some embodiments, the second height adjustment mechanism is configured to: drive the support member to continuously adjust its position relative to the work frame in a direction perpendicular to the working surface, and fix the support member in any adjustment position, so as to achieve stepless height adjustment of the workpiece within a preset height range.

[0101] In some embodiments, the second height adjustment mechanism includes: a fixed base and a sliding member. One of the support member and the working frame is fixedly connected to the fixed base, and the other is connected to the sliding member. The sliding member is slidably mounted on the fixed base. By driving the sliding member to move relative to the fixed base in the height direction, the distance between the support member and the working frame can be adjusted.

[0102] In some embodiments, the second height adjustment mechanism includes an operating element mounted on the work frame, the operating element being exposed to the outside so that a user can operate the operating element.

[0103] In some embodiments, it further includes: a side guard, connected to the main frame, disposed on the side of the at least one working piece and the internal protective mechanism to establish protection on the side of the at least one working piece; the side guard includes: a second opening, the distance between the second opening and the operating piece being less than a preset distance threshold; the operating piece is exposed to the outside through the second opening so that a user can operate the operating piece through the second opening.

[0104] In some embodiments, the operating element is disposed below the second opening.

[0105] This invention also proposes an autonomous lawnmower, comprising: a main frame; a moving assembly including at least three moving parts that abut against a working surface to support the main frame; and a working device including: a working frame connected to the main frame; a working mechanism mounted on the working frame, the working mechanism including: at least one working component configured to perform a working task; and a support mechanism including multiple support members mounted at different positions on the working frame, the multiple support members abutting against the working surface to support the working frame; the autonomous lawnmower further includes: a second height adjustment mechanism providing an adjustable mechanical connection between the working component and the working frame, the second height adjustment mechanism being configured to: continuously adjust the position of the support members relative to the working frame in a direction perpendicular to the working surface, and fix the support members at any adjustable position, so as to achieve stepless height adjustment of the working component within a preset height range.

[0106] In some embodiments, the autonomous lawnmower further includes: a support mechanism comprising a plurality of support members installed at different positions on the working frame, the plurality of support members abutting against the working surface to support the working frame; and a second height adjustment mechanism providing an adjustable mechanical connection between the working piece and the working frame, the second height adjustment mechanism being configured to: continuously adjust the position of the support members relative to the working frame in a direction perpendicular to the working surface, and fix the support members at any adjustable position, so as to achieve stepless height adjustment of the working piece within a preset height range.

[0107] This invention also proposes an autonomous lawnmower, comprising: a main frame; a moving assembly including at least three moving parts that abut against a working surface to support the main frame; and a working device including: a working frame connected to the main frame; a working mechanism mounted on the working frame, the working mechanism including: at least one working part configured to perform a working task; and a support mechanism including multiple support members respectively mounted at different positions on the working frame, the multiple support members abutting against the working surface to support the lawnmower. A work frame; a side guard connected to the main frame and disposed on the side of the at least one workpiece to provide protection on the side of the at least one workpiece; a second height adjustment mechanism providing an adjustable mechanical connection between the support and the work frame; the second height adjustment mechanism includes: an operating element mounted on the work frame, which can increase or decrease the height of the workpiece from the work surface by operating the operating element; the side guard includes: a second opening, the distance between the second opening and the operating element being less than a preset distance threshold; the operating element is exposed to the outside through the second opening so that a user can operate the operating element through the second opening.

[0108] In some embodiments, the autonomous lawnmower further includes: a side guard connected to the main frame and disposed on the side of the at least one working piece to provide protection on the side of the at least one working piece; a second height adjustment mechanism providing an adjustable mechanical connection between the support member and the working frame; the second height adjustment mechanism including: an operating member mounted on the working frame, the operating member being operated to increase or decrease the height of the working piece from the working surface; the side guard including: a second opening, the distance between the second opening and the operating member being less than a preset distance threshold; the operating member being exposed to the outside through the second opening so that a user can operate the operating member through the second opening.

[0109] This invention also proposes an autonomous lawnmower, comprising: a main frame; and a working device connected to the main frame; a moving component mounted on the main frame and abutting against a working surface to support the main frame; the working device includes: a working frame connected to the main frame, the working frame including: three working frame mating parts, the three working frame mating parts being disposed at different positions on the working frame, and the three working frame mating parts not being on a straight line; wherein the three working frame mating parts include: a first working frame mating part, a second working frame mating part, and... A third work frame mounting part; a working mechanism, the working mechanism being mounted on the work frame, the working mechanism including: at least one working piece, the at least one working piece being used to perform cutting work; a support mechanism, the support mechanism abutting against the working surface, the support mechanism including at least three contact points, the support mechanism abutting against the working surface through the three contact points; the three contact points including: a first contact point, a second contact point, and a third contact point; wherein, the first contact point is mounted to the work frame through the first work frame mounting part, and the second contact point is mounted through the second work frame. The third contact point is mounted on the work frame, and the third contact point is mounted on the work frame via the third work frame mating part; a connecting mechanism is disposed between the work frame and the main frame; when the three contact points abut against the work surface, the supporting force from the work surface is transmitted to the connecting mechanism via the three contact points and the work frame; in response to the supporting force from the work surface, the connecting mechanism moves to allow the three work frame mating parts corresponding to the three contact points to move relative to the main frame, so that the work frame moves relative to the main frame; when abutting the first contact point... When at least two of the following partial working surfaces—the first partial working surface of the point, the second partial working surface abutting the second contact point, and the third partial working surface abutting the third contact point—are at different heights relative to the same horizontal plane, the connecting mechanism moves in response to the supporting force generated by the height change of the working surfaces, allowing the three working frame mating parts to move relative to the main frame, such that: when the first partial working surface is higher than the second partial working surface, the height of the first working frame mating part relative to the main frame is less than the height of the second working frame mating part relative to the main frame.

[0110] In some embodiments, the work frame includes three work frame mating portions, which are disposed at different positions on the work frame and are not aligned in a straight line; wherein the three work frame mating portions include a first work frame mating portion, a second work frame mating portion, and a third work frame mating portion; the support mechanism includes at least three contact points, which abut against the working surface; the three contact points include a first contact point, a second contact point, and a third contact point; wherein the first contact point is mounted to the work frame via the first work frame mating portion, and the... The second contact point is mounted on the work frame via the second work frame mating part, and the third contact point is mounted on the work frame via the third work frame mating part; the working device further includes: a connecting mechanism disposed between the work frame and the main frame; when the three contact points abut against the working surface, the supporting force from the working surface is transmitted to the connecting mechanism via the three contact points and the work frame; in response to the supporting force from the working surface, the connecting mechanism moves to allow the three work frame mating parts corresponding to the three contact points to move relative to the main frame, so that the work frame moves relative to the main frame.

[0111] In some embodiments, when at least two of the following partial working surfaces—the first partial working surface abutting the first contact point, the second partial working surface abutting the second contact point, and the third partial working surface abutting the third contact point—are at different heights relative to the same horizontal plane, the connecting mechanism moves in response to the supporting force generated by the height change of the working surfaces, allowing the three working frame mating portions to move relative to the main frame, such that: when the first partial working surface is higher than the second partial working surface, the height of the first working frame mating portion relative to the main frame is less than the height of the second working frame mating portion relative to the main frame.

[0112] By using the above-mentioned lawnmower, it is possible to ensure good grass distribution, good grass compaction marks, and high cutting quality while maintaining a low mowing height. Attached Figure Description

[0113] Figure 1 shows an autonomous lawnmower in one embodiment;

[0114] Figure 2 shows an autonomous lawnmower in one embodiment;

[0115] Figure 3 is a bottom view of an autonomous lawnmower in one embodiment;

[0116] Figure 4 is a side view of an autonomous lawnmower in one embodiment;

[0117] Figure 5 is a partial exploded view of the internal structure of an autonomous lawnmower in one embodiment;

[0118] Figure 6 is a schematic diagram of an autonomous lawnmower moving to a slope in one embodiment;

[0119] Figure 7 is a schematic diagram of the connection between the frame and the working frame of the autonomous lawnmower in one embodiment;

[0120] Figure 8 is a schematic diagram of the internal structure of an autonomous lawnmower in one embodiment;

[0121] Figure 9 is a schematic diagram of the limiting component of an autonomous lawnmower in one embodiment;

[0122] Figure 10 is a schematic diagram of the working process of an autonomous lawnmower in one embodiment;

[0123] Figures 11-12 are schematic diagrams of the autonomous lawnmower structure in one embodiment;

[0124] Figure 13 is a schematic diagram of the protective mechanism of an autonomous lawnmower in one embodiment;

[0125] Figure 14 is a schematic diagram of the constraint part of an autonomous lawnmower in one embodiment;

[0126] Figure 15 is a schematic diagram of an autonomous lawnmower on a horizontal working surface in one embodiment;

[0127] Figure 16 is a schematic diagram of the left side of an autonomous lawnmower in one embodiment;

[0128] Figure 17-1 is a schematic diagram of the right side of the autonomous lawnmower on the raised working surface in one embodiment;

[0129] Figure 17-2 is a schematic diagram of the scene on the raised working surface of the left side of the autonomous lawnmower in one embodiment;

[0130] Figure 18 is a schematic diagram of the suspension adjustment of an autonomous lawnmower in one embodiment;

[0131] Figure 19 is a schematic diagram of the connection mechanism of an autonomous lawnmower in one embodiment;

[0132] Figure 20 is a cross-sectional schematic diagram of the first suspension component of an autonomous lawnmower in one embodiment;

[0133] Figure 21 is a cross-sectional schematic diagram of the constraint part of an autonomous lawnmower in one embodiment;

[0134] Figure 22 is a schematic diagram of an autonomous lawnmower on a recessed working surface in one embodiment;

[0135] Figure 23 is a schematic diagram showing the connection between the first adjustment mechanism and the main frame of an autonomous lawnmower in one embodiment. Detailed Implementation

[0136] 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. The specific embodiments described herein are merely illustrative of this application and are not intended to limit it. The technical features of the embodiments described below can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described; however, any combination of these technical features that does not contradict each other should be considered within the scope of this specification.

[0137] In the following description, when referring to the accompanying drawings, the same numbers in different drawings denote the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0138] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "left," "right," "vertical," "horizontal," "top," "bottom," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. Furthermore, "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0139] Furthermore, 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 with "first" or "second" may explicitly or implicitly include at least one of that feature.

[0140] In some embodiments of this application, for simplicity, the longitudinal central axis direction of the moving component is sometimes described as the length direction, and the direction perpendicular to the longitudinal central axis is described as the width direction or the lateral direction.

[0141] A golf course typically includes tee boxes, fairways, rough, and rough. The tee box is the starting area for the shot and connects to the fairway. The fairway is the main hitting area. Rough is usually located on both sides of the tee box and fairway, with the rough extending to the outside of the rough. The end of the fairway is the green, which contains the hole for the golf ball. Hazards such as bunkers and water hazards may also be located around the green.

[0142] Currently, golf course lawn maintenance is usually carried out using manually operated rotary mowers. Rotary mowers require continuous manual operation and have a low degree of automation and intelligence, which to some extent affects operational efficiency and ease of use.

[0143] On the other hand, when existing ordinary household smart lawnmowers are used on golf courses, the blades usually need to be adjusted to a lower height than they would be in a home setting to meet the mowing height requirements of the fairways. In this case, because the blades are very close to the ground, they are prone to colliding with obstacles such as bumps and rocks during the mower's operation, leading to blade damage and affecting the reliability and lifespan of the equipment. Alternatively, the blades may chip away at the grass, damaging the lawn. Or, the different cutting heights of the blades may result in unevenly cut lawns.

[0144] Based on this, some embodiments of this application propose an autonomous lawnmower that can reduce the collision between the blades and obstacles while ensuring a low mowing height.

[0145] An autonomous lawnmower may include a power supply and a controller. The controller includes a processor and a memory. The processor receives various inputs and executes one or more computer programs or applications stored in the memory. Understandably, the controller may also control other components that are signal-connected to it, and receive signals transmitted to it from other components, thereby enabling the autonomous movement and cutting of the autonomous lawnmower 10.

[0146] Referring to Figures 14-15, the autonomous lawnmower 10 may include a moving assembly 9, which includes multiple moving parts 91. The moving parts 91 abut against the working surface G to support the main frame 200. The multiple moving parts 91 may include a first moving part 92 and a second moving part 93 located on the left or right side of the autonomous lawnmower. Specifically, along the direction of travel, the first moving part is located in front of the second moving part. That is, along the front-rear direction, the first moving part is located in front of the second moving part. Both the first and second moving parts are located on the left or right side of the lawnmower. The moving parts may be wheels.

[0147] The autonomous lawnmower 10 may also include a drive assembly for driving the movement of the movable wheels. The drive assembly may include one or more drive motors. In some embodiments, the drive assembly may drive the rear wheels to move the autonomous lawnmower 10 across a work surface. In some embodiments, the front wheels may be swivel wheels, freely steerable relative to the housing 100 (e.g., about a vertical axis). It is understood that the drive methods of the front and rear wheels can be interchanged, or the front and rear wheels may have the same configuration. Further details on this are omitted here.

[0148] Referring to Figures 14-15, the autonomous lawnmower 10 may include: a main frame 200, and a working device 7 connected to the main frame 200.

[0149] The main frame 200 serves as the mounting base for the autonomous lawnmower and is used to mount the working device 7. Optionally, the main frame 200 may include a frame partially covered by the casing. During the lawnmower's height adjustment process, the main frame 200 does not move up or down relative to the working surface; the position of the main frame 200 relative to the working surface remains essentially unchanged.

[0150] Referring to Figure 15, the working device 7 may include a working frame 8 connected to the main frame 200. The working frame 8 may include three working frame mating parts. The three working frame mating parts include a first working frame mating part 81, a second working frame mating part 82, and a third working frame mating part 83. The three working frame mating parts are located at different positions on the working frame, and the three working frame mating parts are not on a straight line.

[0151] Referring to Figure 15, the working device 7 may further include a working mechanism mounted on the working frame 8. The working mechanism includes at least one working piece for performing cutting operations. In some embodiments, the working mechanism includes three working pieces. Of course, the working mechanism may also have only one, two, or other numbers of working pieces, and this application does not limit this. The working piece may include a cutter head that is rotatable about an axis. The working piece 41 may also include a cutting blade mounted circumferentially on the cutter head, which rotates to drive the blade to rotate. The cutting blade has a relatively small mass, approximately 20-50 grams per blade.

[0152] The working device 7 may also include a working drive assembly for driving the workpiece 41. The working drive assembly includes a cutting motor 413, with a cutter head coupled to the cutting motor, thereby driving the cutter head to rotate. Although only three workpieces are used in the example illustration here, the scope of this disclosure includes one or more cutting motors driving one or more workpieces to perform cutting work.

[0153] Referring to Figure 15, the working device 7 may further include a support mechanism 2, which abuts against the working surface. The support mechanism may include at least three contact points, through which it contacts the working surface. The three contact points may include a first contact point 214, a second contact point 215, and a third contact point 216. Specifically, the first contact point 214 is mounted to the working frame via a first working frame mounting part 81, the second contact point is mounted to the working frame via a second working frame mounting part 82, and the third contact point is mounted to the working frame via a third working frame mounting part 83.

[0154] In some embodiments, the support mechanism can abut the working device 7 (including a working frame, working mechanism, etc.) against the working surface through at least three contact points. The support mechanism may include multiple support members, which may be wheel-shaped support wheels and / or support rollers. Each support member abuts against the working surface through a contact point. Due to the influence of factors such as the pressure exerted by the working device 7 on the working surface, the support member may also abut against the working surface through a contact surface; this application does not limit this.

[0155] In some embodiments, the support mechanism may include two support rollers, with the first support roller abutting the working surface via a first contact point 214 and a second contact point 215, and the second support roller abutting the working surface via a third contact point 216. The two support rollers are located at the front and rear of the lawnmower, respectively.

[0156] In some embodiments, the support mechanism 2 may include a support roller and two support wheels. The support roller forms a first contact point 214 and a second contact point with the working surface, and the support wheels form a third contact point with the working surface, thereby forming at least three contact points through the support roller and the support wheels. These at least three contact points abut against the working surface to support the working frame 8. The support roller may be located at the front of the lawnmower, and the two support wheels may be located at the rear of the lawnmower. Alternatively, the support roller may be located at the rear of the lawnmower, and the two support wheels may be located at the front of the lawnmower. This application does not limit this to any particular configuration.

[0157] In other embodiments, in the first height adjustment state, the support mechanism abuts against the working surface; in the second height adjustment state, the support mechanism still abuts against the working surface.

[0158] In other embodiments, the support mechanism includes three support members: a first support member 217, a second support member 218, and a third support member 219. The three support members form a first contact point 214, a second contact point 215, and a third contact point 216 with the working surface, respectively, and support the working frame 8 and the working mechanism through the three contact points.

[0159] Furthermore, the number of support components can be increased, such as 5 or 6, and this application does not limit this number. When the number of support components is increased, the structure of the lawnmower will also become more complex.

[0160] In some implementations, the distance between a single support and a single working part is less than a preset distance threshold. That is, a support can be installed near the working part, and the movement of the support can cause the working part to move and adjust accordingly, thereby making the movement of the working part more consistent with the terrain.

[0161] Other positional configurations of the support member described in this application can be combined with this embodiment to achieve corresponding technical effects, provided they do not conflict. Of course, other positional configurations can also constitute an embodiment on their own.

[0162] In some embodiments, the first contact point 214 is mounted to the work frame 8 via the first work frame mating part 81, the second contact point 215 is mounted to the work frame via the second work frame mating part 82, and the third contact point 216 is mounted to the work frame via the third work frame mating part 83. The work frame serves as the mounting base for the support mechanism. By connecting the support member to the work frame via at least three work frame mating parts, stable support of the support member to the work frame can be achieved.

[0163] In some embodiments, the lawnmower is described using a horizontal plane as an example. When a support member at a contact point is mounted on a working frame via at least two working frame mating parts, the at least two working frame mating parts have corresponding at least two mating part projections on the horizontal plane, and the contact point has a corresponding contact point projection on the horizontal plane. The mating part projection closer to the contact point projection among the at least two mating part projections is selected; the working frame mating part corresponding to this mating part projection is the working frame mating part corresponding to that contact point. When the support members at two contact points are mounted on the working frame via at least two working frame mating parts, similarly, for a single contact point, the mating part projection closer to the single contact point projection among the at least two mating part projections is selected; the working frame mating part corresponding to this mating part projection is the working frame mating part corresponding to that contact point. Refer to Figures 15 and 16, where Figure 15 is a left view of the lawnmower and Figure 16 is a right view of the lawnmower. Wherein, the second support member is a support roller, and when the second contact point 218 is installed on the working frame through the second working frame mating part 82 and the fourth working frame mating part 84, the second working frame mating part 82 is the working frame mating part corresponding to the second contact point 218.

[0164] The support mechanism may include two support rollers. The first support roller abuts against the working surface via a first contact point 214 and a second contact point. The first contact point 214 of the first support roller is mounted to the working frame via a first working frame mating part, and the second contact point of the first support roller is mounted to the working frame via a second working frame mating part. The second support roller abuts against the working surface via a third contact point, and the third contact point of the second support roller is mounted to the working frame via a third working frame mating part.

[0165] Referring to Figures 15-16, the working device 7 may further include a connecting mechanism 3, disposed between the working frame and the main frame 200. When the three contact points abut against the working surface, the supporting force from the working surface is transmitted to the connecting mechanism via the three contact points and the working frame; in response to the supporting force from the working surface, the connecting mechanism moves to allow the three working frame mating parts corresponding to the three contact points to move relative to the main frame 200, thereby causing the working frame to move relative to the main frame 200.

[0166] In some embodiments, the connecting mechanism 3 can be a structure that connects the main frame 200 and the working frame, and the connecting mechanism 3 allows relative movement between the two frames. For example, it can be a spherical connector, such as a bearing. When the connecting mechanism 3 is a spherical connector, the working frame is connected to the lower part of the main frame 200 via the spherical connector. When the support member abuts against the working surface, an external force is transmitted to the connecting mechanism 3 via the support mechanism and the working frame. In response to the external force, the spherical connector rotates to allow the working frame mating part corresponding to the support member to move relative to the main frame 200, thereby allowing the working frame to move relative to the main frame 200. That is, when the support wheel moves to the uneven working surface, the support wheel transmits the change in external force to the spherical connector, the spherical connector rotates, thereby allowing the working frame to rotate with the spherical connector. The external force can be the supporting force of the working surface, the gravity of the support member abutting against the working surface, or the traction force of the lawnmower.

[0167] The connecting mechanism 3 can also be other structures, the details of which will be described in detail in other embodiments and will not be listed here.

[0168] In some embodiments, the movement of the connecting mechanism 3 can be upward, downward, leftward, or rightward to adapt to the undulations of the working surface.

[0169] The working surface can be below or above the horizontal plane.

[0170] In some embodiments, the first support member 217 is used as an example for illustration. The first support member is only an example, and other support members that encounter the same scenario may also be used; this application does not limit the application to such examples.

[0171] In some embodiments, when the first support member 217 moves from the horizontal plane to a first partial working surface A below the horizontal plane, the gravity of the first support member 217, the traction force of the lawnmower, or the supporting force of the working surface is transmitted to the connecting mechanism 3 via the first support member 217 and the working frame. Due to the aforementioned forces, the connecting mechanism 3 moves downward to allow the first working frame mating portion corresponding to the first support member 217 to move away from the main frame 200, thereby causing the working frame to move away from the main frame 200.

[0172] In some embodiments, when the first support member 217 moves from the horizontal plane to a first partial working surface A above the horizontal plane, the gravity of the first support member 217, the supporting force of the working surface, or the traction of the lawnmower is transmitted to the connecting mechanism 3 via the first support member 217 and the working frame. Due to the aforementioned forces, the connecting mechanism 3 moves upward to allow the first working frame mating part corresponding to the first support member 217 to move towards the main frame 200, thereby causing the working frame to move towards the main frame 200. In some subsequent embodiments, the process described above, where the change in height of the working surface contacted by the first support member 217 ultimately causes the working frame to move relative to the main frame 200, can be described as: the support member drives the working part to move relative to the main frame 200, or as: the support member drives the working frame to move relative to the main frame 200; these three descriptions are technically equivalent.

[0173] In some embodiments, the working frame can be mounted to the main frame 200 via the connecting mechanism 3. The connecting mechanism 3 is movable. As the working surface undulates, the traction force of the autonomous lawnmower is transmitted to the connecting mechanism 3 via three contact points and the working frame; in response to the force, the connecting mechanism 3 moves to allow the three working frame mating parts corresponding to the three contact points to move relative to the main frame 200, thereby allowing the working frames connected to the connecting mechanism 3 to move relative to the main frame 200. Compared to the moving component 9, the distance between the support member and the working part is closer, allowing the support member to move with less lag when the working surface height changes. Through the vertical displacement of the support member, the working part passively adjusts its height accordingly, so that each support member of the lawnmower can adaptively adjust its working height for uneven working surfaces. For example, when encountering a bump or obstacle, the support member encountering the bump or obstacle will move onto the bump or obstacle, causing the working part near that support member to move relative to the main frame 200, thereby achieving the same cutting height on working surfaces at different heights. As the working surface undulates, the support moves up and down, and the working parts near the support also move up and down with the support, thus ensuring the quality of mowing on the uneven working surface.

[0174] In some embodiments, when at least two of the following partial working surfaces—the first partial working surface abutting the first contact point, the second partial working surface abutting the second contact point, and the third partial working surface abutting the third contact point—are at different heights relative to the same horizontal plane, the connecting mechanism moves in response to the supporting force generated by the height change of the working surfaces, allowing the three working frame mating parts to move relative to the main frame, such that: when the first partial working surface is higher than the second partial working surface, the height of the first working frame mating part relative to the main frame is less than the height of the second working frame mating part relative to the main frame.

[0175] Referring to Figure 17, when the first partial working surface A abutting the first contact point 214, the second partial working surface B abutting the second contact point, and the third partial working surface abutting the third contact point are at different heights relative to the same horizontal plane, the connecting mechanism 3 moves in response to the supporting force generated by the height change of the working surfaces, allowing the three working frame mating parts to move relative to the main frame 200. This results in:

[0176] The heights of the three working frame mating parts relative to the main frame 200 are negatively correlated with the heights of the three local working surfaces. The negative correlation is as follows: when the first local working surface A is higher than the second local working surface, and the second local working surface is higher than the third local working surface, the height of the first working frame mating part relative to the main frame 200 is less than the height of the second working frame mating part relative to the main frame 200, and the height of the second working frame mating part relative to the main frame 200 is less than the height of the third working frame mating part relative to the main frame 200.

[0177] In this application, the local working surface can be a local working point or a local working line, depending on the different contact areas between the support and the working surface. This application does not limit this.

[0178] In some embodiments, the autonomous lawnmower is supported by three support members that are not aligned with the same straight line. When the three local working surfaces that abut against the three support members are at different heights relative to the same horizontal plane, the connecting mechanism 3 moves, causing the height of the three working frame mating parts relative to the main frame 200 to be negatively correlated with the height of the three local working surfaces relative to the same horizontal plane. This arrangement allows for independent movement of each support member relative to the main frame 200, and independent movement of the support surface formed by the three support members that are not aligned with the same straight line relative to the main frame. Furthermore, when the heights of the three working surfaces that contact the three support members are all different, the movement heights of the corresponding working frame mating parts relative to the main frame 200 are also different, and this movement height is negatively correlated with the height of the local working surface relative to the same horizontal plane. As the working surface undulates, at least one of the three support members can move independently of the main frame 200, and the corresponding working parts move with the support members, thereby ensuring the mowing quality of the uneven working surface.

[0179] For example, the negative correlation between the height of the three machine frame mating parts relative to the main frame 200 and the height of the three local working surfaces can be:

[0180] When the first partial working surface A is higher than the second partial working surface B, and the second partial working surface B is higher than the third partial working surface C, and the third partial working surface C is higher than the horizontal plane, the height of the first working frame mating part 81 relative to the main frame 200 is less than the height of the second working frame mating part 82 relative to the main frame 200, and the height of the second working frame mating part 82 relative to the main frame 200 is less than the height of the third working frame mating part 83 relative to the main frame 200.

[0181] When the first partial working surface A is lower than the second partial working surface B, and the second partial working surface B is lower than the third partial working surface C, and the third partial working surface C is lower than the horizontal plane, the height of the first working frame mating part relative to the main frame 200 is greater than the height of the second working frame mating part relative to the main frame 200, and the height of the second working frame mating part relative to the main frame 200 is greater than the height of the third working frame mating part relative to the main frame 200.

[0182] When the first partial working surface A is lower than the second partial working surface B, and the second partial working surface B is lower than the horizontal plane, and the second partial working surface B is lower than the third partial working surface C, and the third partial working surface C is higher than the horizontal plane, the height of the first working frame mating part relative to the main frame 200 is greater than the height of the second working frame mating part relative to the main frame 200, and the height of the second working frame mating part relative to the main frame 200 is greater than the height of the third working frame mating part relative to the main frame 200.

[0183] Referring to Figures 17-1 and 17-2, where Figure 17-1 is a left view of the lawnmower and Figure 17-2 is a right view of the lawnmower. When the first partial working surface A is higher than the second partial working surface B, and the second partial working surface B is higher than the third partial working surface C, and the third partial working surface C is higher than the horizontal plane, the height of the first working frame mating part 81 relative to the main frame 200 is less than the height of the second working frame mating part 82 relative to the main frame 200, and the height of the second working frame mating part 82 relative to the main frame 200 is less than the height of the third working frame mating part 83 relative to the main frame 200.

[0184] In some embodiments, when the first partial working surface A, the second partial working surface B, and the third partial working surface C are at the same height relative to the same horizontal plane, the connecting mechanism 3 is in a first state; when the first partial working surface A, the second partial working surface B, and the third partial working surface C are at different heights relative to the same horizontal plane, the connecting mechanism 3 is in a second state; the position of the reference position point relative to the main frame 200 in the first state is the initial position, and the position of the reference position point relative to the main frame 200 in the second state is the offset position. The offset position relative to the initial position has a first offset, a second offset, and a third offset in the X, Y, and Z directions, respectively. The first offset is less than or equal to a first preset value, the second offset is less than or equal to a second preset value, and the third offset is less than or equal to a third preset value; wherein, the position of the first working frame mating part is the reference position point, the X direction is parallel to the travel direction of the autonomous lawnmower, the Y direction is parallel to the working surface and perpendicular to the X direction, and the Z direction is perpendicular to the working surface (some positions are referred to as height directions below).

[0185] In some embodiments, by setting smaller first and second preset values, the lawnmower's working mechanism experiences less swaying during operation, resulting in less variation in cutting height and ensuring cutting quality. By setting a higher third preset value, the cutting height can meet the preset requirements even on higher working surfaces, ensuring cutting quality.

[0186] When the lawnmower is on a level surface, the connecting mechanism 3 is in its first state, and the reference position point is in its initial position relative to the main frame 200. When the lawnmower is on a non-level surface, the connecting mechanism 3 is in its second state, and the reference position point is in an offset position relative to the main frame 200. The offset position has a first offset in the X direction, a second offset in the Y direction, and a third offset in the Z direction relative to the initial position. By controlling these three offsets, when the lawnmower is on a working surface with varying terrain, the working piece can be in the expected working position. Thus, the lawnmower can adapt to the uneven terrain while maintaining the stability of its working trajectory and ensuring cutting quality.

[0187] In some embodiments, the reference location point can be located at both the outer edge and the bottom edge of the working mechanism. That is, the reference location point can be a point that satisfies both the outermost and bottom edges of the working mechanism. For example, the outermost and lowest blade tip. Of course, the reference location point can also be the height of any blade, and this application does not limit this.

[0188] In some embodiments, the first offset is less than or equal to 100 mm.

[0189] In some embodiments, the first offset is less than or equal to 30 mm.

[0190] In some embodiments, the first offset is less than or equal to 15 mm.

[0191] Preferably, the first offset is less than or equal to 12mm. Setting a small offset in the direction of travel can limit the displacement of the lawnmower along the direction of travel during movement, thereby reducing the degree to which the working trajectory of the workpiece deviates from the expected route.

[0192] In some embodiments, the second offset is less than or equal to the path overlap of the autonomous lawnmower; wherein, the path overlap is the amount of overlap in the coverage area of ​​the workpiece when the autonomous lawnmower moves along adjacent paths. Preferably, the second offset is less than or equal to 10 mm. Setting a small offset in the Y direction limits the displacement amplitude along the Y direction during movement, thereby reducing the degree to which the workpiece's trajectory deviates from the expected route.

[0193] In some embodiments, in the first state, the height of the reference position point in the Z direction is not lower than the height of the bottom edge of the autonomous lawnmower in the Z direction. When the lawnmower is on a horizontal plane, the reference position points on the working device 7 are all not lower than the bottom edge of the lawnmower, which facilitates improving the overall obstacle-crossing ability of the lawnmower, including the working device 7.

[0194] In some embodiments, the height of the reference position point in the Z direction in the second state is not higher than the height of the top of the work frame in the Z direction in the second height adjustment state. All reference position points on the working device 7 are not higher than the highest point of the work frame in the high-cut state; that is, the movement range of the reference position points is less than or equal to the maximum height adjustment range. The maximum height adjustment range includes the maximum movement value of the work frame in both the high-cut and low-cut states.

[0195] In some embodiments, the third offset is less than or equal to the height adjustment value of the first height adjustment mechanism when switching from the first height adjustment state to the second height adjustment state.

[0196] In some embodiments, the height of the reference position point in the Z direction in the second state is not higher than the height of the top of the main frame 200 in the Z direction in the second height adjustment state. When all three supports are in contact with the working surface above the horizontal plane, that is, when the lawnmower moves to the working surface above the horizontal plane, the maximum height of the reference position point in the Z direction is limited to be less than or equal to the highest point of the main frame 200 in the high-cutting state. This ensures both the normal height adjustment of the working device 7 and the ability of the lawnmower to cut all protrusions in the working area.

[0197] In some embodiments, when the lawnmower moves from a horizontal plane to a working surface above the horizontal plane, the third offset of the reference position point in the Z direction is limited to less than or equal to 120 cm.

[0198] In some embodiments, when the three supports move from the horizontal plane to abut against the working surface below the horizontal plane, i.e., when the lawnmower moves from the horizontal plane to the working surface below the horizontal plane, the third offset of the reference position point in the Z direction is limited to less than or equal to 100 mm. This ensures that all pits in the working area can be cut normally while maintaining a compact lawnmower structure.

[0199] Furthermore, the third offset of the reference position point in the Z direction can also be limited to less than or equal to 30 mm.

[0200] Furthermore, the third offset of the reference position point in the Z direction can also be limited to less than or equal to 15mm.

[0201] Furthermore, the third offset of the reference position point in the Z direction can be limited to between 8mm and 28mm, preferably between 10mm and 25mm.

[0202] In some embodiments, the ratio between the third offset and the second offset is less than or equal to 12. Setting this ratio reduces the degree to which the working trajectory of the workpiece deviates from the intended path while maintaining a compact lawnmower structure, and ensures proper cutting of all pits and bumps in the working area.

[0203] In some embodiments, the ratio between the third offset and the first offset is less than or equal to 10.

[0204] In some embodiments, the working mechanism of the autonomous lawnmower can have multiple working heights: a first height and a second height. The autonomous lawnmower may include a first height adjustment mechanism for adjusting the height of the working mechanism relative to the main frame 200. In the first height adjustment state, the first height adjustment mechanism adjusts the working mechanism to the first height; in the second height adjustment state, the first height adjustment mechanism adjusts the working mechanism to the second height. In the first height adjustment state, the distance between the working mechanism and the working surface is less than the distance between the working mechanism and the working surface in the second height adjustment state. In the following sections, the first height adjustment state is referred to as the low-cutting state, and the second height adjustment state is referred to as the high-cutting state. The first height is referred to as the low-cutting height, and the second height is referred to as the high-cutting height. The first height adjustment mechanism can be connected between the main frame 200 and the working frame (or, the main frame 200 and the connecting mechanism 3), or it can be connected inside the working frame; this application does not limit this. The adjustment of the working height can be a user-operated mechanical form or an electric form. That is, the first height adjustment mechanism can be a mechanical knob or a height adjustment motor; this application does not limit this.

[0205] In some embodiments, in the first height adjustment state, the support mechanism abuts against the working surface; in the second height adjustment state, the bottom edge of the support mechanism is higher than the bottom edge of the moving component 9. That is, at the first height, the support wheels of the lawnmower are off the ground and separated from the working surface; at the second height, the support wheels of the lawnmower abut against the ground.

[0206] In some embodiments, in addition to using the ball connector 36 mentioned above to connect the two racks, the desired requirements for the above three offsets can also be achieved through the following connection mechanism 3.

[0207] As shown in Figure 18, the connecting mechanism 3 may include a suspension adjustment mechanism 33, with the work frame suspended below the main frame 200 via the suspension adjustment mechanism 33. When the reference position point moves from the initial position to the offset position, the suspension adjustment mechanism 33 has a first movement range X1, a second movement range Y1, and a third movement range Z1 along the X, Y, and Z directions, respectively.

[0208] As shown in Figure 14, the connecting mechanism 3 may further include a constraint part for limiting the movement of the suspension adjustment mechanism 33. When the reference position point moves from the initial position to the offset position, the constraint part 34 has a fourth movement range X2, a fifth movement range Y2, and a sixth movement range Z2 along the X, Y, and Z directions, respectively.

[0209] Under the combined action of the suspension adjustment mechanism 33 and the constraint part 34, the allowable range of motion of the work frame in the X direction is no greater than the smaller of X1 and X2, the allowable range of motion in the Y direction is no greater than the smaller of Y1 and Y2, and the allowable range of motion in the Z direction is no greater than the smaller of Z1 and Z2. This limits the range of motion of the working device 7 to the expected requirements.

[0210] When the working surface in contact with the support mechanism moves from a horizontal plane to a non-horizontal plane, the suspension adjustment mechanism 33 and the constraint part 34 have different ranges of motion in the X, Y and Z directions. These two work together to limit the relative range of motion between the working mechanism and the main frame 200.

[0211] The suspension adjustment mechanism 33 and the restraint part 34 can be structures that are set independently of each other.

[0212] The suspension adjustment mechanism 33 can be a structure that can perform suspension adjustment, and can be a flexible component, such as a chain or rope.

[0213] In some embodiments, the suspension adjustment mechanism 33 may also be other rigid structures capable of vertical movement. The suspension adjustment mechanism 33 is located above the support mechanism. The suspension adjustment mechanism 33 may include: a second-stage adjustment mechanism 31 connected to the first height adjustment mechanism; and a first-stage adjustment mechanism 35, one end of which is connected to the second-stage height adjustment mechanism, and the other end of which is connected to the work frame. In response to the first height adjustment mechanism adjusting the distance between the work mechanism and the work surface, the second-stage adjustment mechanism 31 moves, thereby driving the first-stage adjustment mechanism 35 to move.

[0214] Referring to Figure 19, the first-stage adjustment mechanism 35 may include a spherical connector 36. The second-stage adjustment mechanism 31 may include a connecting rod 37. In the first height adjustment state, the first height adjustment mechanism 1 pushes the connecting rod 37 to adjust the working mechanism 4 to the low cutting height. When the support mechanism 2 abuts against the working surface G, the support force from the working surface G is transmitted to the spherical connector 36 via the support mechanism 2 and the working frame 8. In response to the support force from the working surface, the spherical connector 36 rotates to allow the working frame mating part corresponding to the support to move relative to the main frame 200, thereby allowing the working frame to move relative to the main frame 200.

[0215] In other embodiments, referring to Figures 15 and 18, the first-stage adjustment mechanism 35 may include a plurality of adjustable movable members that mate with the work frame. These adjustable movable members include a first adjustable movable member 323, a second adjustable movable member 324, and a third adjustable movable member 325. The distance between the first adjustable movable member 323 and the first support member 217 is less than the distance between the first adjustable movable member 323 and any other support member. The distance between the second adjustable movable member 324 and the second support member is less than the distance between the second adjustable movable member 324 and any other support member. The distance between the third adjustable movable member 325 and the third support member is less than the distance between the third adjustable movable member 325 and any other support member. The plurality of adjustable movable members are independent of each other and are spaced apart above the support mechanism. The first adjustable movable member 323, the second adjustable movable member 324, and the third adjustable movable member 325 are respectively connected to the main frame 200 via the second-stage adjustment mechanism 31.

[0216] The movement of the connecting mechanism 3 is explained below using the first adjusting movable member 323 as an example. Here, we will explain how the first adjusting movable member 323 corresponding to the first support member 217 is determined. Taking a lawnmower on a horizontal plane as an example, the lawnmower can have more support members; for convenience, this embodiment will use only three support members as an example. The working frame includes multiple movable member mating parts. The first adjusting movable member 323 is connected to the working frame through the first movable member mating part, the second adjusting movable member 324 is connected to the working frame through the second movable member mating part, and the third adjusting movable member 325 is connected to the working frame through the third movable member mating part. The first movable member mating part, the first working frame mating part, the second working frame mating part, and the third working frame mating part are projected onto a horizontal plane. The distances between the projections of the first movable member mating part and the projections of the first working frame mating part, the second working frame mating part, and the third working frame mating part are compared, and the projection closest to the projection of the first movable member mating part is selected. The adjustment mechanism corresponding to the closest projection is the first adjustment mechanism 323, which corresponds to the first support 217.

[0217] As shown in Figures 15-17, the first adjusting movable component 323 includes a first suspension component. One end of the first suspension component is movably connected to the working frame, and the other end of the first suspension component can movably pass through the first mounting portion 313. When the first support component 217 moves from a horizontal plane to a non-horizontal plane, the first suspension component moves up, down, back, forth, left, and right within the first mounting portion 313, thereby driving the first support component 217 and the corresponding working component to move relative to the main frame 200 in the X, Y, and Z directions.

[0218] As shown in Figure 20, the first mounting portion 313 has a larger radial dimension than the first suspension member in the corresponding direction. The other end of the first suspension member 3231 is movably inserted through the first mounting portion 313 to drive the first support member 217 to move relative to the main frame 200 in at least one of the following directions: X direction, Y direction, or Z direction. Specifically, the range of motion of the top of the first suspension member in the X direction is less than or equal to the difference in size between the first mounting portion 313 and the first suspension member in the X direction; the range of motion of the top of the first suspension member 3232 in the Y direction is less than or equal to the difference in size between the first mounting portion 313 and the first suspension member in the Y direction; and the range of motion of the top of the first suspension member in the Z direction is less than or equal to the length of the first suspension member. Since the suspension member rotates, the range of motion of the working frame in the X and Y directions is greater than the range of motion of the top of the first suspension member in the X and Y directions. The range of motion of the working frame in the Z direction is equal to the range of motion of the top of the first suspension member in the Z direction. The first mounting portion 313 can be a groove. The first suspension member can be a suspension rod. The chute has a larger opening than the diameter of the boom, allowing the boom to move in either direction within the chute.

[0219] Furthermore, the first mounting portion 313 is provided with a second limiting connection portion 314, which is used to limit the range of movement of the first suspension member 3231 in the Y direction; the second limiting connection portion is movably connected to the first mounting portion 313. The second limiting connection portion can be two walls: a first wall 315 and a second wall 316, with the first mounting portion 313 movably connected between the two walls to limit the range of movement of the first mounting portion 313 in the Y direction, thereby limiting the range of movement of the work frame in the Y direction.

[0220] Referring to Figure 18, the first adjusting movable member 323 may include: a first suspension member 3231, one end of which is movably connected to the work frame; the second-stage adjusting mechanism 31 may include: a first mounting part 313, the other end of which is movably passed through the first mounting part 313 to drive the first support member 217 to move upward or downward relative to the main frame 200. The work frame may include three work frame suspension coupling parts: a first work frame suspension coupling part, a second work frame suspension coupling part, and a third work frame suspension coupling part, one end of each of the three suspension members being mounted to the work frame through these three work frame suspension coupling parts respectively.

[0221] Referring to Figure 18, the second-stage adjustment mechanism 31 may include a linkage assembly, which is connected to the main frame 200 via a fixing part, and the linkage assembly can rotate relative to the main frame 200.

[0222] The second-stage adjustment mechanism 31 may further include: a linkage 352, which is installed between the linkage assemblies 351 and is rotatably connected to the linkage assemblies 351, and transmits power between the linkage assemblies 351.

[0223] The second-stage adjustment mechanism 31 may further include: a first connecting rod 353, one end of which is fixedly connected to the connecting rod assembly 351, and the other end of which is movably connected to the first adjusting movable member 323; a second connecting rod 354, one end of which is fixedly connected to the connecting rod assembly 351, and the other end of which is movably connected to the second adjusting movable member 324; and a third connecting rod 355, one end of which is fixedly connected to the connecting rod assembly 351, and the other end of which is movably connected to the third adjusting movable member 325.

[0224] The other end of the first link includes a first mounting portion 313, through which a movable first suspension member 3231 passes. Movement of the first suspension member 3231 drives movement of the first support member 217. This description uses only the first link as an example; the structures of the second, third, and fourth links 359 are the same as the first link. Due to space limitations, further details are omitted here.

[0225] In some embodiments, the first mounting portion 313 is provided with a second limiting connection portion 314, which is used to limit the range of movement of the first suspension member 3231 in the Y direction; the second limiting connection portion 314 is movably connected to the first mounting portion 313. This achieves the limitation of the range of movement of the lawnmower in the Y direction.

[0226] In some embodiments, the second-stage adjustment mechanism 31 may include multiple links such as a fourth link and a fifth link, depending on the type of the second-stage adjustment mechanism 31. Here, only three links are listed to correspond to the three contact points. The second-stage adjustment mechanism 31 may be a four-bar linkage, a six-bar linkage, etc.

[0227] The linkage assembly includes at least two arms. A linkage is mounted between the two arms to transmit power from one arm to the other.

[0228] The fixing part 358 may include a fixing block 3581 and a screw 3582. The arm in the linkage assembly is connected to the main frame 200 via the fixing block and the screw. Specifically, a bushing 3583 is provided on the arm in the linkage assembly. The fixing block 3581 fits against the outer circle of the bushing 3583. The fixing block 3581 is connected to the main frame 200 via bolts or screws, thereby enabling the connecting mechanism 3 to be installed on the main frame 200. The linkage assembly can rotate within the bushing.

[0229] One end of the first link is fixedly connected to the arm in the link assembly.

[0230] As shown in Figure 15, when the support mechanism is on a horizontal plane, the top 3232 of the first suspension member 3231 is higher than the first mounting part 313, that is, the distance from the first mounting part 313 to the suspension connection part of the working frame is less than the length of the first suspension member 3231. Thus, referring to Figure 22, taking the downward movement of the second adjusting member as an example (the local working surface B in the figure is below the horizontal plane), when the lawnmower moves from the horizontal plane to the recessed area below the horizontal plane, the other end of the second adjusting member 324 moves in the second mounting part in a direction away from the main frame 200, thereby moving the working frame in a direction away from the main frame 200, achieving the purpose of the lawnmower cutting the recessed area.

[0231] As shown in Figure 15, in the first height adjustment state, the first height adjustment mechanism drives the first-stage adjustment mechanism 35 and the second-stage height adjustment mechanism to adjust the working mechanism to the low cutting height. At the low cutting height, at least three contact points in the support mechanism abut against the working surface. When the first support member 217 moves from the horizontal plane to a convex bulge above the horizontal plane, the second-stage adjustment mechanism 31 remains stationary relative to the main frame 200, and the first adjusting movable member 323 in the first-stage adjustment mechanism 35 moves towards the main frame 200, driving the working frame to move towards the main frame 200. The second-stage height adjustment mechanism used for electric height adjustment can also be used for height adjustment in the low cutting state to save costs.

[0232] In some embodiments, each of the multiple adjusting movable members has a limit position relative to the main frame 200. Regarding the first-stage adjustment mechanism 35 and the second-stage adjustment mechanism 31, which have multiple adjusting movable members, in response to the first support member 217 driving the first adjusting movable member 323 upward to its limit position, the second-stage adjustment mechanism 31 moves relative to the main frame 200, thereby driving the second adjusting movable member 324 and the third adjusting movable member 325 to move, which in turn drives the second and third support members to move upward relative to the main frame 200, thus achieving coordinated movement among the various support members.

[0233] In response to the first support member 217 driving the first adjusting member 323 to move upward to its limit position, the first adjusting member 323 drives the first connecting rod to rotate, thereby driving the connecting rod assembly to rotate, which in turn drives the second adjusting member and the third adjusting member 325 to move upward. When the first support member 217 drives the first suspension member 3231 to move upward to its limit position and continues to move upward, the upward movement of the first suspension member 3231 drives the first connecting rod to rotate. The first connecting rod drives one arm in the connecting rod assembly to rotate. One arm transmits power to another arm in the connecting rod assembly through a linkage. The other arm transmits power to multiple connecting rods fixedly connected to the connecting rod assembly, thereby driving all connecting rods except the first connecting rod to move upward. In some embodiments, when the second-stage adjustment mechanism 31 is a four-bar linkage, when the first support member 217 moves to the raised ground, the first support member 217 drives the first suspension member 3231 to move upward to the limit position and continue to move upward, driving the second link 354, the third link 355 and the fourth link 359 in the second-stage adjustment mechanism 31 to move upward. Correspondingly, the second support member, the third support member and the fourth support member also move upward. This structure enables one support member to drive multiple support members to move upward.

[0234] In some embodiments, the second-stage adjustment mechanism 31, as shown in Figure 18, may further include a swing arm 356, one end of which is fixedly mounted on the connecting rod assembly 351, and the other end nested with a third limiting connection 357. The third limiting connection 357 limits the rotational limit position of the swing arm 356. The connecting rod assembly 351 drives the swing arm 356 to rotate until it reaches the rotational limit position, thereby driving the second adjusting member 324 and the third adjusting member 325 to move upwards to the corresponding height limit position. When the first support member 217 moves to a raised area, the first connecting rod 353 drives the connecting rod assembly 351 to rotate, thereby driving the swing arm 356 to rotate until it reaches the rotational limit position. This converts the movement of the support member in the height direction into movement of the swing arm in a roughly horizontal direction, thereby reducing the height of the lawnmower and ensuring a compact space for the lawnmower.

[0235] In some embodiments, the third limiting connection 357 may include a protrusion 3571. The other end of the lever 357 is provided with a groove 3561. The connecting rod assembly 351 drives the groove 3561 to slide relative to the protrusion 3571 until the groove 3561 reaches its rotational limit position. The third limiting connection 357 is mounted on the output shaft 11 of the height adjustment motor 1.

[0236] In some implementations, the extension direction of the limiting part is approximately parallel to the travel direction of the lawnmower to ensure a compact lawnmower layout.

[0237] The two-stage height adjustment structure allows the lawnmower to move upwards in stages. First, a single support wheel moves upwards, followed by the other support wheels moving upwards in tandem. This reduces the lawnmower's vertical height, resulting in a more compact structure. Furthermore, when the first support 217 is the front wheel, the blade height can be adjusted in advance before other support components encounter obstacles, ensuring cutting quality.

[0238] As shown in Figure 14, the constraint part 34 can be a structure that limits the range of motion of the suspension adjustment mechanism 33 in the X, Y, or Z directions. The constraint part 34 may include: a tie rod, one end of which is movably connected to the main frame 200 or the housing of the autonomous lawnmower, and the other end of which is spherically connected to the working frame. The movable connection can be via a pin. The spherical connection can be via a bearing. Alternatively, the tie rod may have one end movably or spherically connected to the working frame, and the other end spherically connected to the main frame 200 or the housing of the autonomous lawnmower.

[0239] As shown in Figure 14, there are two tie rods, which are parallel to each other. The two tie rods 341 limit the range of motion of the suspension adjustment mechanism 33, reducing the deflection of the working frame during the movement of the lawnmower.

[0240] The extension direction of the pull rod 341 is approximately parallel to the travel direction of the lawnmower (also referred to as the X direction) to reduce the amplitude of the back-and-forth sway of the work frame when it is connected only through the suspension adjustment mechanism 33. That is, it limits the range of motion of the pull rod in the X direction, thereby limiting the range of motion of the work frame in the X direction. The extension direction of the pull rod may also be parallel to the Y direction, which is not limited in this application.

[0241] As shown in Figures 14 and 21, one end of the pull rod 341 is movably connected to the outer casing of the autonomous lawnmower, and the other end is spherically connected to the working frame 8. The pull rod 341 includes a first limiting connection part 342, mounted on the working frame; the first limiting connection part 342 includes two walls, namely a first wall 343 and a second wall 344, with a space between the two walls. The pull rod is rotatably and / or movable between the two walls via a pin 345. The pull rod can rotate and / or move between the two walls, thereby limiting the range of movement of the pull rod in the Y and X directions.

[0242] In some embodiments, the connecting mechanism 3, composed of multiple mounting parts, multiple suspension parts, and constraint parts 34, can ensure that the permissible range of motion in the X direction is no greater than the smaller of X1 and X2, the permissible range of motion in the Y direction is no greater than the smaller of Y1 and Y2, and the permissible range of motion in the Z direction is no greater than the smaller of Z1 and Z2. This limits the range of motion of the working device 7 to the desired requirements.

[0243] In other embodiments, the connecting mechanism 3, consisting of the first-stage height adjustment mechanism, the first-stage height adjustment mechanism, and the constraint part 34, can ensure that the permissible range of motion along the X direction is no greater than the smaller of X1 and X2, the permissible range of motion along the Y direction is no greater than the smaller of Y1 and Y2, and the permissible range of motion along the Z direction is no greater than the smaller of Z1 and Z2. This limits the range of motion of the working device 7 to the expected requirements.

[0244] Furthermore, the suspension adjustment mechanism 33 has a first range of motion X1, a second range of motion Y1, and a third range of motion Z1 along the X, Y, and Z directions, respectively. The constraint part 34 has a fourth range of motion X2, a fifth range of motion Y2, and a sixth range of motion Z2 along the X, Y, and Z directions, respectively. By providing the constraint part 34 between the working frame and the outer shell of the autonomous lawnmower, the constraint part 34 restricts the movement of the suspension adjustment mechanism 33, allowing the working frame to have a range of motion X2 along the X direction, a range of motion Y1 along the Y direction, and a range of motion Z1 along the Z direction relative to the main frame 200; wherein X1 is greater than X2, Y1 is less than Y2, and Z1 is less than Z2. Of course, other size relationships are also possible, such as Y1 being greater than Y2, in which case the range of motion in the Y direction is Y2.

[0245] In other embodiments, the suspension adjustment mechanism 33 and the constraint part 34 can be configured as an integral structure, that is, the same structure is used to realize both the suspension adjustment function and the constraint function.

[0246] Referring to Figures 1 and 5, this embodiment also uses the four-bar linkage found in other embodiments, but with the difference that there is no tie rod, a first mounting part that connects with each other, and a suspension rod in this embodiment. In this embodiment, a fourth limiting connection part 321 is provided on the first linkage. Three suspension members are located above the support mechanism. One end of the first suspension member 3124 is movably connected to the working frame, and the other end of the first suspension member 3124 is nested with the fourth limiting connection part. The fourth limiting connection part 321 is used to limit the movement limit position of the first suspension member 3124. The first suspension member 3124 moves upward until it reaches the movement limit position, thereby driving the first support member 217 to move upward to the movement limit position.

[0247] Specifically, the fourth limiting connection 321 is a protrusion, such as a pin. The other end of the first suspension member is provided with a groove (referred to as the first limiting hole in other locations in the text). The first suspension member drives the groove to slide relative to the protrusion until the groove reaches its movement limit position. At this point, the first support member 217 moves upward until it reaches its movement limit position. When it reaches its movement limit position, the first support member 217 continues to move upward, which will drive the other support members to move upward together.

[0248] In this embodiment, the first suspension member moves up and down in a groove with a movement limit position, thereby limiting the range of movement in the Z direction. The other end of the first suspension member is nested with the fourth limiting connection part 321, thereby limiting the range of movement in the X and Y directions.

[0249] In some embodiments, when the support mechanism is on a horizontal plane, the distance from the fourth limiting connection 321 to the bottom of the chute is less than the length of the chute, that is, the fourth limiting connection 321 does not reach the top of the chute. Thus, when the lawnmower moves from a horizontal plane to a plane below the horizontal plane, the other end of the first suspension member moves towards the top of the chute, thereby moving the working frame away from the main frame 200, achieving the purpose of the lawnmower cutting the recessed area.

[0250] It is worth noting that the embodiments in this application only use the first support member 217 as an example for illustration. In fact, the structure of all support members in the embodiments of this application is the same as that of the first support member 217, and will not be described again here.

[0251] In some embodiments, as shown in FIG5, the lawnmower may further include a second height adjustment mechanism 5, mounted on the working frame and configured to drive the working mechanism to move in the height direction relative to the main frame 200. The second height adjustment mechanism may be electric or mechanical. The height of the working mechanism can be finely adjusted by the second height adjustment mechanism.

[0252] Referring to Figures 16-17, Figure 17-1 is a left view of the lawnmower, and Figure 17-2 is a right view of the lawnmower. When the lawnmower is in low-cut mode, the first height adjustment mechanism is adjusted to contact the working surface, assuming the working surface is horizontal. During movement, when the first support member 217, the second support member 218, and the third support member 219 encounter convex bulges, the height of the convex bulge encountered by the first support member is higher than that encountered by the second support member, and the height of the convex bulge encountered by the second support member is higher than that encountered by the third support member. That is, the first local working surface A is higher than the second local working surface B, and the second local working surface B is higher than the third local working surface C, and the third local working surface C is higher than the horizontal plane. At this time, the first adjusting movable member 323, the second adjusting movable member 324, and the third adjusting movable member 325 all move upward. The range of motion of the first adjusting movable member 323 is greater than that of the second adjusting movable member 324, and the range of motion of the second adjusting movable member 324 is less than that of the third adjusting movable member 325. As a result, the height of the first working frame mating part 81 relative to the main frame 200 is less than the height of the second working frame mating part 82 relative to the main frame 200, and the height of the second working frame mating part 82 relative to the main frame 200 is less than the height of the third working frame mating part 83 relative to the main frame 200.

[0253] Lawn mowers sometimes miss mowing areas when moving on a work surface. This problem can be solved using the following embodiments, which can exist independently or in combination to obtain a lawn mower capable of solving one or more corresponding technical problems. Furthermore, these embodiments can be combined with structures such as the connecting mechanism 3, suspension adjustment mechanism 33, constraint part 34, first or second height adjustment mechanism, moving wheels, or controller described in this disclosure to solve one or more corresponding technical problems. Due to space limitations, these technical combinations will not be described again in this application.

[0254] The autonomous lawnmower may include: a main frame 200; a moving component 9 that abuts against a working surface to support the main frame 200; and a working device 7, which may include: a working frame connected to the main frame 200; and a support mechanism that abuts against the working surface to support the working frame. The support mechanism may include: multiple support members, each abutting against the working surface to support the working frame. The working mechanism is mounted on the working frame and includes: multiple working parts configured to perform lawnmowing tasks. These structures are similar to those in the aforementioned embodiments and will not be described further here.

[0255] Referring to Figure 3, the multiple support components may include: a front support assembly 22, which is mounted on the front of the autonomous lawnmower.

[0256] Referring to Figure 3, the multiple working components include: a first working component, which is the working component whose distance from the front support assembly 22 is less than or equal to a preset support threshold along the travel direction of the autonomous lawnmower. That is, the working component closest to the front support assembly 22.

[0257] Along the direction of travel, the distance between the front support assembly 22 and the first working piece is greater than or equal to the vertical distance from the first working piece to the working surface. The vertical distance from the first working piece to the working surface can be the vertical distance from the lowest point of the working element in the first working piece to the working surface. The first working piece includes a working element, such as a blade. That is, the distance between the front wheel and the working piece in the X direction is greater than or equal to the height of the first working piece. This arrangement ensures that even if grass is trampled by the front wheel, it can bounce back and be cut by the blade, guaranteeing cutting quality.

[0258] There is no overlap between the projection of the front support assembly 22 onto the first plane and the projection of the first working piece onto the first plane; wherein the first plane is perpendicular to the direction of travel. This configuration prevents the front wheels from running over the grass to be cut, reducing missed cuts and ensuring cutting quality.

[0259] Referring to Figure 3, the front support assembly 22 includes a front support member 211 and a side support member 212. Along the travel direction, the side support member 212 is disposed behind the front support member 211. The distance between the side support member 212 and the longitudinal centerline of the moving assembly 9 is greater than the distance between the front support member 212 and the longitudinal centerline.

[0260] Referring to Figure 3, the distance between the front support member 211 and the nearest working part is greater than or equal to the vertical distance from the nearest working part to the working surface. Among them, the first working part closest to the front support member 211 is the working part 411.

[0261] Referring to Figure 3, the distance between the side support 212 and the nearest working piece is greater than or equal to the vertical distance from the nearest working piece to the working surface. The first working piece closest to the side support 212 is working piece 413 or 412.

[0262] In some embodiments, the vertical distance from the bottom edge of the front support 211 to the working surface is greater than the vertical distance from the bottom edge of the side support 212 to the working surface. This reduces the probability of the front support 211 crushing grass. For specific implementation details, please refer to other embodiments.

[0263] In some embodiments, the distance between the front support assembly 22 and the first working member ranges from 30mm to 300mm, or 50mm to 200mm, or 100mm to 150mm. That is, the distance between the front support member 211 and the first working member ranges from 30mm to 300mm, or 50mm to 200mm, or 100mm to 150mm. The distance between the side support member 212 and the first working member ranges from 30mm to 300mm, or 50mm to 200mm, or 100mm to 150mm.

[0264] Preferably, the distance between the front support assembly 22 and the first working piece is 38mm or 130mm.

[0265] In some embodiments, the vertical distance from the first workpiece to the work surface ranges from 10mm to 25mm.

[0266] Autonomous lawnmowers often suffer from poor grass-scattering when moving on a work surface. This problem can be solved by the following embodiments, which can exist independently or in combination to obtain a lawnmower that solves one or more corresponding technical problems. Furthermore, these embodiments can be combined with the connecting mechanism 3, suspension adjustment mechanism 33, constraint part 34, first or second height adjustment mechanism, moving wheels, or controller, etc., as described in this disclosure, to solve one or more corresponding technical problems. Due to space limitations, these technical combinations will not be described again in this application.

[0267] The distance between the edge of the first working piece and the front support assembly 22 is greater than or equal to 20 mm. The first working piece is defined as the working piece among multiple working pieces along the direction of travel of the autonomous lawnmower, whose distance from the front support assembly 22 is less than or equal to a preset support threshold. In other words, it is the working piece closest to the front support assembly 22. The blade disc is further away from the support wheel to reduce grass accumulation near the support wheel and improve grass dispersion.

[0268] In some embodiments, the distance between the edge of the first working piece and the front support assembly 22 is greater than or equal to 50 mm.

[0269] In some embodiments, the edge of the first working piece does not extend beyond the outer contour of the autonomous lawnmower.

[0270] In some embodiments, the area formed by the projections of multiple workpieces onto a horizontal plane is defined as the overall cutter head area, and the overall cutter head area has an overall cutter head center. A first preset area is defined as the area on the horizontal plane whose radial distance from the overall cutter head center is greater than the radius of the workpiece. A second preset area is defined as the area obtained by removing the overall cutter head area from the first preset area. The ratio of the area of ​​the projections of the multiple workpieces onto the horizontal plane to the area of ​​the second preset area is less than or equal to 50%.

[0271] In some embodiments, the area formed by the projections of multiple workpieces onto a horizontal plane is defined as the overall cutter head area, which has an overall cutter head center. A first preset area is defined as the area on the horizontal plane whose radial distance from the overall cutter head center is greater than the radius of the workpiece. A second preset area is defined as the area obtained by removing the overall cutter head area from the first preset area. The ratio of the area of ​​the projections of the multiple workpieces onto the horizontal plane to the area of ​​the second preset area is less than or equal to 30%. That is, multiple circular areas are defined with the centers of the multiple cutter heads as the centers of circles and radii greater than the corresponding cutter head radii. In the multiple circular areas, after removing the area occupied by the corresponding cutter head body, the area occupied by the support wheel in the remaining area is less than 50% or 30%. This configuration reduces the accumulation of grass cut by the workpieces at the wheel.

[0272] In some embodiments, the distance between any two supports along the X direction is not less than the diameter of the first working piece, or twice the diameter of the first working piece; wherein the X direction is parallel to the first plane and perpendicular to the direction of travel. This horizontal distance between the two wheels is set in this way to reduce the accumulation of grass cut by the working piece at the wheels.

[0273] In some embodiments, a circumference is formed with the projection of the rotation axis of the first working piece onto the horizontal plane as the center and any distance greater than the radius of the first working piece as the radius; when the circumference intersects with the projection of the support member onto the horizontal plane, the length of the arc segment formed by the intersection is not greater than 300 mm, or, not greater than 150 mm. A circumference is formed with the center of a single cutter head as the center and a predetermined radius, and on this circumference, the arc length of the circumferential arc segment intersecting with the support wheel is less than or equal to 300 mm, preferably less than or equal to 150 mm.

[0274] Autonomous lawnmowers often suffer from poor follow-up between the support wheels and the working parts when moving on a work surface. This problem can be solved by the following embodiments, which can exist independently or in combination to obtain a lawnmower capable of solving one or more corresponding technical problems. Furthermore, these embodiments can be combined with the connecting mechanism 3, suspension adjustment mechanism 33, constraint part 34, first or second height adjustment mechanism, moving wheels, or controller, etc., as described in this disclosure, to solve one or more corresponding technical problems. Due to space limitations, these technical combinations will not be described again in this application.

[0275] In some embodiments, the distance between any two supports along the X-direction is less than or equal to three times the diameter of the first working part, wherein the X-direction is parallel to the first plane and perpendicular to the travel direction. That is, reducing the distance between any two supports in the travel direction improves the responsiveness between the support wheel and the working part, so that when the support wheel changes position, the working part can change position accordingly, ensuring the ground contact effect of the support wheel.

[0276] In some embodiments, the distance between any two supports in the X direction is less than or equal to 5 times the diameter of the first working part, ensuring that the support wheel is in close contact with the ground.

[0277] In some embodiments, the distance between any two supports in the traveling direction is greater than or equal to three times the diameter of the first working piece, ensuring that the support wheel is ground-hugging.

[0278] In some embodiments, the distance between any two supports in the traveling direction is greater than or equal to 5 times the diameter of the first working piece, ensuring that the support wheel is ground-hugging.

[0279] In some embodiments, a circle is formed with the projection of the rotation axis of the first working part onto the horizontal plane as the center and any distance greater than the radius of the first working part as the radius; when the circle intersects with the projection of the support member onto the horizontal plane, the angular interval formed by the line connecting the intersection point of adjacent support members and the center of the circle is no greater than 180°, 120°, or 90°. That is, with a single cutter head as the center, there must be a wheel within every 180 / 120 / 90 degree range to ensure the ground-hugging effect of the support wheel.

[0280] In some embodiments, the diameter of each of the plurality of supports is greater than or equal to 79 mm and less than or equal to 101 mm. The width of each of the plurality of supports is greater than 30 mm.

[0281] Autonomous lawnmowers often suffer from poor grass-pressing effect due to the support wheels when moving on a working surface. This problem can be solved by the following embodiments, which can exist independently or in combination to obtain a lawnmower that solves one or more corresponding technical problems. Furthermore, these embodiments can be combined with the connecting mechanism, suspension adjustment mechanism 33, constraint part 34, first height adjustment mechanism or second height adjustment mechanism, moving wheels or controller, etc., as described in this disclosure to solve one or more corresponding technical problems. Due to space limitations, these technical combinations will not be described again in this application.

[0282] In some embodiments, the moving assembly 9 includes a plurality of moving parts, including a first moving part and a second moving part located on the left or right side of the autonomous lawnmower. The first moving part is mounted in front of the second moving part along the direction of travel. A side support 212 is located between the first and second moving parts, and the side support 212 and the first moving part 92 are arranged along the direction of travel such that the side support 212 is located in the extension direction of the travel trajectory of the first moving part. That is, the side support wheel is within the range of the drive wheel to increase the grass compaction marks left by the drive wheel.

[0283] In some embodiments, the support mechanism further includes a third support member 219 located behind the plurality of working parts, the third support member being a support roller 213. The cutter head cuts the lawn, and subsequently, the support roller 213 flattens and smooths the cut area. This structural arrangement not only helps ensure the consistency of the mowing height but also improves the smoothness of the lawn surface, thereby simultaneously enhancing both the cutting and pressing effects.

[0284] In some embodiments, the ratio of the pressure per unit area in the support roller to the pressure per unit area in the moving assembly 9 can be in the range of 0.9 to 1.5, preferably in the range of 0.9 to 1.2.

[0285] In a more preferred embodiment, the ratio is close to 1:1, meaning that the pressure of the support roller and the moving component 9 relative to the ground is essentially the same.

[0286] By controlling the difference in ground pressure between the two, ensuring that the deviation does not exceed approximately 20%, and in some cases not more than 50%, it is possible to avoid the problem of excessive rolling or insufficient compaction of the lawn by the support roller while ensuring stable movement of the equipment.

[0287] In some embodiments, the distance between the front support member 211 and the longitudinal centerline of the moving assembly 9 is less than or equal to half the length of the support roller. Where the front support member 211 has pressed, the support roller will press again, increasing the straw-pressing marks.

[0288] In some embodiments, the projection of the autonomous lawnmower's center of gravity onto the horizontal plane lies between the overall center of the cutter head and the projection of the support roller onto the horizontal plane. The area formed by the projections of multiple working parts onto the horizontal plane is defined as the overall cutter head area, which has an overall cutter head center. The support roller is located behind the working mechanism. By arranging the machine's center of gravity within this range, the lawnmower can maintain better force balance during cutting and pressing, reducing the impact of uneven load distribution on the front and rear of the cutter head on operational stability.

[0289] In some embodiments, the projection of the moving component 9 onto the first plane has an inner end close to the longitudinal central axis of the moving component 9, and the projection of the support roller onto the first plane is tangent to the inner end; wherein the roller projection and the inner end are located on the same side of the autonomous lawnmower, the same side including the left or right side. Through the above arrangement, the inner ends of the support roller and the front and rear moving wheels are tangent, forming continuous, gap-free, and non-overlapping grass-pressing marks without increasing the width of the machine body.

[0290] The autonomous lawnmower may include: a main frame 200; a moving assembly 9, which includes at least three moving parts that abut against a working surface to support the main frame 200; and a working device 7, which includes: a working frame connected to the main frame 200; a working mechanism mounted on the working frame, which includes: at least one working part configured to perform a working task; and a support mechanism including at least three support members mounted at different positions on the working frame, the at least three support members abutting against the working surface to support the working frame via the working surface.

[0291] Referring to Figures 5 or 14, the autonomous lawnmower may further include a second height adjustment mechanism 5. This second height adjustment mechanism 5 provides an adjustable mechanical connection between the support member and the working frame. The second height adjustment mechanism is configured to move the support member relative to the working frame in a direction perpendicular to the working surface, thereby increasing or decreasing the ground clearance of the working component. By providing a second height adjustment mechanism between the support member and the working frame, the ground clearance of the working component can be finely adjusted without changing the overall height adjustment state, thus improving the adjustability and consistency of the mowing height.

[0292] In some embodiments, the second height adjustment mechanism 5 is configured to: continuously adjust the position of the support member relative to the work frame in a direction perpendicular to the working surface, and fix the support member in any adjustable position, so as to achieve stepless height adjustment of the support member within a preset height range. Through the above configuration, the height of the support member can be finely adjusted without relying on discrete gears to meet the precise requirements for mowing height under different operating conditions.

[0293] Referring to Figure 5, the second height adjustment mechanism 5 may include: a fixed base 531 and a sliding member 52. One of the support member and the working frame is fixedly connected to the fixed base, and the other is connected to the sliding member. The sliding member 52 is slidably mounted on the fixed base 531. By driving the sliding member 52 to move relative to the fixed base 531 in the height direction, the distance between the support member and the working frame can be adjusted. For specific details, please refer to embodiments in other locations.

[0294] Referring to Figure 13, the second height adjustment mechanism may include an operating component 51, mounted on the work frame, with the operating component 51 exposed to the outside environment for user operation. The user operates the operating component to drive the sliding component to move in the height direction relative to the fixed base. By placing the operating component in an easily accessible position, the user can quickly and intuitively fine-tune the height of the support component without disassembling the protective structure.

[0295] Referring to Figure 13, a side protective member is connected to the main frame 200 and is disposed on the side of at least one working part and the internal protective mechanism to establish protection on the side of at least one working part; the protective member includes: a second opening, the distance between the second opening and the operating part is less than a preset distance threshold; the operating part is exposed to the outside through the second opening so that the user can operate the operating part through the second opening.

[0296] Rotary mowers are bulky and have poor maneuverability. Therefore, the size of the mower can be reduced by placing a protective cover over the working frame and at least one working component. Of course, as described below, other embodiments can be further combined to solve other problems. These embodiments can exist independently or in combination to achieve one or more technical effects. Furthermore, these embodiments can be combined with the support arrangement, connecting mechanism, constraint part, first or second height adjustment mechanism, moving wheels, or controller structures disclosed in this disclosure to achieve one or more technical effects. Due to space limitations, these technical combinations will not be described again in this application.

[0297] An autonomous lawnmower may include: a main frame; a moving assembly 9, the moving assembly 9 including at least three moving parts that abut against a working surface to support the main frame; and a working device connected to the main frame; the working device including: a working frame connected to the main frame; a working mechanism mounted on the working frame, the working mechanism including: at least one working part configured to perform a working task; and a support mechanism including a plurality of support members respectively mounted at different positions on the working frame and abutting against the working surface to support the working frame via the working surface.

[0298] As shown in Figure 13, the autonomous lawnmower may further include a protective mechanism 42, mounted on the main frame, which covers the working frame and at least one working component. By covering the working frame and at least one working component with the protective mechanism, the size of the lawnmower is reduced, and its mobility in various scenarios is improved.

[0299] In some embodiments, a protective mechanism may be provided on the lateral exterior of the work frame and at least one workpiece to provide protection on the side of the autonomous lawnmower. That is, a protective mechanism is provided on the side of the lawnmower so that when the user puts their hands or feet into the area where the workpiece (or blade) is located, they will not come into contact with the rotating blade.

[0300] In some embodiments, the working device of the autonomous lawnmower may further include an internal protective mechanism 6, which is mounted on the working frame and covers at least one working component. Further, the projection of the internal protective mechanism onto the working surface overlaps the projection of the working component onto the working surface. The projection of the internal protective mechanism onto the working surface also overlaps the projection of at least one working component. That is, the internal protective mechanism is a cover-like member extending along the front-rear and lateral directions of the working frame to cover all blades. When viewed perpendicular to the working surface, the projections of all working components are within the projection range of the internal protective mechanism. Providing the internal protective mechanism above the working components prevents grass clippings ejected from the blades from entering the working frame or main frame.

[0301] In some embodiments, in a direction perpendicular to the working surface, the lowest point of the inner protective mechanism is higher than the highest point of the working element in at least one working piece. The lowest point of the shroud member is higher than the highest point of the blade, which ensures that the grass cut by the blade can be smoothly discharged and avoids accumulation.

[0302] In some embodiments, the protective mechanism 42 may include: a side guard 421, connected to the main frame and disposed on the side of at least one working piece and the internal protective mechanism, to establish protection on the side of at least one working piece; the side guard 421 and the internal protective mechanism 6 cooperate to form a continuous protective space circumferentially and above the at least one working piece, thereby preventing foreign objects from contacting the at least one working piece circumferentially and above. With the side guard and the internal protective mechanism, when a user puts their hand or foot into the area where the working piece (or blade) is located, they will not come into contact with the rotating blade. The internal protective mechanism may be a protective cover.

[0303] In some embodiments, the protective mechanism 42 may include: a side guard 421, connected to the main frame and disposed on the side of at least one workpiece and the internal protective mechanism, to establish protection on the side of at least one workpiece; the side guard 421 and the internal protective mechanism 6 cooperate to form a continuous protective space in the circumferential and vertical directions of the workpiece, thereby preventing foreign objects from contacting the workpiece from any direction. The side guard and the internal protective mechanism ensure that the user's hands and feet cannot contact the blade.

[0304] In some embodiments, the side guards are detachably connected to the main frame to facilitate transport of the lawnmower.

[0305] In some embodiments, the distance between the outer contour of the side guard and the outer contour of the internal protective mechanism along the X direction is greater than or equal to 180 mm; wherein, the X direction is parallel to a first plane, and the first plane is perpendicular to the travel direction of the autonomous lawnmower. The distance between the side guard and the internal protective mechanism is greater than the user's arm length, ensuring that the user's hands and feet cannot contact the blades. The internal protective mechanism can cover all blades, and when the distance between the side guard and the internal protective mechanism is greater than the user's arm length, the user's hands and feet cannot contact the blades, ensuring the user's safety during lawnmower operation.

[0306] In some embodiments, the vertical distance from any position in the first portion of the side guard to the working surface is less than or equal to 75 mm; wherein the first portion includes a portion of the side guard that is lower than the inner protective mechanism in a direction perpendicular to the working surface. The height of the portion of the side guard that is lower than the inner protective mechanism is less than or equal to the arm diameter, so that the user's hands and feet cannot contact the blade, ensuring the user's safety during lawnmower operation.

[0307] Furthermore, the lateral distance between the side guards and the internal guard mechanism is greater than or equal to 180mm, so that the user's hands and feet cannot come into contact with the blade.

[0308] Furthermore, the vertical distance from the lowest point of the first part of the side guard to the working surface is less than or equal to 75mm. The first part is the portion of the side guard located below the internal protective mechanism, thereby ensuring that the user's hands and feet cannot come into contact with the blade.

[0309] Preferably, the distance from the lowest point of the side guard to the ground is 68mm or 69mm.

[0310] In some embodiments, the protective mechanism 42 may further include a frame structure 422, through which side guards are mounted to the main frame. The side guards, frame structure, and internal protective mechanism cooperate to form a continuous protective space around and above at least one working component, thereby preventing foreign objects from contacting at least one working component. The side guards are connected to the main frame via the frame structure. The open frame structure can reduce the weight of the lawnmower and allow grass to be smoothly discharged, preventing accumulation.

[0311] In some embodiments, the side guard includes: a plurality of first openings; the distance between any two positions of each of the plurality of first openings 423 is less than or equal to 75 mm; wherein the distance between the plurality of first openings and the working surface is lower than the distance between the inner guard mechanism and the working surface. The maximum distance between the points at each position in the openings lower than the inner guard mechanism is less than or equal to 75 mm, so that even if the user's hands and feet are inserted into the first openings, they cannot contact the blade, ensuring the user's safety.

[0312] In some embodiments, the second height adjustment mechanism includes an operating element, which a user can operate to adjust the height of the support member. The side guard includes a second opening 424, the distance between the second opening and the operating element being less than a preset distance threshold; the operating element is exposed to the outside through the second opening so that the user can operate the operating element through the second opening. The operating element may be a knob. The user operates the knob through the second opening in the side guard to adjust the height of the support member.

[0313] In some embodiments, the operating element is mounted below the second opening to reduce the height of the lawnmower.

[0314] Furthermore, the opening formed by the side guard structure and the frame structure has a dimension of less than or equal to 75mm in the direction perpendicular to the working surface; wherein, in the direction perpendicular to the working surface, the lowest point of the opening is lower than the lowest point of the internal guard mechanism. This prevents the user's hands and feet from contacting the blade.

[0315] In some embodiments, the autonomous lawnmower may further include: a second height adjustment mechanism, which can drive a support member to move relative to the working frame in a direction perpendicular to the working surface; the second height adjustment mechanism includes: an operating member 51, mounted on the working frame, capable of triggering the second height adjustment mechanism to drive the support member to move relative to the working frame in a direction perpendicular to the working surface; the operating member 51 is exposed to the outside through an opening formed by the side protection structure and the frame structure, so that the user can operate the operating member through the opening to move the support member relative to the working frame in a direction perpendicular to the working surface. The operating member is a knob, and the user can adjust the height of the working frame by rotating the knob. The connection mechanism between the side protection member and the main frame is set as a frame structure, which allows the user to easily reach their hand into the opening of the frame structure to access the knob.

[0316] In some embodiments, the operating element may be positioned below the frame structure. This reduces the risk of accidental touch or collision by the user with the operating element.

[0317] In some embodiments, the connection mechanism between the side guard and the main frame adopts a frame structure, and the hollow frame structure can reduce the weight of the lawnmower.

[0318] In some embodiments, the working frame supporting the working mechanism is a frame structure, and the hollow frame structure can reduce the weight of the lawnmower.

[0319] In some embodiments, the internal protective mechanism is a lightweight structure. In some embodiments, the internal protective mechanism is made of plastic. In some embodiments, the weight of the internal protective mechanism is less than a preset weight threshold. This reduces the weight of the lawnmower.

[0320] In any of the above embodiments, a stable ground-hugging effect can be achieved in the following ways. The following embodiments can exist independently or in combination to achieve one or more technical effects. Furthermore, these embodiments can also be combined with the support member arrangement, connecting mechanism, constraint part, first height adjustment mechanism or second height adjustment mechanism, moving wheel or controller, etc., structures disclosed in this disclosure to achieve one or more technical effects. Due to space limitations, this application will not repeat the description of these technical combinations.

[0321] In some embodiments, the work frame includes three work frame mating parts, which are disposed at different positions on the work frame and are not aligned in a straight line; wherein the three work frame mating parts include a first work frame mating part, a second work frame mating part, and a third work frame mating part; the support mechanism includes at least three contact points, which abut against the working surface; the three contact points include a first contact point, a second contact point, and a third contact point; wherein the first contact point is mounted via the first work frame mating part. The second contact point is mounted on the work frame via a second work frame mating part, and the third contact point is mounted on the work frame via a third work frame mating part. The working device also includes a connecting mechanism disposed between the work frame and the main frame. When the three contact points abut against the working surface, the supporting force from the working surface is transmitted to the connecting mechanism via the three contact points and the work frame. In response to the supporting force from the working surface, the connecting mechanism moves to allow the three work frame mating parts corresponding to the three contact points to move relative to the main frame, thereby causing the work frame to move relative to the main frame.

[0322] In some embodiments, when at least two of the following partial working surfaces—the first partial working surface abutting the first contact point, the second partial working surface abutting the second contact point, and the third partial working surface abutting the third contact point—are at different heights relative to the same horizontal plane, the connecting mechanism moves in response to the supporting force generated by the height change of the working surfaces, allowing the three working frame mating parts to move relative to the main frame, such that: when the first partial working surface is higher than the second partial working surface, the height of the first working frame mating part relative to the main frame is less than the height of the second working frame mating part relative to the main frame.

[0323] As shown in Figure 1, the autonomous lawnmower may include: a main frame 200, and a working device 7 connected to the main frame.

[0324] The working device 7 may include: a working frame 8, which is connected to the main frame 200.

[0325] The working device may include: a working mechanism 4, mounted on a work frame 8, the working mechanism including: at least one working piece 41, the working piece being configured to perform a working task. The working piece may be a cutter head carrying blades, wherein the blades are arranged circumferentially along the cutter head.

[0326] The working device may include a support mechanism 2, which includes at least three support members 21, each of which is mounted at a different position on the working frame. The support members may be support wheels.

[0327] The working device 7 may include a connecting mechanism 3, which includes at least three connecting members 32 (also referred to as adjusting movable members in other locations in this application), each connecting member 32 being installed at a different location on the working frame 8.

[0328] A working device 7 is mounted on the main frame 200. The working device 7 includes a working frame 8, a working mechanism 4, a support mechanism 2, and a connecting mechanism 3. The support member 21 abuts against the working surface G to support the working frame 8. The abutment between the support member and the working surface generates a supporting force. At least one connecting member independently or collaboratively changes its position or orientation under the action of the supporting force at its corresponding position, thereby driving the working frame to change its position or orientation.

[0329] As shown in Figure 7, the main frame 200 and the four-bar linkage are connected by bushings and bushing seats. The bushings and bushing seats can be connected by pins or screws, and the four-bar linkage can rotate relative to the main frame. Of course, other methods can also be used to connect the main frame 200 and the working frame 8, as long as the four-bar linkage can rotate relative to the main frame.

[0330] The lawnmower's working mechanism is supported on the working surface by at least three support members. Connectors are located near each support member, allowing for rapid feedback of movement from the support members to the connectors. All three components of the working device are connected to the main frame via a working frame. Preferably, the support members are wheel-shaped.

[0331] When the lawnmower's support components abut against the working surface to support the frame, the contact between the support components and the working surface generates a supporting force. At least one connecting component, under the action of the supporting force at its corresponding position, independently or collaboratively changes its position or orientation, thereby causing the working frame to change its position or orientation. The contact between the support components and the working surface can be due to the user lowering the height of the working mechanism, or it can be due to encountering a protrusion, etc.

[0332] When the lawnmower is adjusted to low cutting mode, the support component abuts against the working surface. Under the support force, the connecting parts near the support component change position or orientation, causing the working mechanism to move upwards relative to the main frame to adjust the working height. This allows the working mechanism to cut the surface to the user's desired height. This process is similar to encountering a protrusion. Similarly, when the lawnmower moves from a horizontal surface to a depression, the connecting parts near the support component change position or orientation downwards, causing the working frame to move downwards relative to the main frame to adjust the working height. Therefore, while maintaining a low cutting height, the working mechanism can flexibly and automatically adjust the working height according to the terrain's unevenness, ensuring stable mowing results and reducing the risk of damage to the lawnmower.

[0333] Furthermore, for the working mechanism composed of multiple working parts, a connecting mechanism and a support mechanism are set up as a whole, and these are installed separately on the working frame. Then, the resulting working device is installed on the main frame. Compared with configuring a support mechanism and a connecting mechanism separately for each working part, the overall solution adopted in this application simplifies the design, makes the machine structure more compact, and improves the stability of the system.

[0334] Furthermore, this lawnmower is equipped with multiple independently movable support components and connectors. The support components are located near the connectors and working parts to ensure that adjacent working parts can operate in the appropriate positions. When the support component contacts the ground, the nearby connector adjusts its position or posture, thereby causing the adjacent working parts to adapt synchronously to changes in terrain. In this way, each working part can independently and adaptively adjust its cutting height according to changes in terrain, ensuring uniform operation. Compared to using a single standard to adjust the working height of all working parts, the lawnmower in this application adjusts the height of the blades near the depressions or protrusions when moving to uneven surfaces, while the other blades maintain their original cutting height. This ensures the consistency of the overall trimming height of the lawn in both uneven and non-uneven areas, precisely meeting user needs and resulting in a more aesthetically pleasing lawn.

[0335] For example, when the lawnmower moves from a horizontal surface to a raised area, one or more support members abut against the raised area, generating a supporting force. One or more connecting members near the support members change position or orientation under the influence of this supporting force. The support members can then contact the raised area, causing some working parts to move upwards relative to the main frame, thereby adjusting the working height of those parts. This allows some working parts to cut the raised surface to the desired height. Conversely, when the lawnmower moves from a horizontal surface to a recessed area, one support member moves downwards to contact the recessed area. One or more connecting members at that location change position or orientation downwards under the influence of the supporting force, causing the working frame to move downwards relative to the main frame, thus adjusting the working height of some working parts. Therefore, each working part, while maintaining a low cutting height, adaptively and automatically adjusts its working height according to the terrain's contours, ensuring stable mowing results and reducing the risk of damage to the lawnmower. The internal protective mechanism connected to the working mechanism in the lawnmower moves and / or rotates in at least two of the following directions relative to the horizontal surface: vertical, forward and backward, left and right, lateral tilt, longitudinal tilt, and horizontal rotation, so that the blade disc fits the terrain better and achieves better cutting results.

[0336] In some embodiments, the number of connectors (referred to as adjusting movable parts in some embodiments) is at least three, each connector being installed at a different position on the working frame. The number of connectors can also be four, respectively arranged around the perimeter of the working frame; wherein, when the controller controls all support wheels to leave the working surface, the connectors are approximately parallel to each other. The number of connectors can also be greater, and this application does not limit this. When the number of connectors is greater, the movement of the working parts is more consistent with the terrain, but correspondingly, the structure of the lawnmower will be more complex.

[0337] Furthermore, the connector is equipped with a height adjustment component 3128, which is used to adjust the height of the working parts. When the lawnmower is on a horizontal working plane, the user can measure the height difference between the lowest point of the outer casing and the ground at different positions, or the height difference between the highest point of the main frame and the ground support. When the height differences are inconsistent, the height adjustment component 3128 at the corresponding position is adjusted to ensure the consistency of the height of all working parts of the lawnmower in the working state.

[0338] The position adjustment of the working mechanism can be either user-operated mechanical or electric. The first height adjustment mechanism, under the control of the controller, drives the working frame to move in the height direction relative to the main frame; the second height adjustment mechanism, mounted on the working frame, is configured to drive the working mechanism to move in the height direction relative to the main frame or the working frame.

[0339] In some embodiments, taking an electric height adjustment motor as an example, the lawnmower adjusts the position of the working frame on the main frame via the first height adjustment mechanism (i.e., the height adjustment motor). The first height adjustment mechanism is mounted on the main frame or the working frame and is connected to the connecting mechanism.

[0340] As shown in Figure 1, when the lawnmower is in the first height adjustment state (low-cut mode) on a horizontal working surface, the first height adjustment mechanism adjusts the working mechanism to its lowest height via the connecting mechanism. The support mechanism abuts against the working surface, and the connecting parts near the support change position or posture under the action of the supporting force, thereby driving the working frame to change position or posture. The adjusted height is the low-cut height (second working height). As shown in Figure 2, when the lawnmower is in the second height adjustment state (high-cut mode) on a horizontal surface, the first height adjustment mechanism adjusts the height of the working mechanism upward via the connecting mechanism. The adjusted height is the high-cut height (third working height).

[0341] In some embodiments, as shown in FIG5, the lawnmower may further include: a second height adjustment mechanism 5, mounted on the working frame, configured to drive the working mechanism to move in the height direction relative to the main frame or the working frame. The second height adjustment mechanism may be electric or mechanical. The second height adjustment mechanism has a maximum and a minimum value when adjusting the height of the working mechanism.

[0342] Alternatively, the second height adjustment mechanism 5 can drive the support member to move relative to the work frame in a direction perpendicular to the work surface to adjust the height of the workpiece above the ground.

[0343] Alternatively, in the direction perpendicular to the working surface, that is, in the height direction, the second height adjustment mechanism 5 can continuously adjust the position of the workpiece relative to the work frame and fix the workpiece in any adjustable position to achieve stepless height adjustment of the workpiece within a preset height range. In other words, the height of the workpiece can be continuously adjusted through the second height adjustment mechanism 5.

[0344] Preferably, the second height adjustment mechanism is configured to mechanically adjust the relative distance between the support member and the working frame. The second height adjustment mechanism can be a knob that moves a nut along a screw to achieve continuous height adjustment; alternatively, it can be a height adjustment method such as gear or lever transmission.

[0345] Optionally, as described in the embodiments below, the height is adjusted by keeping the blade position on the motor shaft constant and adjusting the height difference between the support wheel and the work frame. Of course, the height can also be adjusted by adjusting the cutter head position or other methods, and this application does not limit this.

[0346] In some embodiments, as shown in FIG. 5, the second height adjustment mechanism 5 includes: a fixed component 53, fixedly connected to one of the support mechanism and the work frame; and a movable component 52, connected to the other of the support mechanism and the work frame. The height difference between the support mechanism and the work frame is adjusted by moving the movable component relative to the fixed component in the height direction. In some embodiments, as shown in FIG. 5, the second height adjustment mechanism 5 includes: a fixed base 531 and a sliding member 521. One of the support member and the work frame is fixedly connected to the fixed base, and the other is connected to the sliding member. The sliding member is slidably mounted on the fixed base. The distance between the support member and the work frame is adjusted by driving the sliding member to move relative to the fixed base in the height direction. That is, the height difference between the support member and the work frame is adjusted by manually moving the sliding member relative to the fixed base.

[0347] Furthermore, the fixed base 531 includes a guide rail, the sliding member includes a slide groove, one of the support member and the internal protective mechanism is connected to the guide rail, and the other is connected to the slide groove. The slide groove slides in the guide rail through the cooperation of bolts to adjust the height difference between the support mechanism and the working frame.

[0348] When the lawnmower is in the first height adjustment state, the height of the working mechanism relative to the main frame can be adjusted once through the first height adjustment mechanism 1, and the working mechanism is at the initial low cutting height after adjustment. At this time, the user can measure the height of each working part. If the height does not meet the user's needs, the height of the working mechanism relative to the working frame can be precisely adjusted a second time through the second height adjustment mechanism 5. After adjustment, the height of the working mechanism is the precise height required by the user, which is the precise second working height.

[0349] In some embodiments, the difference between the position adjustment value of the working frame relative to the main frame in the second height adjustment state and the first height adjustment state is greater than or equal to the maximum difference in the height adjustment value of the working mechanism by the second height adjustment mechanism. That is, when switching between high and low cutting modes, the difference in the vertical adjustment amount of the working frame relative to the main frame is greater than or equal to the difference between the maximum and minimum values ​​when the working mechanism is height adjusted by the second height adjustment mechanism (i.e., the maximum difference in height adjustment values). Thus, in low cutting mode, the support member is always in contact with the ground, ensuring that the working part will not be collided when the working surface is cut to a working height that meets the user's needs. Moreover, in high cutting mode, the support member is not in contact with the ground and is off the ground, thereby reducing or mitigating the indentation of the lawnmower on the ground.

[0350] In some embodiments, the position adjustment value of the connecting mechanism in the first height adjustment state is not less than the maximum value of the difference between the adjustment values ​​of the second height adjustment mechanism and the working mechanism. That is, in the low-cutting mode, when the lawnmower is between the horizontal working plane (connector in contact with support) and the support suspended (connector not in contact), the position adjustment value of the connecting mechanism is greater than or equal to the difference between the maximum and minimum values ​​when the working mechanism is height adjusted by the second height adjustment mechanism (i.e., the maximum difference in height adjustment values). Thus, in the low-cutting mode, the support is always in contact with the ground, ensuring that the working part will not be collided with when the working surface is cut to a working height that meets the user's requirements.

[0351] In some embodiments, the lawnmower is connected to the suspension adjustment mechanism via a first height adjustment mechanism. Both the connecting mechanism and the working mechanism are connected to the working frame, thereby the first height adjustment mechanism drives the connecting mechanism and the working mechanism to move. When the support mechanism comes into contact with the ground, the supporting force generated by the contact will cause the connecting member in the connecting mechanism to change its position or posture, thereby causing the working frame to change its position or posture.

[0352] As shown in Figure 1, the connecting mechanism 3 may further include a transmission member 31, which is movably connected to the connecting member 32. At least one connecting member is configured to drive the transmission member to change position or orientation under the action of a supporting force, thereby causing other connecting members to change position or orientation. The supporting member is in contact with the ground, and the connecting members near the supporting member adjust their position or orientation. After the position or orientation adjustment value of the connecting member reaches its adjustment limit, if the supporting member continues to provide upward pressure to the connecting member, the transmission member connected to the connecting member drives the working frame to continue moving upward in the height direction relative to the main frame; or drives the supporting mechanism to continue moving upward in the height direction relative to the main frame; or drives the working mechanism to continue moving upward in the height direction relative to the main frame; or drives all connecting members to continue moving upward in the height direction relative to the main frame. When the lawnmower encounters a tall obstacle with a complex shape (below the height of the machine body), if the original method of only raising part of the blades is still used, it may cause the unraised blades to hit the obstacle. Therefore, by using a transmission assembly to simultaneously raise all blades, the lawnmower can safely cross the obstacle.

[0353] As shown in Figure 1, the transmission component 31 (referred to as the second-stage adjustment mechanism 31 in other locations in this application) may include a four-bar linkage 312, mounted on the work frame, and movably and rotatably connected to each connecting component 32. In the following embodiments, the structure of the four-bar linkage is the same as that of the second-stage adjustment mechanism in the above embodiments, only the terminology used is different.

[0354] Under the support force, the connecting member drives the four-bar linkage 312 to rotate. The four-bar linkage drives other connecting members to move, thereby causing the working frame to move in the height direction relative to the main frame. The four-bar linkage 312 can also be a multi-link, gear, worm gear, hydraulic transmission, or other structure, which is not limited in this application. As shown in Figure 5, the output shaft 11 of the first height adjustment mechanism 1 is connected to a pin, and the pin is connected to the four-bar linkage. The height adjustment motor drives the pin to move, the pin drives the four-bar linkage to move, and the four-bar linkage drives the connecting member and the working frame to move, thereby driving the working mechanism to move and realizing the height adjustment of the working mechanism.

[0355] In some embodiments, the connecting mechanism includes at least a primary adjustment mode and a linkage adjustment mode. In the primary adjustment mode, in response to the undulations of the working surface, the first support member 217 undergoes a positional change at least in the direction perpendicular to the working surface, and the first support member 217 contacts the undulating working surface. In the linkage adjustment mode, in response to the displacement of the first support member being greater than a preset displacement threshold in the primary adjustment mode, the first support member drives at least one other support member to undergo a positional change at least in the direction perpendicular to the working surface, so as to achieve coordinated movement between the support members.

[0356] As the working surface rises, the support changes position at least in the direction perpendicular to the working surface, including the following stages:

[0357] Phase 1: Individual support floats upward. That is, the first support in contact with the undulating working surface changes position at least in the direction perpendicular to the working surface.

[0358] Phase Two: Some of the other support components float upwards. That is, some of the other support components change position at least in the direction perpendicular to the working surface, wherein the positional change of the other support components in the direction perpendicular to the working surface is less than the positional change of the first support component in the direction perpendicular to the working surface.

[0359] Phase 3: All support components move in unison. That is, as the working surface under the first support component rises higher, the first support component will drive all the support components to move upward together.

[0360] For example, in a lawnmower, the first support component moves upward by 25cm; as the working surface continues to rise, it causes all the support components to move upward by 65cm.

[0361] As the lawnmower moves from a horizontal surface to a raised area, the connecting parts near the support change position or orientation under the support force. These connecting parts continue to transmit force to the transmission components, causing the four-bar linkage to rotate. This rotation direction is opposite to the rotation direction of the four-bar linkage when adjusted to its lowest height. The rotation of the four-bar linkage causes the other connecting parts to move, which in turn causes the entire working frame to move upwards relative to the main frame, and also causes the working mechanism consisting of three working parts to move upwards relative to the main frame. By synchronously raising all working parts through the four-bar linkage, the lawnmower can safely overcome obstacles.

[0362] In some embodiments, the transmission element may further include: a buffer element 311 (referred to as a groove in other locations in this application).

[0363] The four-bar linkage in transmission component 31 is mounted on the working frame. One end is connected to the buffer component, and the other end is connected to each connecting component in a movable and rotatable manner. Under the action of the supporting force, the connecting components drive the four-bar linkage 312 to rotate. The four-bar linkage drives the buffer component and other connecting components to move, thereby driving the entire working device to move in the height direction relative to the main frame.

[0364] Continuing with the example of the lawnmower moving from a horizontal surface to a raised area, when the support component comes into contact with the working surface, generating a supporting force, the connecting component near the support component changes position or posture under the action of the supporting force. The connecting component drives the four-bar linkage to rotate, and the four-bar linkage drives the buffer component to move. When the lawnmower moves from the raised area to the horizontal surface, due to the gravity of the working device, the buffer component returns to its original posture, thereby driving the linkage and connecting component to return to their original posture. Thus, the lawnmower's working mechanism also returns to its original working height.

[0365] In some embodiments, as shown in FIG5, the buffer 311 has a second limiting hole 3111, the direction of which is approximately parallel to the length or width direction of the lawnmower. By providing a limiting hole along the length or width direction of the lawnmower, the overall height of the lawnmower is reduced, ensuring a more compact structure.

[0366] In some embodiments, the buffer 311 may be a waist-shaped hole.

[0367] In other embodiments, the buffer 311 may also be a pin with elasticity on both sides. The output shaft 11 of the first height adjustment mechanism 1 is connected to the pin 12, and the force is transmitted to the connecting member through the pin and the four-bar linkage in the transmission component. The pin is an elastic cylindrical pin with elasticity on both sides. When the support member abuts against the working surface to generate a supporting force, the second transmission component 3125 of the four-bar linkage drives the elastic element in the pin to move. When the lawnmower moves from the raised area to the horizontal surface, due to the gravity of the working device, the elastic element returns to its original posture, thereby driving the linkage and connecting member to return to their original posture; that is, the support member and working mechanism of the lawnmower also return to their original working height.

[0368] In some embodiments, as shown in FIG5, the four-bar linkage 312 may include: a first linkage component 3121 (referred to as a linkage assembly in other locations) connected to the main frame; a second linkage component 3123 (referred to as a linkage member 352 in other locations) connected to the first linkage component for transmitting force; and a plurality of first transmission components 3124 (referred to as first suspension members in some locations) connecting the first linkage component and the connecting member. Specifically, in some embodiments, as shown in FIG5, the four-bar linkage 312 may include: a first linkage component 3121 comprising two generally parallel rods 3122, the two rods being hinged to the main frame respectively.

[0369] The four-bar linkage 312 may further include a second linkage component 3123, which is hinged at both ends to two rods 3122 respectively, and is configured to transmit force between the two rods 3122.

[0370] The four-bar linkage 312 may also include: a plurality of first transmission components 3124, one end of each first transmission component being fixedly connected to one end of the rod, and the other end of each first transmission component being movably and rotatably connected to each connecting column.

[0371] In this embodiment, the first transmission component, the second transmission component, and the third transmission component can all be transmission shafts.

[0372] In the first height adjustment state, the output shaft 11 of the first height adjustment mechanism 1 drives the pin to move. The pin 12 is connected to the second transmission component 3125 of the four-bar linkage in the transmission component. Thus, the second transmission component drives multiple first transmission components to move through the first link component 3121, the third transmission component 3126 fixedly connected to it, and the second link component 3123 hinged to the third transmission component. The multiple first transmission components 3124 drive multiple connecting parts to move, ultimately driving the movement of the support mechanism, working mechanism, and working frame, etc. The four-bar structure described here is only schematic. Other linkage forms such as three-bar and five-bar can also be used in this application. Since these linkage structures are more common in practical applications, they will not be described in detail here. The connection between the rod and the transmission shaft can be achieved by setting a bushing or bearing and pin. As long as the structure can achieve rotation, it is acceptable. This application does not limit this.

[0373] In some embodiments, the connection between the connector and the four-bar linkage can be achieved in the following manner.

[0374] In some embodiments, as shown in FIG8, a slide groove 331 is provided on the four-bar linkage. One end of the connecting member 32 passes through the slide groove 331, and the other end is rotatably and movably connected to the working frame. The connecting member 32 rotates and moves up and down in the slide groove to drive the working frame to change its position or orientation. The connecting member can be in the form of a rod 332 or a strip, etc.

[0375] In other embodiments, as shown in FIG5, a pin 3127 (referred to as a protrusion in some embodiments) is provided on the four-bar linkage, and the connector has a first limiting hole 3128 (referred to as a fourth limiting connection 321 in some embodiments). The pin can move in the first limiting hole to adjust the height of the work frame according to the change of the height of the support wheel.

[0376] In other embodiments, the four-bar linkage is connected to a chain that can transition between slack and tension states, thereby causing the work frame to change position or orientation.

[0377] Of course, other methods described above can also be used to connect the connectors to the four-bar linkage, but due to space limitations, these will not be elaborated upon here. These three connection methods can also be combined with each other; for example, one connector can use the sliding groove method of method one, one connector can use the limiting hole method of method two, and the other two connectors can use the chain method. This application does not limit the specific combination of these methods.

[0378] Furthermore, the direction of the first limiting hole is roughly parallel to the height direction of the lawnmower, thereby causing the working frame to move relative to the main frame, that is, the working mechanism to move relative to the main frame.

[0379] In some embodiments, when the lawnmower performs low mowing on a horizontal working plane, the connector can move both upwards and downwards. Thus, when the lawnmower moves from a horizontal working surface to a recessed working surface, the support member in contact with the recessed working surface can cause the nearby connector to move downwards; when the lawnmower moves from a horizontal working surface to a raised working surface, the support member in contact with the raised working surface can cause the nearby connector to move upwards.

[0380] Specifically, the connector can move both upwards and downwards, that is: the connector is in a state where it can move up and down a certain distance in the slide, or the pin is in a state where it can move up and down a certain distance in the connector.

[0381] Furthermore, in some embodiments, when the lawnmower performs low mowing on a horizontal working plane, the buffer can move both upwards and downwards. Thus, when the lawnmower moves from a horizontal working surface to a recessed working surface, the support member in contact with the recessed working surface can drive all the connecting members to move downwards; when the lawnmower moves from a horizontal working surface to a raised working surface, the support member in contact with the raised working surface can drive all the connecting members to move upwards.

[0382] Specifically, the buffer can move both upwards and downwards, meaning it can move forward and backward a certain distance.

[0383] For example, when the lawnmower moves from a horizontal working surface to a recessed working surface, the support can move downwards by 10 cm.

[0384] When the lawnmower moves from a horizontal working surface to a recessed area, the connecting parts near the support members can change position or orientation. Specifically, when performing low-cutting on the horizontal working surface (connector in contact with the support), compared to the support being suspended (connector not in contact), the connecting parts undergo positional adjustment, the magnitude of which is the positional adjustment value. When the lawnmower moves from the horizontal working surface to a recessed area, the support members can contact the recessed area, causing the working frame to move downwards relative to the main frame to adjust the working height of the working parts near the connecting parts. This allows the working mechanism to cut the working surface of the recessed area to a height that meets the user's requirements.

[0385] In some embodiments, the connecting mechanism is configured to allow the working frame to move vertically, wherein the range of vertical movement is less than or equal to the height of the accommodating space in the vertical direction, and an accommodating space is provided below the main frame to accommodate the working mechanism; and the connecting mechanism is configured to limit the range of horizontal movement of the working frame within a preset range. Allowing the working frame to move vertically and rotate about a horizontal axis allows the working mechanism to move normally up and down when encountering protrusions or depressions. Limiting the range of horizontal movement and rotation about a vertical axis within a preset range prevents swaying of the working mechanism during lawnmower movement, improving work quality. The internal protective mechanism, ultimately connected to the working mechanism, includes movement and / or rotation in at least two of the following directions relative to the horizontal surface: vertical, forward / backward, left / right, lateral tilt, longitudinal tilt, and horizontal rotation, allowing the cutter head to better conform to the terrain and achieve better cutting results. As shown in Figure 6, when the support wheel structure proposed in this application is adopted, when encountering a 20-degree slope, the central axis of the machine's moving wheel and the central axis of the support wheel can form an angle difference of 4.8 degrees.

[0386] In some embodiments, as shown in FIG8 or 9, the connecting mechanism may further include: a limiting component 34 (referred to as a constraint part 34 in some places herein), one end of which is rotatably connected to the main frame and the other end of which is rotatably connected to the working frame, configured to limit the horizontal movement and rotation range of the working frame about the vertical axis within a preset range. By providing a limiting component connecting the main frame and the working frame, when the lawnmower shakes, i.e., when there is a force in the horizontal direction that causes the lawnmower to translate or a force in the vertical axis that causes the lawnmower to rotate, the limiting component can generate corresponding resistance, thereby preventing it from shaking or reducing the shaking amplitude. The limiting component can be applied to all structures that are prone to shaking, and is especially suitable for lawnmowers with connectors and four-bar linkages as described in this application. When the connection method between the connector and the four-bar linkage as described in this application is used, the limiting component can be combined to reduce the shaking of the lawnmower during movement, achieving the above-mentioned effect of the cutter head conforming to the terrain.

[0387] The preset range can be a horizontal movement distance of less than 10cm and a rotation angle around the vertical axis of less than 10 degrees. Other smaller values ​​are also possible, but examples will not be given here. Ideally, the horizontal movement distance of the workpiece frame should be 0, and the rotation angle around the vertical axis should be 0 degrees.

[0388] As shown in Figure 8 or 9, the limiting assembly includes a rod located on a second plane. This second plane is parallel to the longitudinal axis of the autonomous lawnmower and perpendicular to the working surface. The rod's position is designed to counteract lawnmower swaying, ensuring stability under external disturbances. When the lawnmower sways, the rod applies a pulling force opposite to the direction of the sway, effectively suppressing it.

[0389] The handle can be mounted on either the front or rear of the lawnmower. If mounted on the front, the handle can exert a pull-back force upon collision with an obstacle, quickly restoring the mower to its original position. While a rear-mounted handle can also prevent wobbling, it may transmit impact force to the outer casing upon collision, increasing the risk of damage. Preferably, the handle is mounted on the front of the lawnmower.

[0390] The limiting component may include at least one rod, or two or more rods. Preferably, the limiting component includes two rods.

[0391] As shown in Figure 8 or 9, one end of rod 341 is rotatably connected to the main frame 200, and the other end of rod is rotatably connected to the working frame 8. Both ends can be rotatably connected by bearings and bolts or bushings and bolts.

[0392] During the movement of the lawnmower, when the position of the connecting part changes (such as the position changes described in other embodiments of this application), the two ends of the rod rotate accordingly, so as to reach a unique and definite position corresponding to the position of the connecting part, so as to ensure the balance of the working device in the lawnmower and avoid or reduce the shaking of the working device.

[0393] In some embodiments, sway reduction can be achieved in ways other than limiting components. Multiple connectors are located at the front (C) and rear (D) of the autonomous lawnmower. The connector at the front has at least two degrees of freedom in two directions (vertical direction A and horizontal direction B, as shown in Figure 5). For example, the connector is a chain. The connector 322 at the rear has at least two degrees of freedom in two directions. For example, the connector uses the limiting hole method shown in Figure 5, and is fixedly connected to the machine frame. When the front wheel encounters a slope, causing it to undergo arc-shaped displacement centered on the rear wheel, the connector at the front provides movement space for the support wheel in both the vertical and horizontal directions. By limiting the number of degrees of freedom of the rear connector 322, when the front wheel of the lawnmower moves to a slope causing the internal protective mechanism to move, the rear connector 322 ensures that the internal protective mechanism does not undergo large displacement, avoiding severe swaying. These two degrees of freedom lie in either a first plane or a second plane. The first plane is parallel to the width direction of the lawnmower and perpendicular to the working surface; the second plane is parallel to the length direction of the lawnmower and perpendicular to the working surface.

[0394] Lawn mowers generate a large amount of grass clippings during operation. The arrangement of the support components on the lawn mower affects whether the clippings can be discharged normally and whether the working parts can respond promptly to changes in terrain. Furthermore, the contact between the support components and the ground during operation creates grass compaction marks, and the arrangement of the support components also affects these marks. As described below, these problems can be solved through multiple embodiments. These embodiments can exist independently or in combination to obtain a lawn mower that solves one or more corresponding technical problems. These embodiments can also be combined with the connecting mechanism, transmission component, multiple connecting components, four-bar linkage, first height adjustment mechanism, second height adjustment mechanism, moving wheels, or controller, etc., as disclosed in this disclosure, to solve one or more corresponding technical problems. Due to space limitations, these technical combinations will not be described again in this application.

[0395] As shown in Figures 1 and 3-4, the support mechanism 2 includes multiple support members 21, including two front support members 211 located at the front of the working mechanism and a rear support member 213 located at the rear of the working mechanism. The front support members satisfy at least one of the following conditions:

[0396] The lateral distance between the front support members is greater than or equal to the dimension of the working part in the lateral direction; or, the minimum longitudinal distance between the front support member and the working part is greater than or equal to the maximum ground clearance of the working part; or, the overlap between the projection of the front support member on the first plane and the projection of the working part on the first plane is less than a first projection threshold; the first plane is a plane perpendicular to the working surface and parallel to the lateral direction of the autonomous lawnmower. This configuration ensures that the working part can respond promptly to changes in terrain while guaranteeing smooth discharge of grass clippings and preventing their accumulation.

[0397] In some embodiments, the longitudinal distance between the front support member 211 and the first working member 411 is less than a first preset threshold, or the lateral distance is less than a second preset threshold. That is, the component of the distance between the front support member 211 and the first working member 411 in the direction parallel to the longitudinal central axis is less than the first preset threshold, or the component in the direction perpendicular to the longitudinal central axis is less than the second preset threshold. Preferably, in the longitudinal arrangement of the working members, the first working member specifically refers to the working member 411 closest to the front end of the outer casing. By placing the working members in a position close to the support member, when the support member moves to a position different from the current working surface height, the support member can promptly drive the nearby working members to change their working height, thereby making the work results more accurate, and the overall structure of the lawnmower more compact.

[0398] In some embodiments, the front support member may be a wheel-shaped support wheel. It may also include a support roller, wherein the support roller is provided with a groove or recess extending through its circumferential surface to form a straw-leaking gap.

[0399] In some embodiments, as shown in Figures 1 and 3-4, the two front support members 211 are symmetrically arranged along the longitudinal central axis P of the autonomous lawnmower.

[0400] In some embodiments, the plurality of support members includes a rear support member located behind the working mechanism. The rear support member can be a support wheel or a support roller. As shown in Figures 1 and 3-4, the plurality of support members includes: a support wheel with a width of 90 mm; and a diameter greater than or equal to 79 mm and less than or equal to 101 mm. Preferably, the diameter is 80 mm or 90 mm. This setting of the support wheel diameter facilitates obstacle crossing by the lawnmower.

[0401] In some embodiments, as shown in Figures 1 and 3-4, the overlap between the projection of the front support member 211 onto the first plane and the projection of the first working piece onto the first plane is less than a third threshold; wherein the first plane is parallel to the width direction of the autonomous lawnmower and perpendicular to the working surface. The small overlap between the front support member 211 and the first working piece 411 means that the front support member 211 does not significantly compress the grass near the first working piece 411, thus not affecting the normal cutting of the first working piece 411. Preferably, there is no overlap between the two projections.

[0402] Furthermore, the distance between the two front support members is greater than or equal to the width of the first working piece. The width of the first working piece is also the diameter of the cutter head, or in other words, the effective working diameter. The front support member 211 is outside the working range of the first working piece, and the front support member 211 will not compress the grass near the first working piece 411, thus not affecting the cutting operation of the first working piece 411.

[0403] Furthermore, the line connecting the central axes of the two front support members is tangent to the effective working range of the first working piece. The line connecting the centers of the two front support wheels is tangent to or outside the cutting range of the cutter head, and the length of the line connecting the centers of the two front support wheels is greater than or equal to the diameter of the cutter head. This results in a lawnmower that easily disperses grass and has a compact structure.

[0404] In some embodiments, as shown in FIG1 and FIG3-4, the plurality of support members 21 may further include: two side support members 212, which are located on the front side of the working mechanism and are symmetrically arranged along the longitudinal centerline P of the autonomous lawnmower. The distance from the side support member 212 to the longitudinal centerline is greater than the distance from the front support member 211 to the longitudinal centerline P.

[0405] Furthermore, as shown in Figures 3-4, in the direction parallel to the length, the side support 212 is further away from the front end of the outer casing compared to the front support 211. This results in a more compact lawnmower structure.

[0406] In some embodiments, in the vertical direction, the lowest point of the front support 211 is higher than the lowest point of the side support 212, wherein the side support 212 is in contact with the working surface. By setting the front support wheel off the ground, especially the front support wheel within the working range of the first working piece, pressure on the grass by the front support wheel is prevented, thus not affecting the cutting operation of the first working piece 411. Furthermore, the front support wheel can also be used to prevent nearby working pieces from being struck.

[0407] In some embodiments, the height of the front support 211 and the side support 212 can be preset at the factory or adjusted during the operation of the lawnmower according to work needs. The adjustment can be electric control or mechanical manual.

[0408] Specifically, mechanical height adjustment can be achieved through the third height adjustment mechanism 2111 shown in Figure 4. The third height adjustment mechanism 211 is a knob-type height adjustment, implemented using existing methods such as gears and racks. The height adjustment value is preset, and there are at least two height adjustment settings. Based on observed grass-pressing marks or the mower's maneuverability, the user uses the third height adjustment mechanism 211 to adjust the height of the front and side supports. When the side supports leave obvious grass-pressing marks on the ground, the height of the front and side supports is adjusted to be closer to the ground, so that multiple supports work together to support the working device, reducing the ground pressure on the side supports and lessening the grass-pressing marks.

[0409] In high-cut mode, the mower's indentations on the ground can be reduced by setting the support components to not contact the ground. Specifically, in the vertical direction, the lowest points of multiple support components are all higher than the lowest points of the moving wheels. As shown in Figure 2, in the second height adjustment state, the support wheels are off the ground, thus reducing grass crushing in high-cut mode.

[0410] Specifically, the difference in the position adjustment value of the working frame relative to the main frame between the second height adjustment state and the first height adjustment state is greater than the position adjustment value of the connecting mechanism in the first height adjustment state. That is, when switching between high and low cutting modes, the difference in the vertical adjustment amount of the working frame relative to the main frame is greater than the position adjustment value of the connecting member when the mower is in the low cutting mode, between the horizontal working plane (connector in contact with support) and the suspended support (connector not in contact). In high cutting mode, the support is not in contact with the ground and is off the ground, thereby reducing or mitigating the mower's pressure marks on the ground. Of course, both can also be in contact with the ground, as long as the working height of the cutter head meets the requirements. This application does not limit this.

[0411] In some embodiments, as shown in Figures 1 and 3-4, the plurality of support members include a rear support member 213 located behind the working mechanism. The rear support member is a support roller, and the weight of the support roller is greater than a preset weight threshold. The rear support roller, with its center of gravity located behind the lawnmower, reduces the front indentation before the work is completed, facilitating the lawnmower's operation; after the work is completed, it increases the rear indentation, resulting in a more aesthetically pleasing lawn. Of course, the rear support member can also be a support wheel; this application does not limit this.

[0412] In some embodiments, the ratio of the pressure per unit area in the support roller to the pressure per unit area in the moving part is 1:1. The pressure on the support roller is approximately equal to the pressure on the moving wheel, ensuring that the depth of the grass compaction marks left by the support roller and the moving wheel on the grass is consistent.

[0413] In some embodiments, as shown in Figures 3-4, the projection of the front support member 211 or the side support member 212 onto the first plane is located inside the projection of the support roller onto the first plane. The straw-pressing marks of the support wheel located at the front of the working mechanism overlap with those of the support roller at the rear. After the front support wheel presses the straw, the rear support roller presses the straw a second time, resulting in a better straw-pressing effect.

[0414] In some embodiments, as shown in FIG6, there is an overlap between the projection of the side support member on the first plane and the projection of the movable wheel on the first plane. There is an overlap between the wheel tracks of the side support wheel 211 and the movable member 9. After the front support wheel compacts the grass, the drive wheel compacts the grass a second time, resulting in a better grass compaction effect.

[0415] During the operation of the lawnmower, the grass cut by the first working piece 411 may be thrown out directly, or it may be cut again by the following working pieces, so that the grass cut by the first working piece can be discharged normally, that is, the grass is scattered.

[0416] The working component includes: the second working component, which is the working component that is furthest away from the front support component.

[0417] In some embodiments, as shown in Figures 3-4, at least the front portion of the second working piece does not overlap with the projection of the at least three support members onto the second plane; wherein the second plane is a plane parallel to the longitudinal centerline of the autonomous lawnmower and perpendicular to the working surface; wherein the second working piece includes a plurality of quarter-circle regions, the quarter-circle regions being divided by the longitudinal and transverse centerlines passing through the center of the second working piece, and the front portion includes a quarter-circle region located on the right front in the machine's forward direction. This arrangement facilitates rapid grass removal by the rear working piece and prevents grass clippings from accumulating due to obstruction by the support wheels.

[0418] In some embodiments, as shown in Figures 3-4, multiple support members are located outside a preset area. This preset area is defined by multiple line segments extending from the edge of the lawnmower along a direction perpendicular to the longitudinal central axis, ending at a plane defined by the radius of the cutter head. The plane defined by the cutter head radius is a plane perpendicular to the working surface passing through the cutter head radius. The cutter head radius is located on a line segment passing through the center of the working piece and parallel to the longitudinal central axis, and is close to the front of the lawnmower. The support members are all located outside the space defined by the front half-width range of the working piece, ensuring that the support members do not obstruct the grass discharged after being cut by the working piece (especially the second working piece), thus achieving normal grass distribution. Furthermore, when the working piece (especially the second working piece) rotates clockwise, the support members are all located outside the right-side space defined by the front half-width range of the second working piece; when the working piece (especially the second working piece) rotates counterclockwise, the support members are all located outside the left-side space defined by the front half-width range of the working piece (especially the second working piece). This design facilitates the rapid removal of grass from the rear working parts and prevents grass clippings from accumulating due to obstruction by the support wheels.

[0419] Furthermore, the distance between the projection of the second working piece on the working surface and the projection of the support member on the working surface is greater than the fourth preset threshold; the second working piece is closest to the rear support member, and the support member does not include the rear support member. The effective working range of the second working piece 412 does not overlap with the projections of multiple support members on the second plane or the first plane. The second plane is parallel to the length direction of the autonomous lawnmower and perpendicular to the working surface. Among the multiple working pieces, the second working piece is closest to the rear support member. Among the multiple working pieces, no support members are arranged on both sides and in front of the rear working piece (the second working piece 412 in the figure) that is closest to the rear support member 213. That is, no support member is set separately for this working piece, so as to facilitate the rapid grass removal of the rear working piece and prevent grass clippings from accumulating due to the obstruction of the support wheel.

[0420] In some embodiments, similar to the second working piece, all supports are located outside the space defined by the front half width of the first working piece. Furthermore, the effective working range of the first working piece 412 does not overlap with the projections of the multiple supports onto the second plane. Therefore, the grass clippings discharged by the first working piece will not accumulate due to obstruction by the support wheels, enabling rapid discharge of grass clippings.

[0421] During operation, when a household lawnmower or a lawnmower used on a golf course moves to an uneven surface, the bumpy working parts are prone to shaking. Therefore, in one embodiment of this application, a lawnmower as shown in FIG1 is proposed.

[0422] The autonomous lawnmower may include: a main frame; and a working device connected to the main frame.

[0423] The working device may include: a working frame connected to the main frame.

[0424] The working device may include: a working mechanism mounted on a work frame, the working mechanism including: at least one working piece; the working piece being configured to perform a working task.

[0425] The working device may include: a connecting mechanism mounted on the working frame; wherein the connecting mechanism is configured to restrict the movement of the working frame in the horizontal direction and allow the movement of the working frame in the vertical direction.

[0426] In one embodiment of this application, the working frame is allowed to move vertically and rotate about a horizontal axis, so that the working mechanism can move up and down normally when encountering protrusions or depressions. The range of horizontal movement and rotation about the vertical axis of the working frame is limited to less than or equal to a third preset threshold. By limiting the horizontal movement of the working frame, swaying of the working mechanism during lawnmower movement is avoided, thus improving work quality.

[0427] In some embodiments, the connecting mechanism includes a limiting component, one end of which is rotatably connected to the main frame and the other end of which is rotatably connected to the working frame. This component is configured to limit the horizontal movement and rotation about the vertical axis of the working frame within a preset range. By providing the limiting component connecting the main frame and the working frame, when the lawnmower wobbles—that is, when there is a force in the horizontal direction causing it to translate or a force in the vertical direction causing it to rotate—the limiting component can generate corresponding resistance, thereby preventing or reducing the wobbling. The limiting component can be applied to all structures prone to wobbling, and is particularly suitable for lawnmowers equipped with connectors and four-bar linkages as described in this application. When using the connection method between the connector and the four-bar linkage as described in this application, the limiting component can be combined to reduce the wobbling of the lawnmower during movement, achieving the aforementioned effect of the cutter head conforming to the terrain.

[0428] The preset range can be a horizontal movement distance of less than 10cm and a rotation angle around the vertical axis of less than 10 degrees. Other smaller values ​​are also possible, but examples will not be given here. Ideally, the horizontal movement distance of the workpiece frame should be 0, and the rotation angle around the vertical axis should be 0 degrees.

[0429] As shown in Figure 8 or 9, the limiting assembly includes a rod located on a second plane. This second plane is parallel to the longitudinal axis of the autonomous lawnmower and perpendicular to the working surface. The rod's position is designed to counteract lawnmower swaying, ensuring stability under external disturbances. When the lawnmower sways, the rod applies a pulling force opposite to the direction of the sway, effectively suppressing it.

[0430] The handle can be mounted on either the front or rear of the lawnmower. If mounted on the front, the handle can exert a pull-back force upon collision with an obstacle, quickly restoring the mower to its original position. While a rear-mounted handle can also prevent wobbling, it may transmit impact force to the outer casing upon collision, increasing the risk of damage. Preferably, the handle is mounted on the front of the lawnmower.

[0431] The limiting component may include at least one rod, or two or more rods. Preferably, the limiting component includes two rods.

[0432] As shown in Figure 8 or 9, one end of rod 341 (also referred to as a tie rod in other locations) is rotatably connected to the main frame 200, and the other end of the rod is rotatably connected to the working frame 8. Both ends can be rotatably connected by bearings and bolts or bushings and bolts.

[0433] During the movement of the lawnmower, when the position of the connecting member changes (e.g., as described in other embodiments of this application), both ends of the lever rotate accordingly, thereby reaching a unique and definite position corresponding to the position of the connecting member. This ensures the balance of the working device in the lawnmower and avoids or reduces the shaking of the working device. In some embodiments, the autonomous lawnmower may further include: a first height adjustment mechanism, mounted on the main frame, configured to drive the working frame to move in the height direction relative to the main frame under the control of a controller; and a second height adjustment mechanism, mounted on the working frame, configured to drive the support member to move in the height direction relative to the main frame or the working frame to adjust the ground clearance of the working part.

[0434] In some embodiments, the connecting mechanism may further include: a transmission member movably connected to the connecting member; the connecting member is configured to drive the transmission member to change position or orientation under the action of a supporting force, and the transmission member after changing position or orientation drives the working device to change position or orientation.

[0435] In some embodiments, the autonomous lawnmower may employ the support arrangement, connecting mechanism or transmission component, multiple connecting components or four-bar linkage, first height adjustment mechanism or second height adjustment mechanism, moving wheels or controller, etc., as described in other embodiments of this disclosure. These structures do not affect each other's function; therefore, the lawnmower may also be equipped with one or more combinations of these structures. The positional or connection relationships between these structures may also be the same as those described in other embodiments of this disclosure, thereby producing the corresponding technical effects described in other embodiments of this disclosure. Due to space limitations, these technical combinations will not be described again here.

[0436] A golf course typically includes: a tee box, fairway, rough, and green. The tee box is the starting point, connecting to the fairway. The fairway is the main hitting area, usually flanked by rough, with the green extending beyond. The end of the fairway is the green, which may be surrounded by obstacles such as bunkers, rough, or water. Lawn mowers typically mow the fairway and rough. Based on this, this application proposes an autonomous lawnmower that moves and / or operates within a working area, including a first area and a second area. The lawnmower includes: a main frame; a moving component 9, mounted on the main frame and configured to drive the autonomous lawnmower to move within the working area; a working mechanism configured to perform mowing; a height adjustment mechanism connected to the main frame and the working mechanism for adjusting the working height of the working mechanism; a memory configured to store a map of the working area, dividing the working area into at least a first area and a second area; and a controller electrically connected to the moving component, the working mechanism, and the height adjustment mechanism. As shown in Figure 10, the controller is configured to:

[0437] S701: In response to the lawnmower about to reach or be in the first area, the height adjustment mechanism is controlled to set the working cutting mechanism to a first working height; S702: In response to the lawnmower about to reach or be in the second area, the height adjustment mechanism is controlled to set the working cutting mechanism to a second working height; the second working height is greater than the first working height.

[0438] The lawnmower can be automatically adjusted to work height according to different areas to adapt to site requirements.

[0439] The lawnmower described in this disclosure can be used for mowing. When moving to different areas to adjust the working height, the first and second height adjustment mechanisms of this disclosure can be used to adjust the lawnmower to the corresponding low mowing height (or precise height) or high mowing height.

[0440] In some embodiments, the autonomous lawnmower may be equipped with the support mechanism or multiple support members, connecting mechanism or transmission member or multiple connectors or four-bar linkage, first height adjustment mechanism or second height adjustment mechanism, moving wheels or controller, etc., as described in other embodiments of this disclosure. These structures do not affect each other's functions. Therefore, the lawnmower may also be equipped with one or more combinations of these structures. The positional or connection relationships between these structures may also be the same as those described in other embodiments of this disclosure, thereby producing the corresponding technical effects described in other embodiments of this disclosure. Due to space limitations, this disclosure will not repeat them here.

[0441] The first area is defined by a first boundary, and the second area is defined by a second boundary; the first and second areas share a portion of their boundaries. The working area includes at least a portion of the golf course; the first area includes the fairways, and the second area includes the rough. On the golf course, the lawnmower uses a low-mowing mode on the fairways and switches to a high-mowing mode in the rough, thus achieving intelligent height adjustment and improving mowing efficiency and course quality.

[0442] In some embodiments, the operating parameters include area attributes and / or operating height. The lawnmower is controlled to switch to a first height adjustment state and operate in the first height adjustment state according to the corresponding operating parameters; the lawnmower is controlled to switch to a second height adjustment state and operate in the second height adjustment state according to the corresponding operating parameters. The operating parameters are preset and / or determined based on sensor data identified by sensors.

[0443] Specifically, the lawnmower includes: an environmental sensor for acquiring environmental data of the current working area; wherein the controller is configured to determine the working height of the current area based on pre-set working parameters in a map and / or the environmental data acquired by the environmental sensor.

[0444] In some embodiments, the lawnmower can be controlled to move to a second area after completing work in the first area. Prioritizing low-mowing by the lawnmower does not affect the user's use of the lawn, thus improving the experience.

[0445] In some embodiments, when a first time range is detected, the control allows the lawnmower to operate in a first height adjustment state; when a second time range is detected, the control allows the lawnmower to operate in a second height adjustment state, and disallows the lawnmower to operate in the first height adjustment state. The first time range can be daytime or nighttime, and the second time range can be nighttime.

[0446] In some embodiments, environmental sensors are used to identify the current time range. When it is detected that it is daytime or nighttime, the lawnmower is controlled to operate in the second height adjustment state; when it is detected that it is nighttime, the lawnmower is controlled to operate in the first height adjustment state. That is, the lawnmower is controlled to cut the fairway as late as possible so as not to affect the user's use of the lawn during the day.

[0447] The following describes this disclosure using a specific application scenario.

[0448] The lawnmower's memory stores a map containing the rough and fairways of a golf course. Users pre-set the desired grass height for the rough and fairways via a client (such as a mobile app) and associate different areas with their corresponding grass heights. During operation, if the lawnmower detects daytime, it automatically adjusts to high-mowing mode based on the map data and moves to the rough area. If it detects nighttime, it automatically adjusts to low-mowing mode based on the map data and moves to the fairways. After completing the fairways, it moves back to the rough area according to a pre-programmed workflow.

[0449] Lawn mowers generate a large amount of grass clippings during operation. The arrangement of the support components on the lawn mower affects whether the clippings can be discharged normally and whether the working parts can respond promptly to changes in terrain. Furthermore, the contact between the support components and the ground during operation creates grass compaction marks, and the arrangement of the support components also affects these marks. As described below, these problems can be solved through multiple embodiments. These embodiments can exist independently or in combination to obtain a lawn mower that solves one or more corresponding technical problems. These embodiments can also be combined with the connecting mechanism, transmission component, multiple connecting components, four-bar linkage, first height adjustment mechanism, second height adjustment mechanism, protective components, casters, or controller structures disclosed in this disclosure to solve one or more corresponding technical problems. Due to space limitations, these technical combinations will not be described again in this application.

[0450] As shown in Figures 1 and 3-4, the support mechanism 2 includes multiple support members 21, including two front support members 211 located at the front of the working mechanism and a rear support member 213 located at the rear of the working mechanism. The longitudinal distance between the front support member 211 and the first working member 411 is less than a first preset threshold, or the lateral distance is less than a second preset threshold. That is, the component of the distance between the front support member 211 and the first working member 411 in the direction parallel to the longitudinal central axis is less than the first preset threshold, or the component in the direction perpendicular to the longitudinal central axis is less than the second preset threshold. Preferably, in the longitudinal arrangement of the working members, the first working member specifically refers to the working member 411 closest to the front end of the outer shell. By placing the working member in a position close to the support member, when the support member moves to a position different from the current working surface height, the support member can promptly drive the nearby working member to change its working height, thereby making the working result more accurate and the overall structure of the lawnmower more compact.

[0451] In some embodiments, the front support member may be a wheel-shaped support wheel. It may also include a support roller, wherein the support roller is provided with a groove or recess extending through its circumferential surface to form a straw-leaking gap.

[0452] In some embodiments, as shown in Figures 1 and 3-4, the two front support members 211 are symmetrically arranged along the longitudinal central axis P of the autonomous lawnmower.

[0453] In some embodiments, the plurality of support members includes a rear support member located behind the working mechanism. The rear support member can be a support wheel or a support roller. As shown in Figures 1 and 3-4, the plurality of support members includes: a support wheel with a width of 90 mm; and a diameter greater than or equal to 79 mm and less than or equal to 101 mm. Preferably, the diameter is 80 mm or 90 mm. This setting of the support wheel diameter facilitates obstacle crossing by the lawnmower.

[0454] In some embodiments, as shown in Figures 1 and 3-4, the overlap between the projection of the front support member 211 onto the first plane and the projection of the first working piece onto the first plane is less than a third threshold; wherein the first plane is parallel to the width direction of the autonomous lawnmower and perpendicular to the working surface. The small overlap between the front support member 211 and the first working piece 411 means that the front support member 211 does not significantly compress the grass near the first working piece 411, thus not affecting the normal cutting of the first working piece 411. Preferably, there is no overlap between the two projections.

[0455] Furthermore, the distance between the two front support members is greater than or equal to the width of the first working piece. The width of the first working piece is also the diameter of the cutter head, or in other words, the effective working diameter. The front support member 211 is outside the working range of the first working piece, and the front support member 211 will not compress the grass near the first working piece 411, thus not affecting the cutting operation of the first working piece 411.

[0456] Furthermore, the line connecting the central axes of the two front support members is tangent to the effective working range of the first working piece. The line connecting the centers of the two front support wheels is tangent to or outside the cutting range of the cutter head, and the length of the line connecting the centers of the two front support wheels is greater than or equal to the diameter of the cutter head. This results in a lawnmower that easily disperses grass and has a compact structure.

[0457] In some embodiments, as shown in FIG1 and FIG3-4, the plurality of support members 21 may further include: two side support members 212, which are located on the front side of the working mechanism and are symmetrically arranged along the longitudinal centerline P of the autonomous lawnmower. The distance from the side support member 212 to the longitudinal centerline is greater than the distance from the front support member 211 to the longitudinal centerline P.

[0458] Furthermore, as shown in Figures 3-4, in the direction parallel to the length, the side support 212 is further away from the front end of the outer casing compared to the front support 211. This results in a more compact lawnmower structure.

[0459] In some embodiments, in the vertical direction, the lowest point of the front support 211 is higher than the lowest point of the side support 212, wherein the side support 212 is in contact with the working surface. By setting the front support wheel off the ground, especially the front support wheel within the working range of the first working piece, pressure on the grass by the front support wheel is prevented, thus not affecting the cutting operation of the first working piece 411. Furthermore, the front support wheel can also be used to prevent nearby working pieces from being struck.

[0460] In some embodiments, the height of the front support 211 and the side support 212 can be preset at the factory or adjusted during the operation of the lawnmower according to work needs. The adjustment can be electric control or mechanical manual.

[0461] Specifically, mechanical height adjustment can be achieved through the third height adjustment mechanism 2111 shown in Figure 4. The third height adjustment mechanism 211 is a knob-type height adjustment, implemented using existing methods such as gears and racks. The height adjustment value is preset, and there are at least two height adjustment settings. Based on observed grass-pressing marks or the mower's maneuverability, the user uses the third height adjustment mechanism 211 to adjust the height of the front and side supports. When the side supports leave obvious grass-pressing marks on the ground, the height of the front and side supports is adjusted to be closer to the ground, so that multiple supports work together to support the working device, reducing the ground pressure on the side supports and lessening the grass-pressing marks.

[0462] In high-cut mode, the mower's indentations on the ground can be reduced by setting the support components to not contact the ground. Specifically, in the vertical direction, the lowest points of multiple support components are all higher than the lowest points of the moving wheels. As shown in Figure 2, in the second height adjustment state, the support wheels are off the ground, thus reducing grass crushing in high-cut mode.

[0463] Specifically, the difference in the position adjustment value of the working frame relative to the main frame between the second height adjustment state and the first height adjustment state is greater than the position adjustment value of the connecting mechanism in the first height adjustment state. That is, when switching between high and low cutting modes, the difference in the vertical adjustment amount of the working frame relative to the main frame is greater than the position adjustment value of the connecting member when the mower is in the low cutting mode, between the horizontal working plane (connector in contact with support) and the suspended support (connector not in contact). In high cutting mode, the support is not in contact with the ground and is off the ground, thereby reducing or mitigating the mower's pressure marks on the ground. Of course, both can also be in contact with the ground, as long as the working height of the cutter head meets the requirements. This application does not limit this.

[0464] In some embodiments, as shown in Figures 1 and 3-4, the plurality of support members include a rear support member 213 located behind the working mechanism. The rear support member is a support roller, and the weight of the support roller is greater than a preset weight threshold. The rear support roller, with its center of gravity located behind the lawnmower, reduces the front indentation before the work is completed, facilitating the lawnmower's operation; after the work is completed, it increases the rear indentation, resulting in a more aesthetically pleasing lawn. Of course, the rear support member can also be a support wheel; this application does not limit this.

[0465] In some embodiments, as shown in Figures 3-4, the projection of the front support member 211 or the side support member 212 onto the first plane is located inside the projection of the support roller onto the first plane. The straw-pressing marks of the support wheel located at the front of the working mechanism overlap with those of the support roller at the rear. After the front support wheel presses the straw, the rear support roller presses the straw a second time, resulting in a better straw-pressing effect.

[0466] In some embodiments, as shown in FIG6, there is an overlap between the projection of the side support member onto the first plane and the projection of the movable wheel onto the first plane. The wheel tracks between the side support wheel 211 and the drive wheel 5 overlap, and after the front support wheel compacts the grass, the drive wheel compacts the grass a second time, resulting in a better grass-compacting effect.

[0467] During the operation of the lawnmower, the grass cut by the first working piece 411 may be thrown out directly, or it may be cut again by the following working pieces, so that the grass cut by the first working piece can be discharged normally.

[0468] In some embodiments, as shown in Figures 3-4, multiple support members are located outside a preset area. This preset area is defined by multiple line segments extending from the edge of the lawnmower along a direction perpendicular to the longitudinal central axis, ending at a plane defined by the radius of the cutter head. The plane defined by the cutter head radius is a plane perpendicular to the working surface passing through the cutter head radius. The cutter head radius is located on a line segment passing through the center of the working piece and parallel to the longitudinal central axis, and is close to the front of the lawnmower. The support members are all located outside the space defined by the front half-width range of the working piece, ensuring that the support members do not obstruct the grass discharged after being cut by the working piece (especially the second working piece), thus achieving normal grass distribution. Furthermore, when the working piece (especially the second working piece) rotates clockwise, the support members are all located outside the right-side space defined by the front half-width range of the second working piece; when the working piece (especially the second working piece) rotates counterclockwise, the support members are all located outside the left-side space defined by the front half-width range of the working piece (especially the second working piece). This design facilitates the rapid removal of grass from the rear working parts and prevents grass clippings from accumulating due to obstruction by the support wheels.

[0469] Furthermore, the distance between the projection of the second working piece on the working surface and the projection of the support member on the working surface is greater than the fourth preset threshold; the second working piece is closest to the rear support member, and the support member does not include the rear support member. The effective working range of the second working piece 412 does not overlap with the projections of multiple support members on the second plane or the first plane. The second plane is parallel to the length direction of the autonomous lawnmower and perpendicular to the working surface. Among the multiple working pieces, the second working piece is closest to the rear support member. Among the multiple working pieces, no support members are arranged on both sides and in front of the rear working piece (the second working piece 412 in the figure) that is closest to the rear support member 213. That is, no support member is set separately for this working piece, so as to facilitate the rapid grass removal of the rear working piece and prevent grass clippings from accumulating due to the obstruction of the support wheel.

[0470] In some embodiments, similar to the second working piece, all supports are located outside the space defined by the front half width of the first working piece. Furthermore, the effective working range of the first working piece 412 does not overlap with the projections of the multiple supports onto the second plane. Therefore, the grass clippings discharged by the first working piece will not accumulate due to obstruction by the support wheels and can be quickly ejected.

[0471] In some embodiments, as shown in Figures 1 and 3-4, the lawnmower includes: a main frame; a working frame connected to the main frame; a working mechanism mounted on the working frame for performing working tasks; the working mechanism includes: at least two working parts; a support mechanism for supporting the working frame; the support mechanism includes at least three support members, each support member being installed at a different position on the working frame, and each support member including at least one support roller; the lawnmower includes a transverse axis perpendicular to the longitudinal central axis, the transverse axis dividing the lawnmower into a front region and a rear region, the center of gravity of the lawnmower being located in the rear region, and at least one support roller being provided in the rear region, the mass of at least one support roller being greater than a preset threshold. The rear support roller, with the center of gravity located behind the lawnmower, reduces the front indentation before the working task is completed, facilitating lawnmower operation; after the working task is completed, it increases the rear indentation, resulting in a more aesthetically pleasing lawn. Of course, the rear support member can also be a support wheel, and this application does not limit this.

[0472] In some embodiments, the support roller is located at the rear of the working mechanism.

[0473] The following describes one possible structural configuration of the lawnmower in this application. It is worth noting that this structure is only an illustration of a combination, and the lawnmower combination obtained in the embodiments of this application is not limited to this form.

[0474] Figures 11-12 show schematic diagrams of the lawnmower in its first and second height adjustment states, respectively. Individual blades 41 are arranged in an alternating pattern and mounted on the working frame 8. An internal protective mechanism 6 is installed above the blades. Multiple support members 21 and multiple connecting members 32 are also mounted on the working frame. One end of each connecting member 32 passes through a slide groove 331, and the other end is rotatably and movably connected to the working frame. The connecting member 32 rotates and moves up and down within the slide groove to change the position or posture of the working frame. A pull rod 34 is also mounted on the working frame. One end of the pull rod 34 is rotatably connected to the main frame 200, and the other end is rotatably connected to the working frame 8. When the lawnmower is in the low-cutting mode shown in Figure 11 on a horizontal working surface, the height adjustment motor 1 adjusts the cutter head 41 to its lowest height via the four-bar linkage 312, connecting member 32, etc., using the method described in this application. The support member abuts against the working surface, and the connecting member near the support member changes position or posture under the action of the supporting force, thereby driving the working frame to change position or posture. The adjusted height is the low-cutting height. As shown in Figure 12, when the lawnmower is in the second height adjustment state on a horizontal surface, that is, the high-cutting mode, the height adjustment motor 1 adjusts the height of the cutter head 41 upward via the four-bar linkage 312, connecting member 32, etc., using the method described in this application. The adjusted height is the high-cutting height (third working height).

[0475] The autonomous lawnmower shown in Figure 1 includes: a frame; a working mechanism configured to perform a working task; a first height adjustment mechanism configured to adjust the position of the working mechanism on the frame; a support mechanism configured to be connected to the working mechanism; and a connecting mechanism configured to be movably mounted on the first height adjustment mechanism. In this application, the autonomous lawnmower is described as an automatic lawnmower, and the working mechanism is a blade disc. The automatic lawnmower includes a low-cutting mode. In the low-cutting mode, the first height adjustment mechanism adjusts the working mechanism to a first working height, the support mechanism abuts against the working surface to support the working mechanism, and the connecting mechanism changes its own posture under pressure to adjust the working mechanism to a second working height. In the high-cutting mode, the first height adjustment mechanism adjusts the working mechanism to a third working height, and the support mechanism moves away from the working surface. In other words, in this application, to achieve both low-level and high-level cutting on the same machine, a support mechanism and a connecting mechanism are installed on the lawnmower. When the first height adjustment mechanism adjusts the working mechanism to the first working height, causing the working mechanism to extend beyond its normal position, the support mechanism comes into contact with the working surface. The pressure generated by this contact raises the working mechanism to the second working height, which is the low-level cutting shown in Figure 1. When high-level cutting is performed, the first height adjustment mechanism adjusts the working mechanism to the third working height. At this point, the support mechanism moves away from the working surface, as shown in Figure 2 for high-level cutting.

[0476] However, the grass cut during the rotation of the blade disc is easily blocked by the support mechanism, preventing it from being cut again by other blade discs, and the grass accumulates at the cut position after the first cut. Therefore, in this application, the position of the support mechanism is reasonably designed to ensure that the grass is thrown onto the blades of the rear blade disc along a normal trajectory after the first cut, thereby achieving a second cut to disperse the grass. Specifically, in this application, the support mechanism 2 includes multiple support members 21, including a front support member 211 located in front of the working mechanism. The component of the distance between the front support member and the first working piece parallel to the forward direction is less than a first preset threshold, or the component of the distance between the front support member 211 and the first working piece 411 perpendicular to the forward direction is less than a second preset threshold. Among at least one working piece, the first working piece 411 is closest to the front support member 211, wherein the front of the working mechanism is the forward direction of the autonomous lawnmower. By placing the front support member located in front of the blade disc, the front support member will not obstruct the normal throwing of grass after the first cut from the blade disc, thereby achieving normal grass dispersion and reducing grass crushing marks. The direction of travel is parallel to the longitudinal central axis.

[0477] As shown in Figure 1, the working mechanism 4 consists of at least one cutter head 41. The first height adjustment mechanism 1 is a standard motor with an output shaft. The support mechanism 2 can be a wheel or a roller. The connecting mechanism 3 includes a linkage mechanism 31 and multiple limiting mechanisms 32, which are located at the front and rear of the autonomous lawnmower. The first height adjustment device 1 is fixed to the frame 1, and its output shaft is connected to the linkage mechanism 31. The limiting mechanisms 32 are integrally connected to the cutter head and the internal protective mechanism, and multiple support wheels are located below the internal protective mechanism, contacting the ground during low-cutting. The linkage mechanism includes a four-bar linkage. The limiting mechanisms include limiting components with movement space, ropes, chains, or tension springs, etc. By adjusting the first height adjustment device 1, the movement of the four-bar linkage arm is driven, causing the cutter head 41 to rise and fall, thereby changing the height of the cutter head 41 relative to the frame 5. During low-cutting, the support wheels contact the working surface, and the pressure generated by the contact raises the cutter head to the low-cutting height.

[0478] In some embodiments, as shown in FIG3, there are multiple working parts, which are arranged alternately from the front to the rear of the autonomous lawnmower. The overlap between the projection of the front support member 211 onto the first plane and the projection of the first working part onto the first plane is less than a third threshold. The front support member 211 includes a first support member and a second support member; the first plane is parallel to the width direction of the autonomous lawnmower and perpendicular to the working surface. By controlling the small overlap, the front support member will not obstruct the normal ejection of grass from the cutter head after the first cut, thereby achieving normal grass dispersion and reducing grass crushing marks.

[0479] In some embodiments, as shown in FIG3, the first support member and the second support member are symmetrically arranged along the longitudinal central axis of the autonomous lawnmower to balance the pressure and reduce grass crushing marks.

[0480] In some embodiments, as shown in Figure 3, the distance between the first support member and the second support member is greater than or equal to the width of the first working piece. The front support member will not obstruct the normal ejection of the grass from the cutter head after the first cut, thereby achieving normal grass distribution.

[0481] In some embodiments, the first support member includes a support roller. The support roller has a straw-leaking gap to reduce the ground pressure and minimize straw-pressing marks.

[0482] In some embodiments, the autonomous lawnmower includes: a plurality of moving parts 9, which are used to drive the autonomous lawnmower to move; wherein, the plurality of supporting parts further includes side supports 212 located on the side of the working mechanism, the front support includes at least one support near the longitudinal central axis of the autonomous lawnmower, the side supports include at least one support away from the longitudinal central axis of the autonomous lawnmower, the side supports include a third support and a fourth support, and the lowest point of the front support 211 in the direction perpendicular to the horizontal plane is higher than the lowest point of the third support and / or the fourth support in the direction perpendicular to the horizontal plane. Generally, the height difference is 2mm. The height of the two middle wheels on the front side of the lawnmower is slightly higher than the height of the two side wheels, which reduces the pressure on the ground and provides a supporting effect. Because the pressure on these two wheels is reduced, the grass pressed down by the front support 211 will quickly regain its height before the first working part 411 moves to the position passed by these two wheels, thereby facilitating the cutting by the first working part 411.

[0483] Furthermore, the autonomous lawnmower includes a third height adjustment mechanism 2111, configured to adjust the height difference between the front support and the third and / or fourth support in the direction perpendicular to the horizontal plane. The adjustment value is preset, and there are at least two adjustment values. The user adjusts the height difference between the four front support wheels and the ground by observing the grass-pressing marks or the lawnmower's passability through the third height adjustment mechanism. When the side support leaves obvious grass-pressing marks, the height of the front support is adjusted to be closer to the ground, thereby reducing the ground pressure of the side support and reducing grass-pressing marks on both sides. When the grass-pressing marks on the front support are obvious or there is significant grass accumulation in the middle, the height of the front support is adjusted to be further away from the ground, thereby improving the situation.

[0484] In some embodiments, the autonomous lawnmower includes: a moving wheel for moving the autonomous lawnmower; and multiple support members, including a side support member 212 located on the side of the working mechanism, the projection of the side support member onto a first plane overlapping the projection of the moving wheel onto the first plane; the first plane is parallel to the width direction of the autonomous lawnmower and perpendicular to the working surface. The side support member 212 is located away from the working range of the multiple working members, and therefore is positioned in the same vertical direction as the moving wheel, meaning that the side support member 212 will pass over the same location twice as the moving wheel, thereby reducing grass-pressing marks left by the support mechanism on the working surface.

[0485] Furthermore, the multiple support components may include: support wheels with a width of 80mm. The appropriate width of the support wheels reduces grass compression, and the grass quickly recovers its height after the support wheels move, ensuring secondary cutting and maintaining the quality of the loosened grass.

[0486] In some embodiments, the effective working area of ​​the first working piece does not coincide with the projection of the first support member onto a second plane, which is parallel to the length direction of the autonomous lawnmower and perpendicular to the working surface. That is, no support wheel is provided near the front cutter head, especially within a horizontal range of half the cutting diameter of the front cutter head. The front support member does not obstruct the normal ejection of grass from the cutter head after the first cut, thus achieving normal grass distribution.

[0487] Furthermore, the vertical distance between the first support member and the working mechanism is proportional to the linear velocity of the working mechanism, and the vertical distance is the component of the distance between the first support member and the working mechanism perpendicular to the working surface.

[0488] The autonomous lawnmower shown in Figure 1 includes a second height adjustment mechanism 5, configured to adjust the height between the support member and the working mechanism. The second height adjustment mechanism includes a fixed base 53 and a sliding member 52. One of the support member and the working mechanism is fixedly connected to the fixed base, and the other is connected to the sliding member. The sliding member is slidably mounted on the fixed base, and the height between the support member and the working mechanism is adjusted by the movement of the sliding member relative to the fixed base. The support member may include a third support member and a fourth support member located away from the longitudinal central axis of the autonomous lawnmower.

[0489] Referring to Figure 1, in low-cutting mode, the autonomous lawnmower automatically adjusts the blade height to the first working height via the height adjustment motor. The support wheels abut against the working surface to support the blade. Under pressure, the connecting mechanism changes its posture to adjust the working mechanism to the second working height. After reaching the second working height, the user measures the height of the blade from the working surface. If the required working height is not met, the user manually adjusts the blade height using the second height adjustment mechanism 5 until the desired working height is achieved. Manual adjustment of the blade height ensures accuracy. Furthermore, in low-cutting mode, the height adjustment motor often adjusts the blade height to contact the working surface or even lower, ensuring the blade contacts the ground. The support wheels support the blade, and in this scenario, the blade height can only be adjusted manually. In high-cutting mode, as shown in Figure 2, the first height adjustment mechanism adjusts the working mechanism to the third working height, and the support mechanism moves away from the working surface. Low-cutting and high-cutting modes are achieved through manual / automatic switching.

[0490] Specifically, the second height adjustment mechanism can have the following structure: the fixed base includes a guide rail, the sliding component includes a slide groove, one of the support component and the working mechanism is connected to the guide rail, and the other is connected to the slide groove. The slide groove slides in the guide rail through the cooperation of bolts to adjust the height between the support component and the working mechanism.

[0491] The support components include a support wheel with a diameter greater than or equal to 79 mm and less than or equal to 101 mm. This allows the support wheel to move out of the recess relatively quickly when it moves into it.

[0492] In some embodiments, as shown in Figures 1, 4, and 5, the autonomous lawnmower includes: an internal protective mechanism 6 connected to the working mechanism; a connecting mechanism including a linkage mechanism 31 and multiple limiting mechanisms 32; the multiple limiting mechanisms 32 are located at the front C and rear D of the autonomous lawnmower, respectively; the limiting mechanism 321 located at the front (partially referred to as the fourth limiting connection 321 in this document) has at least two degrees of freedom in two directions (vertical direction A and horizontal direction B as shown in Figure 5), so that the internal protective mechanism connected to the working mechanism can move and / or rotate relative to the horizontal surface in at least two of the following directions: vertical direction, front-back direction, left-right direction, lateral tilt, longitudinal tilt, and horizontal rotation. When the lawnmower climbs a slope, due to the presence of the limiting mechanisms, the support wheels can move with the terrain, and the internal protective mechanism connected to the support wheels can move with the terrain, thereby allowing the blades connected to the internal protective mechanism to also move with the terrain, so that the blades fit the terrain more closely and achieve a better cutting effect. Furthermore, by setting the front limiting mechanism to have at least two degrees of freedom, namely, horizontal and vertical, when the machine's front wheel encounters a slope causing it to undergo arc-shaped displacement centered on the rear wheel, the front limiting mechanism can provide the support wheel with movement space not only in the vertical direction but also in the horizontal direction. Specifically, as shown in Figure 6, using the support wheel structure proposed in this application, when encountering a 20-degree slope, the central axis of the machine's moving wheel and the central axis of the support wheel can form an angle difference of 4.8 degrees.

[0493] In some embodiments, the rear-side limiting mechanism 322 has fewer than two degrees of freedom in two directions. By limiting the number of degrees of freedom of the rear-side limiting mechanism 322, when the lawnmower's front wheels move onto a slope causing the internal protective mechanism to move, the rear-side limiting mechanism 322 can ensure that the internal protective mechanism does not undergo large displacement, thus avoiding violent shaking. These two degrees of freedom lie in a first plane or a second plane. The first plane is parallel to the width direction of the autonomous lawnmower and perpendicular to the working surface; the second plane is parallel to the length direction of the autonomous lawnmower and perpendicular to the working surface. The linkage mechanism includes a four-bar linkage. The front-side limiting mechanism is a flexible connector.

[0494] In some embodiments, the connecting mechanism includes a constraint portion for limiting the range of movement of the working frame relative to the main frame in the horizontal direction, the horizontal direction including at least the longitudinal direction along the autonomous lawnmower and the transverse direction perpendicular to the longitudinal direction.

[0495] The range of movement of the working frame relative to the main frame in the longitudinal direction is less than or equal to 12 mm.

[0496] The range of movement of the working frame relative to the main frame in the lateral direction is less than or equal to the path overlap; where, when the autonomous lawnmower moves along a reciprocating parallel path, the path overlap is the coverage overlap value between adjacent paths. For example, the range of movement of the working frame relative to the main frame in the lateral direction is less than or equal to 10cm.

[0497] The restraint part includes: at least one limiting rod, one end of which is rotatably connected to the main frame and the other end of which is rotatably connected to the working frame. The installation direction of the limiting rod is approximately parallel to the longitudinal direction of the autonomous lawnmower.

[0498] Furthermore, the support roller at the rear of the lawnmower can be a support roller 213. When the support roller 213 contacts the lawn, it can press uniform stripes onto the lawn, improving the overall visual effect. The width of the mower can be adjusted as needed to ensure stable operation of the equipment and prevent grass nibbling.

[0499] The number and layout of the aforementioned connecting and supporting mechanisms can be flexibly adjusted according to actual needs to provide the lawnmower with greater adaptability and work efficiency.

[0500] In this application, the support mechanism 2 includes multiple support members 21, including a front support member 211 located in front of the working mechanism. The component of the distance between the front support member and the first working piece parallel to the forward direction is less than a first preset threshold, or the component of the distance between the front support member 211 and the first working piece 411 perpendicular to the forward direction is less than a second preset threshold. The first working piece 411 is closest to the front support member 211 among at least one working piece. The front of the working mechanism is the forward direction of the autonomous lawnmower. By placing the front support member in front of the cutter head, the front support member will not obstruct the normal ejection of grass from the cutter head after the first cut, thus achieving normal grass distribution and reducing grass compaction marks.

[0501] 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 the combination of these technical features does not contradict each other, it should be considered to be within the scope of this specification. In this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, which includes not only the listed elements but also other elements not expressly listed.

[0502] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An autonomous lawnmower, comprising: Main frame; And, a working device connected to the main frame; A movable component is mounted on the main frame and abuts against the working surface to support the main frame; The working device includes: A work frame is connected to the main frame. The work frame includes three work frame mating parts, which are located at different positions on the work frame and are not on a straight line. The three work frame mating parts include a first work frame mating part, a second work frame mating part, and a third work frame mating part. A working mechanism, mounted on the working frame, the working mechanism comprising: at least one working piece, the at least one working piece being used to perform cutting work; A support mechanism abuts against the working surface. The support mechanism includes at least three contact points, through which it abuts against the working surface. The three contact points include a first contact point, a second contact point, and a third contact point. The first contact point is mounted to the working frame via a first working frame mounting part, the second contact point is mounted to the working frame via a second working frame mounting part, and the third contact point is mounted to the working frame via a third working frame mounting part. A connecting mechanism is disposed between the work frame and the main frame; when the three contact points abut against the work surface, the supporting force from the work surface is transmitted to the connecting mechanism via the three contact points and the work frame; in response to the supporting force from the work surface, the connecting mechanism moves to allow the three work frame mating parts corresponding to the three contact points to move relative to the main frame, so that the work frame moves relative to the main frame; When the first partial working surface abutting the first contact point, the second partial working surface abutting the second contact point, and the third partial working surface abutting the third contact point are at different heights relative to the same horizontal plane, the connecting mechanism moves in response to the supporting force generated by the height change of the working surfaces, allowing the three working frame mating parts to move relative to the main frame, such that: The height of the three working frame mating parts relative to the main frame is negatively correlated with the height of the three local working surfaces. The negative correlation is as follows: when the first local working surface is higher than the second local working surface, and the second local working surface is higher than the third local working surface, the height of the first working frame mating part relative to the main frame is less than the height of the second working frame mating part relative to the main frame, and the height of the second working frame mating part relative to the main frame is less than the height of the third working frame mating part relative to the main frame.

2. The autonomous lawnmower as described in claim 1, wherein the support mechanism comprises: A first support member, a second support member, and a third support member; wherein the first support member includes a first contact point, the second support member includes a second contact point, and the third support member includes a third contact point.

3. The autonomous lawnmower as described in any one of claims 1-2, When the first support moves from the horizontal plane to the first partial working surface, the weight of the first support is transmitted to the connecting mechanism via the first support and the work frame; at least in response to the weight of the first support, the connecting mechanism moves downward to allow the first work frame mating portion corresponding to the first support to move in a direction away from the main frame, such that the work frame moves relative to the main frame; wherein... The first local working surface is lower than the horizontal plane.

4. The autonomous lawnmower as described in any one of claims 1-3, When the first partial working surface, the second partial working surface, and the third partial working surface are at the same height relative to the same horizontal plane, the connecting mechanism is in a first state; when the first partial working surface, the second partial working surface, and the third partial working surface are at different heights relative to the same horizontal plane, the connecting mechanism is in a second state. In the first state, the reference position point's position relative to the main frame is the initial position. In the second state, the reference position point's position relative to the main frame is the offset position. The offset position, relative to the initial position, has a first offset, a second offset, and a third offset in the X, Y, and Z directions, respectively. The first offset is less than or equal to a first preset value, the second offset is less than or equal to a second preset value, and the third offset is less than or equal to a third preset value. The reference position points are located at the outer edge and bottom edge of the working mechanism. The X direction is parallel to the travel direction of the autonomous lawnmower, the Y direction is parallel to the working surface and perpendicular to the X direction, and the Z direction is perpendicular to the working surface.

5. The autonomous lawnmower as described in any one of claims 1-4, wherein the first offset is less than or equal to 100 mm.

6. The autonomous lawnmower as described in any one of claims 1-5, wherein the first offset is less than or equal to 30 mm.

7. The autonomous lawnmower as described in any one of claims 1-6, wherein the first offset is less than or equal to 15 mm.

8. The autonomous lawnmower as described in any one of claims 1-7, wherein the second offset is less than or equal to the path overlap of the autonomous lawnmower; wherein, The path overlap is the amount of overlap in the coverage area of ​​the working parts when the autonomous lawnmower moves along adjacent paths.

9. The autonomous lawnmower as described in any one of claims 1-8, wherein the height of the reference position point in the Z direction in the first state is not lower than the height of the bottom edge of the autonomous lawnmower in the Z direction in the first state.

10. The autonomous lawnmower as claimed in any one of claims 1-9, wherein the autonomous lawnmower comprises: The first height adjustment mechanism is connected between the main frame and the working frame, and is used to adjust the height of the working mechanism relative to the main frame; In the first height adjustment state, the first height adjustment mechanism adjusts the working mechanism to a first height; in the second height adjustment state, the first height adjustment mechanism adjusts the working mechanism to a second height; in the first height adjustment state, the distance between the working mechanism and the working surface is less than, in the second height adjustment state, the distance between the working mechanism and the working surface; wherein, In the second state, the height of the reference position point in the Z direction is not higher than the height of the top of the work frame in the Z direction in the second height adjustment state.

11. The autonomous lawnmower as described in any one of claims 1-10, wherein the third offset is less than or equal to the height adjustment value of the first height adjustment mechanism when switching from the first height adjustment state to the second height adjustment state; or, in the second state, the height of the reference position point in the Z direction is not higher than the height of the top of the main frame in the Z direction in the second height adjustment state.

12. The autonomous lawnmower as described in any one of claims 1-11, wherein the third offset is less than or equal to 100 mm.

13. The autonomous lawnmower as described in any one of claims 1-12, wherein the third offset is less than or equal to 30 mm.

14. The autonomous lawnmower as described in any one of claims 1-13, wherein the third offset is less than or equal to 15 mm.

15. The autonomous lawnmower as claimed in any one of claims 1-14, wherein the ratio between the third offset and the second offset is less than or equal to 12.

16. The autonomous lawnmower as claimed in any one of claims 1-15, wherein the ratio between the third offset and the first offset is less than or equal to 10.

17. The autonomous lawnmower as claimed in any one of claims 1-16, wherein the connecting mechanism comprises: Spherical connector; When the three contact points abut against the working surface, the supporting force from the working surface is transmitted to the connecting mechanism via the three contact points and the working frame; In response to the supporting force from the working surface, the spherical connector rotates to allow the three working frame mating parts corresponding to the support mechanism to move relative to the main frame, such that the working frame moves relative to the main frame.

18. The autonomous lawnmower as claimed in any one of claims 1-17, wherein the connecting mechanism comprises: A suspension adjustment mechanism is provided, through which the working frame is suspended below the main frame; When the reference position point moves from the initial position to the offset position, the suspension adjustment mechanism has a first movement range X1, a second movement range Y1, and a third movement range Z1 in the three directions X, Y, and Z, respectively. The constraint part is used to limit the movement of the suspension adjustment mechanism; when the reference position point moves from the initial position to the offset position, the constraint part has a fourth movement range X2, a fifth movement range Y2, and a sixth movement range Z2 in the three directions X, Y, and Z, respectively. Under the combined action of the suspension adjustment mechanism and the constraint part, the allowable range of motion of the working frame in the X direction is no greater than the smaller value of X1 and X2, the allowable range of motion in the Y direction is no greater than the smaller value of Y1 and Y2, and the allowable range of motion in the Z direction is no greater than the smaller value of Z1 and Z2.

19. The autonomous lawnmower as claimed in any one of claims 1-18, wherein the restraint is disposed between the working frame and the outer casing of the autonomous lawnmower to restrict the movement of the suspension adjustment mechanism, such that the working frame has a range of movement X2 in the X direction, a range of movement Y1 in the Y direction, and a range of movement Z1 in the Z direction relative to the main frame; wherein, X1 is greater than X2, Y1 is less than Y2, and Z1 is less than Z2.

20. The autonomous lawnmower as claimed in any one of claims 1-19, wherein the restraint unit comprises: The lever has one end movably connected to the main frame or the outer shell of the autonomous lawnmower, and the other end spherically connected to the working frame.

21. The autonomous lawnmower as claimed in any one of claims 1-20, wherein the restraint unit further comprises: The first limiting connection part is installed on the working frame; The first limiting connection part includes two walls with a movable space between them, and the pull rod is rotatably and / or movably connected between the two walls by a pin.

22. The autonomous lawnmower as described in any one of claims 1-21, wherein there are two levers, the two levers are parallel to each other, and the extension direction of the levers is substantially parallel to the direction of travel.

23. The autonomous lawnmower as described in any one of claims 1-22, wherein the suspension adjustment mechanism comprises: The first-stage adjustment mechanism includes a plurality of adjustable movable components that mate with the work frame. These components include a first adjustable movable component, a second adjustable movable component, and a third adjustable movable component. The distance between the first adjustable movable component and the first support component is less than the distance between the first adjustable movable component and any other support component. The distance between the second adjustable movable component and the second support component is less than the distance between the second adjustable movable component and any other support component. The distance between the third adjustable movable component and the third support component is less than the distance between the third adjustable movable component and any other support component. These adjustable movable components are independent of each other and are spaced apart above the support mechanism. Each of the multiple adjustable movable components has a limit position relative to the main frame. The second-stage adjustment mechanism connects the first, second, and third adjusting movable components to the main frame via the second-stage adjustment mechanism. In response to the first support member driving the first adjusting member to move upward to the movement limit position, the second-stage adjustment mechanism moves relative to the main frame, thereby driving the second adjusting member and the third adjusting member to move, so as to drive the second support member and the third support member to move upward relative to the main frame, so as to realize the coordinated movement between the various support members.

24. The autonomous lawnmower as described in any one of claims 1-23, The first adjusting movable component includes: A first suspension component, one end of which is movably connected to the work frame; The second-stage adjustment mechanism includes: a first mounting part, the other end of the first suspension member being movably passed through the first mounting part to drive the first support member to move upward or downward relative to the main frame.

25. The autonomous lawnmower as described in any one of claims 1-24, The first mounting portion has a radial dimension larger than the first suspension member's dimension in the corresponding direction; the other end of the first suspension member is movably inserted through the first mounting portion to drive the first support member to move relative to the main frame in at least one of the following directions: X direction, or Y direction, or Z direction; wherein... The range of motion of the top of the first suspension member in the X direction is less than or equal to the size difference between the first mounting part and the first suspension member in the X direction; the range of motion of the top of the first suspension member in the Y direction is less than or equal to the size difference between the first mounting part and the first suspension member in the Y direction; and the range of motion of the top of the first suspension member in the Z direction is less than or equal to the length of the first suspension member.

26. The autonomous lawnmower as claimed in any one of claims 1-25, wherein when the support mechanism is located on the horizontal plane, the top of the first suspension member is higher than the first mounting portion, and when the first partial working surface is lower than the horizontal plane, the other end of the first suspension member moves in the first mounting portion toward a direction away from the main frame, thereby the working frame moves toward a direction away from the main frame.

27. The autonomous lawnmower as described in any one of claims 1-26, wherein the second-stage adjustment mechanism comprises: A linkage assembly, which is connected to the main frame via a fixing part, and is rotatable relative to the main frame; A linkage is installed between the linkage assemblies, the linkage is rotatably connected to the linkage assemblies, and the linkage transmits power between the linkage assemblies; The first link has one end fixedly connected to the link assembly and the other end movably connected to the first adjusting member; The second link has one end fixedly connected to the link assembly and the other end movably connected to the second adjusting member; The third link, one end of which is fixedly connected to the link assembly, and the other end of which is movably connected to the third adjusting member; In response to the first support member driving the first adjusting member to move upward to the movement limit position, the first adjusting member drives the first connecting rod to rotate, thereby driving the connecting rod assembly to rotate, thereby driving the second adjusting member and the third adjusting member to move upward.

28. The autonomous lawnmower as described in any one of claims 1-27, wherein the first mounting part of the second-stage adjustment mechanism is provided with a second limiting connection part, the second limiting connection part being used to limit the range of movement of the first suspension member in the Y direction; the second limiting connection part is movably connected to the first mounting part.

29. The autonomous lawnmower as described in any one of claims 1-28, wherein the second-stage adjustment mechanism further comprises: A swing arm, one end of which is fixedly mounted on the connecting rod assembly, and the other end of which is nested with a third limiting connection part; wherein, the third limiting connection part is used to limit the rotation limit position of the swing arm; the connecting rod assembly drives the swing arm to rotate until it reaches the rotation limit position, so as to drive the second adjusting movable member and the third adjusting movable member to move upward to the corresponding height limit position.

30. The autonomous lawnmower as described in any one of claims 1-29, wherein the third limiting connection portion comprises: Breakthrough point; The other end of the swing arm is provided with a sliding groove, wherein the connecting rod assembly drives the sliding groove to slide relative to the protrusion until the sliding groove reaches the rotation limit position.

31. The autonomous lawnmower as claimed in any one of claims 1-30, wherein the autonomous lawnmower comprises: A first height adjustment mechanism is connected between the main frame and the working frame for adjusting the distance between the working mechanism and the working surface; wherein, the first height adjustment mechanism includes: a height adjustment motor, and the third limiting connection part is provided on the output shaft of the height adjustment motor.

32. The autonomous lawnmower as claimed in any one of claims 1-31, wherein the autonomous lawnmower comprises: The first height adjustment mechanism is connected between the main frame and the working frame, and is used to adjust the height of the working mechanism relative to the main frame; In the first height adjustment state, the first height adjustment mechanism adjusts the working mechanism to a first height; in the second height adjustment state, the first height adjustment mechanism adjusts the working mechanism to a second height; and, at the first height, the distance between the working mechanism and the working surface is less than, at the second height, the distance between the working mechanism and the working surface. In the first height adjustment state, the support mechanism abuts against the working surface; In the second height adjustment state, the bottom edge of the support mechanism is higher than the bottom edge of the moving component.

33. The autonomous lawnmower as described in any one of claims 1-32, wherein the third support member comprises: A support roller is mounted at the rear or front of the workpiece.

34. An autonomous lawnmower, the autonomous lawnmower comprising: Main frame; A movable component that abuts against a working surface to support the main frame; as well as, The working device includes: A work frame, which is connected to the main frame; A support mechanism abuts against the working surface to support the working frame; the support mechanism includes: a plurality of support members, each of the plurality of support members abutting against the working surface to support the working frame; wherein, the plurality of support members includes: a front support assembly, the front support assembly being installed at the front of the autonomous lawnmower; A working mechanism is mounted on the working frame; the working mechanism includes: a plurality of working parts configured to perform mowing tasks; wherein, the plurality of working parts includes: a first working part, which is: a working part whose distance from the front support assembly is less than or equal to a preset support threshold along the travel direction of the autonomous lawnmower; the front support assembly satisfies at least one of the following conditions: Along the travel direction, the distance between the front support assembly and the first working piece is greater than or equal to the vertical distance from the first working piece to the working surface; or, There is no overlap between the projection of the front support assembly onto the first plane and the projection of the first working piece onto the first plane; wherein the first plane is perpendicular to the direction of travel.

35. The autonomous lawnmower as described in any one of claims 1-33, The supporting structure includes: Multiple support members are provided, each of which abuts against the working surface to support the working frame; wherein, the multiple support members include: a front support assembly, which is installed at the front of the autonomous lawnmower; The at least one working component includes: a first working component, wherein the first working component is a working component whose distance from the front support assembly is less than or equal to a preset support threshold along the travel direction of the autonomous lawnmower; the front support assembly satisfies at least one of the following conditions: Along the travel direction, the distance between the front support assembly and the first working piece is greater than or equal to the vertical distance from the first working piece to the working surface; or, There is no overlap between the projection of the front support assembly onto the first plane and the projection of the first working piece onto the first plane; wherein the first plane is perpendicular to the direction of travel.

36. The autonomous lawnmower as described in any one of claims 1-35, wherein the front support assembly comprises: Front support member, and side support member; Along the direction of travel, the side support is disposed behind the front support; wherein the distance between the side support and the longitudinal centerline of the moving assembly is greater than the distance between the front support and the longitudinal centerline.

37. The autonomous lawnmower as described in any one of claims 1-36, wherein the vertical distance from the bottom edge of the front support to the working surface is greater than the vertical distance from the bottom edge of the side support to the working surface.

38. The autonomous lawnmower as described in any one of claims 1-37, wherein the distance between the front support assembly and the first working component is in the range of 30mm-300mm, or 50mm-200mm, or 100mm-150mm.

39. The autonomous lawnmower as described in any one of claims 1-38, wherein the vertical distance from the first working piece to the working surface is in the range of 10mm-25mm.

40. An autonomous lawnmower, the autonomous lawnmower comprising: Main frame; A movable component that abuts against a working surface to support the main frame; as well as, The working device includes: A work frame, which is connected to the main frame; A support mechanism abuts against the working surface to support the working frame; the support mechanism includes: a plurality of support members, each of the plurality of support members abutting against the working surface to support the working frame; wherein, the plurality of support members includes: a front support assembly, the front support assembly being installed at the front of the autonomous lawnmower; A working mechanism is mounted on the working frame; the working mechanism includes at least one working component configured to perform a mowing task; wherein the at least one working component includes a first working component, which is a working component whose distance from the front support assembly along the travel direction of the autonomous lawnmower is less than or equal to a preset support threshold; wherein... A circle is formed with the projection of the rotation axis of the first working piece onto the horizontal plane as the center and any distance greater than the radius of the first working piece as the radius; when the circle intersects with the projection of any of the plurality of support members onto the horizontal plane, the length of the arc segment formed by the intersection is not greater than 300mm.

41. The autonomous lawnmower as described in any one of claims 1-39, The at least one working piece includes: The first working piece is: in the direction of travel of the autonomous lawnmower, the distance between the at least one working piece and the front support assembly is less than or equal to a preset support threshold. A circle is formed with the projection of the rotation axis of the first working piece onto the horizontal plane as the center and any distance greater than the radius of the first working piece as the radius; when the circle intersects with the projection of any of the plurality of support members onto the horizontal plane, the length of the arc segment formed by the intersection is not greater than 300mm.

42. An autonomous lawnmower, the autonomous lawnmower comprising: Main frame; A movable component that abuts against a working surface to support the main frame; as well as, The working device includes: A work frame, which is connected to the main frame; A support mechanism abuts against the working surface to support the working frame; the support mechanism includes: a plurality of support members, each of the plurality of support members abutting against the working surface to support the working frame; wherein, the plurality of support members includes: a front support assembly, the front support assembly being installed at the front of the autonomous lawnmower; A working mechanism, mounted on the working frame; the working mechanism includes: at least one working component, the at least one working component being configured to perform a mowing task; wherein... The area formed by the projections of the multiple workpieces onto a horizontal plane is defined as the overall area of ​​the cutter head, and the overall cutter head area has an overall cutter head center; a first preset area is defined as the area on the horizontal plane whose radial distance from the overall cutter head center is greater than the radius of the workpiece; a second preset area is defined as the area obtained by removing the overall cutter head area from the first preset area; wherein... The ratio of the area of ​​the projection of the plurality of workpieces onto the horizontal plane to the area of ​​the second preset region is less than or equal to 50%.

43. The autonomous lawnmower as described in any one of claims 1-41, The at least one working piece includes: The first working piece is: in the direction of travel of the autonomous lawnmower, the distance between the at least one working piece and the front support assembly is less than or equal to a preset support threshold. The area formed by the projection of the at least one workpiece onto a horizontal plane is defined as the overall area of ​​the cutter head, and the overall area of ​​the cutter head has an overall cutter head center; a first preset area is defined as: on the horizontal plane, the area whose radial distance from the overall cutter head center is greater than the radius of the workpiece; a second preset area is defined as: the area obtained by removing the overall cutter head area from the first preset area; wherein... The ratio of the area of ​​the projection of the plurality of workpieces onto the horizontal plane to the area of ​​the second preset region is less than or equal to 50%.

44. An autonomous lawnmower, the autonomous lawnmower comprising: Main frame; A movable component that abuts against a working surface to support the main frame; as well as, The working device includes: A work frame, which is connected to the main frame; A support mechanism abuts against the working surface to support the working frame; the support mechanism includes: a plurality of support members, each of the plurality of support members abutting against the working surface to support the working frame; wherein, the plurality of support members includes: a front support assembly, the front support assembly being installed at the front of the autonomous lawnmower; A working mechanism is mounted on the working frame; the working mechanism includes at least one working component configured to perform a mowing task; wherein the at least one working component includes a first working component, which is a working component whose distance from the front support assembly is less than or equal to a preset support threshold along the travel direction of the autonomous lawnmower; wherein the distance between the edge of the first working component and the front support assembly is greater than or equal to 20 mm.

45. The autonomous lawnmower as described in any one of claims 1-43, The at least one working piece includes: The first working piece is: in the direction of travel of the autonomous lawnmower, the distance between the at least one working piece and the front support assembly is less than or equal to a preset support threshold. The distance between the edge of the first working piece and the front support assembly is greater than or equal to 20 mm.

46. ​​The autonomous lawnmower as claimed in any one of claims 1-45, wherein the distance between the edge of the first working piece and the front support assembly is greater than or equal to 50 mm.

47. The autonomous lawnmower as claimed in any one of claims 1-46, wherein the edge of the first working piece does not extend beyond the outer contour of the autonomous lawnmower.

48. The autonomous lawnmower as described in any one of claims 1-47, wherein the area formed by the projections of the plurality of working parts onto a horizontal plane is the overall blade disc area, the overall blade disc area having an overall blade disc center; a first preset area is: on the horizontal plane, the radial distance from the overall blade disc center is greater than the radius of the working parts; a second preset area is: the area obtained by removing the overall blade disc area from the first preset area; wherein... The ratio of the area of ​​the projection of the plurality of workpieces onto the horizontal plane to the area of ​​the second preset region is less than or equal to 30%.

49. The autonomous lawnmower as described in any one of claims 1-48, wherein the distance between any two of the plurality of support members along the X direction is not less than the diameter of the first working member, or twice the diameter of the first working member; wherein, The X direction is parallel to the first plane and perpendicular to the direction of travel.

50. The autonomous lawnmower as described in any one of claims 1-49, wherein a circle is formed with the projection of the rotation axis of the first working piece on the horizontal plane as the center and any distance greater than the radius of the first working piece as the radius; when the circle intersects with the projection of the support member on the horizontal plane, the length of the arc segment formed by the intersection is not greater than 150mm.

51. An autonomous lawnmower, the autonomous lawnmower comprising: Main frame; A movable component that abuts against a working surface to support the main frame; as well as, The working device includes: A work frame, which is connected to the main frame; A support mechanism abuts against the working surface to support the working frame; the support mechanism includes: at least one support member, the at least one support member abutting against the working surface to support the working frame; wherein, the at least one support member includes: a front support assembly, the front support assembly being mounted at the front of the autonomous lawnmower; A working mechanism is mounted on the working frame; the working mechanism includes at least one working component configured to perform a mowing task; wherein the at least one working component includes a first working component, which is a working component whose distance from the front support assembly along the travel direction of the autonomous lawnmower is less than or equal to a preset support threshold; wherein... A circle is formed with the projection of the rotation axis of the first working piece onto the horizontal plane as the center and any distance greater than the radius of the first working piece as the radius; when the circle intersects with the projection of the support member onto the horizontal plane, the angular interval formed by the line connecting the intersection point of adjacent support members and the center of the circle is no greater than 180°.

52. The autonomous lawnmower as described in any one of claims 1-50, The at least one working piece includes: The first working piece is: in the direction of travel of the autonomous lawnmower, the distance between the at least one working piece and the front support assembly is less than or equal to a preset support threshold. A circle is formed with the projection of the rotation axis of the first working piece onto the horizontal plane as the center and any distance greater than the radius of the first working piece as the radius; when the circle intersects with the projection of the support member onto the horizontal plane, the angular interval formed by the line connecting the intersection point of adjacent support members and the center of the circle is no greater than 180°.

53. An autonomous lawnmower, the autonomous lawnmower comprising: Main frame; A movable component that abuts against a working surface to support the main frame; as well as, The working device includes: A work frame, which is connected to the main frame; A support mechanism abuts against the working surface to support the working frame; the support mechanism includes: a plurality of support members, each of the plurality of support members abutting against the working surface to support the working frame; wherein, the plurality of support members includes: a front support assembly, the front support assembly being installed at the front of the autonomous lawnmower; A working mechanism is mounted on the working frame; the working mechanism includes at least one working component configured to perform a mowing task; wherein the at least one working component includes a first working component, which is a working component whose distance from the front support assembly along the travel direction of the autonomous lawnmower is less than or equal to a preset support threshold; wherein... The distance between any two of the plurality of supports along the X direction is less than or equal to 5 times the diameter of the first working piece, wherein the X direction is parallel to the first plane and perpendicular to the direction of travel.

54. The autonomous lawnmower as described in any one of claims 1-52, The at least one working piece includes: The first working piece is: in the direction of travel of the autonomous lawnmower, the distance between the at least one working piece and the front support assembly is less than or equal to a preset support threshold. The distance between any two of the at least one support members along the X direction is less than or equal to 5 times the diameter of the first working piece, wherein the X direction is parallel to the first plane and perpendicular to the direction of travel.

55. An autonomous lawnmower, the autonomous lawnmower comprising: Main frame; A movable component that abuts against a working surface to support the main frame; as well as, The working device includes: A work frame, which is connected to the main frame; The support mechanism includes: multiple support members, which abut against the working surface to support the working frame; wherein, the multiple support members include: a front support assembly, which is installed at the front of the autonomous lawnmower; A working mechanism is mounted on the working frame; the working mechanism includes at least one working component configured to perform a mowing task; wherein the at least one working component includes a first working component, which is a working component whose distance from the front support assembly along the travel direction of the autonomous lawnmower is less than or equal to a preset support threshold; wherein... The distance between any two of the at least one support members along the direction of travel is greater than or equal to three times the diameter of the first working piece.

56. The autonomous lawnmower as described in any one of claims 1-54, wherein the distance between any two of the plurality of supports along the direction of travel is greater than or equal to three times the diameter of the first working piece.

57. The autonomous lawnmower as described in any one of claims 1-56, wherein the width of each of the plurality of support members is greater than 30 mm.

58. The autonomous lawnmower as described in any one of claims 1-57, wherein the distance between any two of the plurality of supports along the X direction is less than or equal to three times the diameter of the first working piece.

59. The autonomous lawnmower as described in any one of claims 1-58, wherein the distance between any two of the plurality of supports along the travel direction is greater than or equal to 5 times the diameter of the first working piece.

60. The autonomous lawnmower as described in any one of claims 1-59, wherein a circle is formed with the projection of the rotation axis of the first working member on the horizontal plane as the center and any distance greater than the radius of the first working member as the radius; when the circle intersects with the projection of the support member on the horizontal plane, the angular interval formed by the line connecting the intersection point of adjacent support members and the center of the circle is not greater than 120° or 90°.

61. The autonomous lawnmower as described in any one of claims 1-60, wherein the diameter of each of the plurality of support members is greater than or equal to 79 mm and less than or equal to 101 mm.

62. An autonomous lawnmower, the autonomous lawnmower comprising: Main frame; A movable component that abuts against a working surface to support the main frame; as well as, The working device includes: A work frame, which is connected to the main frame; A support mechanism abuts against the working surface to support the working frame; the support mechanism includes: a plurality of support members, each of the plurality of support members abutting against the working surface to support the working frame; wherein, at least one of the plurality of support members includes: a support roller; A working mechanism, mounted on the working frame; the working mechanism includes: at least one working component, the at least one working component being configured to perform a mowing task; wherein... The projection of the center of gravity of the autonomous lawnmower onto the horizontal plane is located between the overall center of the cutter head and the projection of the support roller onto the horizontal plane; wherein, the area formed by the projection of the at least one working part onto the horizontal plane is the overall area of ​​the cutter head, and the overall area of ​​the cutter head has an overall center.

63. The autonomous lawnmower as described in any one of claims 1-61, The at least one working piece includes: Support rollers; The projection of the center of gravity of the autonomous lawnmower onto the horizontal plane is located between the overall center of the cutter head and the projection of the support roller onto the horizontal plane; wherein, the area formed by the projection of the at least one working part onto the horizontal plane is the overall area of ​​the cutter head, and the overall area of ​​the cutter head has an overall center.

64. The autonomous lawnmower as claimed in any one of claims 1-63, wherein the moving assembly comprises a plurality of moving parts, the plurality of moving parts including a first moving part and a second moving part located on the left or right side of the autonomous lawnmower; wherein, Along the travel direction, the first movable member is mounted at the front of the second movable member; The side support is located between the first moving member and the second moving member, and the side support and the first moving member are arranged along the direction of travel, such that the side support is located in the extension direction of the travel trajectory of the first moving member.

65. The autonomous lawnmower as claimed in any one of claims 1-64, wherein the support roller is located behind the working mechanism.

66. The autonomous lawnmower as described in any one of claims 1-65, wherein the ratio of the pressure per unit area in the support roller to the pressure per unit area in the moving assembly is in the range of 0.9-1.5, or 0.9-1.

2.

67. The autonomous lawnmower as described in any one of claims 1-66, The supporting structure includes: Multiple support members are provided, each of which abuts against the working surface to support the working frame; wherein, the multiple support members include: a front support assembly, which is installed at the front of the autonomous lawnmower; The front support assembly includes a front support member; wherein the distance between the front support member and the longitudinal centerline of the moving assembly is less than or equal to half the length of the support roller.

68. The autonomous lawnmower as claimed in any one of claims 1-67, wherein the projection of the moving component onto the first plane has an inner end close to the longitudinal central axis of the moving component, and the projection of the support roller onto the first plane is tangent to the inner end; wherein, The roller projection and the inner end are located on the same side of the autonomous lawnmower, and the same side includes: the left side or the right side.

69. An autonomous lawnmower, the autonomous lawnmower comprising: Main frame; A movable component that abuts against a working surface to support the main frame; as well as, The working device includes: A work frame, which is connected to the main frame; A support mechanism abuts against the working surface to support the working frame. The support mechanism includes: a plurality of support members, each of which abuts against the working surface to support the working frame. A working mechanism is mounted on the working frame; the working mechanism includes: multiple working parts configured to perform lawn mowing tasks; wherein, the multiple working parts include: a first working part; The distance between any two of the plurality of support members along the X direction is not less than the diameter of the first working part, and not greater than 5 times the diameter of the first working part; wherein, the first plane is perpendicular to the travel direction, and the X direction is parallel to the first plane and perpendicular to the travel direction.

70. The autonomous lawnmower as described in any one of claims 1-68, The supporting structure includes: Multiple support members, each of which abuts against the working surface to support the working frame; The at least one working piece includes: a first working piece; The distance between any two of the plurality of support members along the X direction is not less than the diameter of the first working part, and not greater than 5 times the diameter of the first working part; wherein, the first plane is perpendicular to the travel direction, and the X direction is parallel to the first plane and perpendicular to the travel direction.

71. The autonomous lawnmower as described in any one of claims 1-70, wherein the distance between any two of the plurality of support members along the X direction is not greater than three times the diameter of the first working member.

72. The autonomous lawnmower as described in any one of claims 1-71, wherein the distance between any two of the plurality of support members along the X direction is not less than twice the diameter of the first working member.

73. An autonomous lawnmower, comprising: Main frame; A movable assembly, comprising at least three movable elements, which abut against a working surface to support the main frame; And, a working device connected to the main frame; The working device includes: A work frame, connected to the main frame; A working mechanism, mounted on the work frame, the working mechanism comprising: at least one working component, the at least one working component being configured to perform a working task; The support mechanism includes multiple support members, which are respectively installed at different positions of the work frame and abut against the work surface to support the work frame through the work surface; A protective mechanism is provided above the work frame and the at least one workpiece.

74. The autonomous lawnmower as claimed in any one of claims 1-72, wherein the autonomous lawnmower comprises: The support mechanism includes multiple support components, which are respectively installed at different positions on the work frame; A protective mechanism is provided above the work frame and the at least one workpiece.

75. The autonomous lawnmower as described in any one of claims 1-74, wherein the working frame is a frame structure.

76. The autonomous lawnmower as described in any one of claims 1-75, wherein the working device further comprises: An internal protective mechanism is installed on the work frame and covers the at least one workpiece.

77. The autonomous lawnmower as claimed in any one of claims 1-76, wherein the projection of the internal protective mechanism onto the working surface covers the projection of the working mechanism onto the working surface.

78. The autonomous lawnmower as claimed in any one of claims 1-77, wherein, in a direction perpendicular to the working surface, the lowest point of the internal protective mechanism is higher than the highest point of the working element in the at least one working component.

79. The autonomous lawnmower as claimed in any one of claims 1-78, wherein the protective mechanism comprises: Side guards, connected to the main frame, are disposed on the side of the at least one working piece and the internal protective mechanism to establish protection on the side of the at least one working piece; The side guard and the internal guard cooperate to form a continuous protective space around and above the at least one working part, thereby preventing foreign objects from contacting the at least one working part around and above.

80. The autonomous lawnmower as described in any one of claims 1-79, wherein the protective mechanism further comprises: The frame structure, wherein the side guard is mounted on the main frame through the frame structure, and the side guard, the frame structure and the internal protection mechanism cooperate with each other to form a continuous protective space around and above the at least one working part, thereby preventing foreign objects from contacting the at least one working part.

81. The autonomous lawnmower as described in any one of claims 1-80, wherein the distance between the outer contour of the side guard and the outer contour of the internal protective mechanism along the X direction is greater than or equal to 180 mm; wherein, The X direction is parallel to the first plane, and the first plane is perpendicular to the direction of travel of the autonomous lawnmower.

82. The autonomous lawnmower as described in any one of claims 1-81, wherein the vertical distance from any position in the first portion of the side guard to the working surface is less than or equal to 75 mm; wherein, The first part includes: a portion of the side guard that is lower than the internal protective mechanism in a direction perpendicular to the working surface.

83. The autonomous lawnmower as claimed in any one of claims 1-82, wherein the side guard comprises: Multiple first openings; The distance between any two positions of each of the plurality of first openings is less than or equal to 75 mm; wherein the distance between the plurality of first openings and the working surface is lower than the distance between the internal protective mechanism and the working surface.

84. The autonomous lawnmower as described in any one of claims 1-83, further comprising: The second height adjustment mechanism is configured to drive the support member to move relative to the work frame in a direction perpendicular to the work surface; The second height adjustment mechanism includes: an operating component, mounted on the work frame, wherein operating the operating component can drive the plurality of support components to move relative to the work frame in a direction perpendicular to the work surface; The side protective component includes: a second opening, the distance between the second opening and the operating component is less than a preset distance threshold; the operating component is exposed to the outside world through the second opening so that the user can operate the operating component through the second opening.

85. The autonomous lawnmower as claimed in any one of claims 1-84, wherein the operating element is mounted below the second opening.

86. The autonomous lawnmower as claimed in any one of claims 1-85, wherein the side guard is detachably connected to the main frame.

87. The autonomous lawnmower as described in any one of claims 1-86, wherein the weight of the internal protective mechanism is less than a preset weight threshold.

88. The autonomous lawnmower as described in any one of claims 1-87, wherein the internal protective mechanism is made of plastic.

89. The autonomous lawnmower as claimed in any one of claims 1-88, wherein the protective mechanism is disposed above the at least two support members.

90. An autonomous lawnmower, the autonomous lawnmower comprising: Main frame; A movable assembly, comprising at least three movable elements, which abut against a working surface to support the main frame; as well as, The working device includes: A work frame, which is connected to the main frame; A working mechanism, mounted on the work frame, the working mechanism comprising: at least one working component configured to perform a working task; The support mechanism includes multiple support members, which are respectively installed at different positions on the work frame. The multiple support members abut against the work surface to support the work frame through the work surface. The autonomous lawnmower also includes: A second height adjustment mechanism provides an adjustable mechanical connection between the support member and the work frame. The second height adjustment mechanism is configured to move the support member relative to the work frame in a direction perpendicular to the work surface to increase or decrease the height of the workpiece above the ground.

91. The autonomous lawnmower as described in any one of claims 1-89, The support mechanism includes multiple support components, which are respectively installed at different positions on the work frame; A second height adjustment mechanism provides an adjustable mechanical connection between the support member and the work frame. The second height adjustment mechanism is configured to move the support member relative to the work frame in a direction perpendicular to the work surface to increase or decrease the height of the workpiece above the ground.

92. The autonomous lawnmower as claimed in any one of claims 1-91, wherein the second height adjustment mechanism is configured to: drive the support member to continuously adjust its position relative to the working frame in a direction perpendicular to the working surface, and fix the support member in any adjustable position, so as to achieve stepless height adjustment of the working piece within a preset height range.

93. The autonomous lawnmower as described in any one of claims 1-92, wherein the second height adjustment mechanism comprises: The support member and the working frame are provided with a fixed base and a sliding member. One of them is fixedly connected to the fixed base, and the other is connected to the sliding member. The sliding member is slidably mounted on the fixed base. The distance between the support member and the working frame is adjusted by driving the sliding member to move relative to the fixed base in the height direction.

94. The autonomous lawnmower as described in any one of claims 1-93, wherein the second height adjustment mechanism comprises: An operating component is mounted on the work frame and exposed to the outside environment so that the user can operate the operating component.

95. The autonomous lawnmower as described in any one of claims 1-94, further comprising: Side guards, connected to the main frame, are disposed on the side of the at least one working piece and the internal protective mechanism to establish protection on the side of the at least one working piece; The side protection component includes: a second opening, wherein the distance between the second opening and the operating component is less than a preset distance threshold; The operating element is exposed to the outside through the second opening, so that the user can operate the operating element through the second opening.

96. The autonomous lawnmower as claimed in any one of claims 1-95, wherein the operating element is disposed below the second opening.

97. An autonomous lawnmower, the autonomous lawnmower comprising: Main frame; A movable assembly, comprising at least three movable elements, which abut against a working surface to support the main frame; as well as, The working device includes: A work frame, which is connected to the main frame; A working mechanism, mounted on the work frame, the working mechanism comprising: at least one working component configured to perform a working task; The support mechanism includes multiple support members, which are installed at different positions on the work frame and abut against the work surface to support the work frame. The autonomous lawnmower also includes: The second height adjustment mechanism provides an adjustable mechanical connection between the workpiece and the work frame. The second height adjustment mechanism is configured to: drive the support member to continuously adjust its position relative to the work frame in a direction perpendicular to the work surface, and fix the support member in any adjustable position, so as to achieve stepless height adjustment of the workpiece within a preset height range.

98. The autonomous lawnmower as described in any one of claims 1-96, further comprising: The support mechanism includes multiple support members, which are installed at different positions on the work frame and abut against the work surface to support the work frame. The second height adjustment mechanism provides an adjustable mechanical connection between the workpiece and the work frame. The second height adjustment mechanism is configured to: drive the support member to continuously adjust its position relative to the work frame in a direction perpendicular to the work surface, and fix the support member in any adjustable position, so as to achieve stepless height adjustment of the workpiece within a preset height range.

99. An autonomous lawnmower, the autonomous lawnmower comprising: Main frame; A movable assembly, comprising at least three movable elements, which abut against a working surface to support the main frame; as well as, The working device includes: A work frame, which is connected to the main frame; A working mechanism, mounted on the work frame, the working mechanism comprising: at least one working component configured to perform a working task; The support mechanism includes multiple support members, which are respectively installed at different positions on the work frame. The multiple support members abut against the work surface to support the work frame through the work surface. Side guards, connected to the main frame, are disposed on the side of the at least one working piece to establish protection on the side of the at least one working piece; The second height adjustment mechanism provides an adjustable mechanical connection between the support member and the work frame; the second height adjustment mechanism includes: an operating member mounted on the work frame, which can increase or decrease the height of the workpiece from the work surface by operating the operating member; The side protection component includes: a second opening, wherein the distance between the second opening and the operating component is less than a preset distance threshold; The operating element is exposed to the outside through the second opening so that the user can operate the operating element through the second opening.

100. The autonomous lawnmower as claimed in any one of claims 1-98, further comprising: Side guards, connected to the main frame, are disposed on the side of the at least one working piece to establish protection on the side of the at least one working piece; The second height adjustment mechanism provides an adjustable mechanical connection between the support member and the work frame; the second height adjustment mechanism includes: an operating member mounted on the work frame, which can increase or decrease the height of the workpiece from the work surface by operating the operating member; The side protection component includes: a second opening, wherein the distance between the second opening and the operating component is less than a preset distance threshold; The operating element is exposed to the outside through the second opening so that the user can operate the operating element through the second opening.

101. An autonomous lawnmower, comprising: Main frame; And, a working device connected to the main frame; A movable component is mounted on the main frame and abuts against the working surface to support the main frame; The working device includes: A work frame is connected to the main frame. The work frame includes three work frame mating parts, which are located at different positions on the work frame and are not on a straight line. The three work frame mating parts include a first work frame mating part, a second work frame mating part, and a third work frame mating part. A working mechanism, mounted on the working frame, the working mechanism comprising: at least one working piece, the at least one working piece being used to perform cutting work; A support mechanism abuts against the working surface. The support mechanism includes at least three contact points, through which it abuts against the working surface. The three contact points include a first contact point, a second contact point, and a third contact point. The first contact point is mounted to the working frame via a first working frame mounting part, the second contact point is mounted to the working frame via a second working frame mounting part, and the third contact point is mounted to the working frame via a third working frame mounting part. A connecting mechanism is disposed between the work frame and the main frame; when the three contact points abut against the work surface, the supporting force from the work surface is transmitted to the connecting mechanism via the three contact points and the work frame; in response to the supporting force from the work surface, the connecting mechanism moves to allow the three work frame mating parts corresponding to the three contact points to move relative to the main frame, so that the work frame moves relative to the main frame; When at least two of the following partial working surfaces—the first partial working surface abutting the first contact point, the second partial working surface abutting the second contact point, and the third partial working surface abutting the third contact point—are at different heights relative to the same horizontal plane, the connecting mechanism moves in response to the supporting force generated by the height change of the working surfaces, allowing the three working frame mating parts to move relative to the main frame, such that: When the first partial working surface is higher than the second partial working surface, the height of the first working frame mating part relative to the main frame is less than the height of the second working frame mating part relative to the main frame.

102. The autonomous lawnmower as described in any one of claims 1-101, The work frame includes: Three work frame mating parts are provided at different positions on the work frame, and the three work frame mating parts are not on a straight line; wherein, the three work frame mating parts include: a first work frame mating part, a second work frame mating part, and a third work frame mating part; The support mechanism includes at least three contact points, and the support mechanism abuts against the working surface through the three contact points; the three contact points include: a first contact point, a second contact point, and a third contact point; wherein, the first contact point is mounted to the working frame through a first working frame mating part, the second contact point is mounted to the working frame through a second working frame mating part, and the third contact point is mounted to the working frame through a third working frame mating part; The working device also includes: A connecting mechanism is disposed between the work frame and the main frame; when the three contact points abut against the work surface, the supporting force from the work surface is transmitted to the connecting mechanism via the three contact points and the work frame; in response to the supporting force from the work surface, the connecting mechanism moves to allow the three work frame mating parts corresponding to the three contact points to move relative to the main frame, so that the work frame moves relative to the main frame.

103. The autonomous lawnmower as described in any one of claims 1-102, When at least two of the following partial working surfaces—the first partial working surface abutting the first contact point, the second partial working surface abutting the second contact point, and the third partial working surface abutting the third contact point—are at different heights relative to the same horizontal plane, the connecting mechanism moves in response to the supporting force generated by the height change of the working surfaces, allowing the three working frame mating parts to move relative to the main frame, such that: When the first partial working surface is higher than the second partial working surface, the height of the first working frame mating part relative to the main frame is less than the height of the second working frame mating part relative to the main frame.

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